Design of broadband transmitarray unit cells with comparative study of different numbers of layers

A generalized methodology to design low-profile transmitarray (TA) antennas made of several stacked layers with nonresonant printed phasing elements is presented. A study of the unit cell bandwidth, phase-shift range and tolerances has been conducted considering different numbers of layers. A structure with three metalized layers with capacitive and inductive elements enabling a phase range of nearly 360° and low insertion loss is introduced. A study of the four-layer structure shows improvement in the performance of the unit cells in terms of bandwidth from 2% to more than 20% and a complete phase coverage. Implementations on a flexible substrate of TAs with progressive phase shift operating at 19 GHz are used for validation.

A code for direct numerical simulation of turbulent boundary layers at high Reynolds numbers in BG/P supercomputers

A new high-resolution code for the direct numerical simulation of a zero pressure gradient turbulent boundary layers over a flat plate has been developed. Its purpose is to simulate a wide range of Reynolds numbers from Reθ = 300 to 6800 while showing a linear weak scaling up to 32,768 cores in the BG/P architecture. Special attention has been paid to the generation of proper inflow boundary conditions. The results are in good agreement with existing numerical and experimental data sets.

Toma de decisiones en grupo con información parcial y veto basada en medidas de la intensidad de dominancia

En la mayoría de problemas de decisión a los que nos enfrentamos no hay evidencia sobre cuál es la mejor elección debido a la complejidad de los mismos. Esta complejidad está asociada a la existencia de múltiples objetivos conflictivos y a que en muchos casos solo se dispone de información incompleta o imprecisa sobre los distintos parámetros del modelo de decisión. Por otro lado, el proceso de toma de decisiones se puede realizar en grupo, debiendo incorporar al modelo las preferencias individuales de cada uno de los decisores y, posteriormente, agregarlas para alcanzar un consenso final, lo que dificulta más todavía el proceso de decisión. La metodología del Análisis de Decisiones (AD) es un procedimiento sistemático y lógico que permite estructurar y simplificar la tarea de tomar decisiones. Utiliza la información existente, datos recogidos, modelos y opiniones profesionales para cuantificar la probabilidad de los valores o impactos de las alternativas y la Teoría de la Utilidad para cuantificar las preferencias de los decisores sobre los posibles valores de las alternativas. Esta tesis doctoral se centra en el desarrollo de extensiones del modelo multicriterio en utilidad aditivo para toma de decisiones en grupo con veto en base al AD y al concepto de la intensidad de la dominancia, que permite explotar la información incompleta o imprecisa asociada a los parámetros del modelo. Se considera la posibilidad de que la importancia relativa que tienen los criterios del problema para los decisores se representa mediante intervalos de valores o información ordinal o mediante números borrosos trapezoidales. Adicionalmente, se considera que los decisores tienen derecho a veto sobre los valores de los criterios bajo consideración, pero solo un subconjunto de ellos es efectivo, teniéndose el resto solo en cuenta de manera parcial. ABSTRACT In most decision-making problems, the best choice is unclear because of their complexity. This complexity is mainly associated with the existence of multiple conflicting objectives. Besides, there is, in many cases, only incomplete or inaccurate information on the various decision model parameters. Alternatively, the decision-making process may be performed by a group. Consequently, the model must account for individual preferences for each decision-maker (DM), which have to be aggregated to reach a final consensus. This makes the decision process even more difficult. The decision analysis (DA) methodology is a systematic and logical procedure for structuring and simplifying the decision-making task. It takes advantage of existing information, collected data, models and professional opinions to quantify the probability of the alternative values or impacts and utility theory to quantify the DM’s preferences concerning the possible alternative values. This PhD. thesis focuses on developing extensions for a multicriteria additive utility model for group decision-making accounting for vetoes based on DA and on the concept of dominance intensity in order to exploit incomplete or imprecise information associated with the parameters of the decision-making model. We consider the possibility of the relative importance of criteria for DMs being represented by intervals or ordinal information, or by trapezoidal fuzzy numbers. Additionally, we consider that DMs are allowed to provide veto values for the criteria under consideration, of which only a subset are effective, whereas the remainder are only partially taken into account.

Modelling the Impact of Built Environment, Geographical Scales and Latent Constructs On Individual Travel Behaviour

La relación entre la estructura urbana y la movilidad ha sido estudiada desde hace más de 70 años. El entorno urbano incluye múltiples dimensiones como por ejemplo: la estructura urbana, los usos de suelo, la distribución de instalaciones diversas (comercios, escuelas y zonas de restauración, parking, etc.). Al realizar una revisión de la literatura existente en este contexto, se encuentran distintos análisis, metodologías, escalas geográficas y dimensiones, tanto de la movilidad como de la estructura urbana. En este sentido, se trata de una relación muy estudiada pero muy compleja, sobre la que no existe hasta el momento un consenso sobre qué dimensión del entorno urbano influye sobre qué dimensión de la movilidad, y cuál es la manera apropiada de representar esta relación. Con el propósito de contestar estas preguntas investigación, la presente tesis tiene los siguientes objetivos generales: (1) Contribuir al mejor entendimiento de la compleja relación estructura urbana y movilidad. y (2) Entender el rol de los atributos latentes en la relación entorno urbano y movilidad. El objetivo específico de la tesis es analizar la influencia del entorno urbano sobre dos dimensiones de la movilidad: número de viajes y tipo de tour. Vista la complejidad de la relación entorno urbano y movilidad, se pretende contribuir al mejor entendimiento de la relación a través de la utilización de 3 escalas geográficas de las variables y del análisis de la influencia de efectos inobservados en la movilidad. Para el análisis se utiliza una base de datos conformada por tres tipos de datos: (1) Una encuesta de movilidad realizada durante los años 2006 y 2007. Se obtuvo un total de 943 encuestas, en 3 barrios de Madrid: Chamberí, Pozuelo y Algete. (2) Información municipal del Instituto Nacional de Estadística: dicha información se encuentra enlazada con los orígenes y destinos de los viajes recogidos en la encuesta. Y (3) Información georeferenciada en Arc-GIS de los hogares participantes en la encuesta: la base de datos contiene información respecto a la estructura de las calles, localización de escuelas, parking, centros médicos y lugares de restauración. Se analizó la correlación entre e intra-grupos y se modelizaron 4 casos de atributos bajo la estructura ordinal logit. Posteriormente se evalúa la auto-selección a través de la estimación conjunta de las elecciones de tipo de barrio y número de viajes. La elección del tipo de barrio consta de 3 alternativas: CBD, Urban y Suburban, según la zona de residencia recogida en las encuestas. Mientras que la elección del número de viajes consta de 4 categorías ordinales: 0 viajes, 1-2 viajes, 3-4 viajes y 5 o más viajes. A partir de la mejor especificación del modelo ordinal logit. Se desarrolló un modelo joint mixed-ordinal conjunto. Los resultados indican que las variables exógenas requieren un análisis exhaustivo de correlaciones con el fin de evitar resultados sesgados. ha determinado que es importante medir los atributos del BE donde se realiza el viaje, pero también la información municipal es muy explicativa de la movilidad individual. Por tanto, la percepción de las zonas de destino a nivel municipal es considerada importante. En el contexto de la Auto-selección (self-selection) es importante modelizar conjuntamente las decisiones. La Auto-selección existe, puesto que los parámetros estimados conjuntamente son significativos. Sin embargo, sólo ciertos atributos del entorno urbano son igualmente importantes sobre la elección de la zona de residencia y frecuencia de viajes. Para analizar la Propensión al Viaje, se desarrolló un modelo híbrido, formado por: una variable latente, un indicador y un modelo de elección discreta. La variable latente se denomina “Propensión al Viaje”, cuyo indicador en ecuación de medida es el número de viajes; la elección discreta es el tipo de tour. El modelo de elección consiste en 5 alternativas, según la jerarquía de actividades establecida en la tesis: HOME, no realiza viajes durante el día de estudio, HWH tour cuya actividad principal es el trabajo o estudios, y no se realizan paradas intermedias; HWHs tour si el individuo reaiza paradas intermedias; HOH tour cuya actividad principal es distinta a trabajo y estudios, y no se realizan paradas intermedias; HOHs donde se realizan paradas intermedias. Para llegar a la mejor especificación del modelo, se realizó un trabajo importante considerando diferentes estructuras de modelos y tres tipos de estimaciones. De tal manera, se obtuvieron parámetros consistentes y eficientes. Los resultados muestran que la modelización de los tours, representa una ventaja sobre la modelización de los viajes, puesto que supera las limitaciones de espacio y tiempo, enlazando los viajes realizados por la misma persona en el día de estudio. La propensión al viaje (PT) existe y es específica para cada tipo de tour. Los parámetros estimados en el modelo híbrido resultaron significativos y distintos para cada alternativa de tipo de tour. Por último, en la tesis se verifica que los modelos híbridos representan una mejora sobre los modelos tradicionales de elección discreta, dando como resultado parámetros consistentes y más robustos. En cuanto a políticas de transporte, se ha demostrado que los atributos del entorno urbano son más importantes que los LOS (Level of Service) en la generación de tours multi-etapas. la presente tesis representa el primer análisis empírico de la relación entre los tipos de tours y la propensión al viaje. El concepto Propensity to Travel ha sido desarrollado exclusivamente para la tesis. Igualmente, el desarrollo de un modelo conjunto RC-Number of trips basado en tres escalas de medida representa innovación en cuanto a la comparación de las escalas geográficas, que no había sido hecha en la modelización de la self-selection. The relationship between built environment (BE) and travel behaviour (TB) has been studied in a number of cases, using several methods - aggregate and disaggregate approaches - and different focuses – trip frequency, automobile use, and vehicle miles travelled and so on. Definitely, travel is generated by the need to undertake activities and obtain services, and there is a general consensus that urban components affect TB. However researches are still needed to better understand which components of the travel behaviour are affected most and by which of the urban components. In order to fill the gap in the research, the present dissertation faced two main objectives: (1) To contribute to the better understanding of the relationship between travel demand and urban environment. And (2) To develop an econometric model for estimating travel demand with urban environment attributes. With this purpose, the present thesis faced an exhaustive research and computation of land-use variables in order to find the best representation of BE for modelling trip frequency. In particular two empirical analyses are carried out: 1. Estimation of three dimensions of travel demand using dimensions of urban environment. We compare different travel dimensions and geographical scales, and we measure self-selection contribution following the joint models. 2. Develop a hybrid model, integrated latent variable and discrete choice model. The implementation of hybrid models is new in the analysis of land-use and travel behaviour. BE and TB explicitly interact and allow richness information about a specific individual decision process For all empirical analysis is used a data-base from a survey conducted in 2006 and 2007 in Madrid. Spatial attributes describing neighbourhood environment are derived from different data sources: National Institute of Statistics-INE (Administrative: municipality and district) and GIS (circular units). INE provides raw data for such spatial units as: municipality and district. The construction of census units is trivial as the census bureau provides tables that readily define districts and municipalities. The construction of circular units requires us to determine the radius and associate the spatial information to our households. The first empirical part analyzes trip frequency by applying an ordered logit model. In this part is studied the effect of socio-economic, transport and land use characteristics on two travel dimensions: trip frequency and type of tour. In particular the land use is defined in terms of type of neighbourhoods and types of dwellers. Three neighbourhood representations are explored, and described three for constructing neighbourhood attributes. In particular administrative units are examined to represent neighbourhood and circular – unit representation. Ordered logit models are applied, while ordinal logit models are well-known, an intensive work for constructing a spatial attributes was carried out. On the other hand, the second empirical analysis consists of the development of an innovative econometric model that considers a latent variable called “propensity to travel”, and choice model is the choice of type of tour. The first two specifications of ordinal models help to estimate this latent variable. The latent variable is unobserved but the manifestation is called “indicators”, then the probability of choosing an alternative of tour is conditional to the probability of latent variable and type of tour. Since latent variable is unknown we fit the integral over its distribution. Four “sets of best variables” are specified, following the specification obtained from the correlation analysis. The results evidence that the relative importance of SE variables versus BE variables depends on how BE variables are measured. We found that each of these three spatial scales has its intangible qualities and drawbacks. Spatial scales play an important role on predicting travel demand due to the variability in measures at trip origin/destinations within the same administrative unit (municipality, district and so on). Larger units will produce less variation in data; but it does not affect certain variables, such as public transport supply, that are more significant at municipality level. By contrast, land-use measures are more efficient at district level. Self-selection in this context, is weak. Thus, the influence of BE attributes is true. The results of the hybrid model show that unobserved factors affect the choice of tour complexity. The latent variable used in this model is propensity to travel that is explained by socioeconomic aspects and neighbourhood attributes. The results show that neighbourhood attributes have indeed a significant impact on the choice of the type of tours either directly and through the propensity to travel. The propensity to travel has a different impact depending on the structure of each tour and increases the probability of choosing more complex tours, such as tours with many intermediate stops. The integration of choice and latent variable model shows that omitting important perception and attitudes leads to inconsistent estimates. The results also indicate that goodness of fit improves by adding the latent variable in both sequential and simultaneous estimation. There are significant differences in the sensitivity to the latent variable across alternatives. In general, as expected, the hybrid models show a major improvement into the goodness of fit of the model, compared to a classical discrete choice model that does not incorporate latent effects. The integrated model leads to a more detailed analysis of the behavioural process. Summarizing, the effect that built environment characteristics on trip frequency studied is deeply analyzed. In particular we tried to better understand how land use characteristics can be defined and measured and which of these measures do have really an impact on trip frequency. We also tried to test the superiority of HCM on this field. We can concluded that HCM shows a major improvement into the goodness of fit of the model, compared to classical discrete choice model that does not incorporate latent effects. And consequently, the application of HCM shows the importance of LV on the decision of tour complexity. People are more elastic to built environment attributes than level of services. Thus, policy implications must take place to develop more mixed areas, work-places in combination with commercial retails.

The Key Role Transferring Knowledge of Nuclear España, The Spanish Nuclear Society Magazine

The magazine of the Spanish Nuclear Society (SNE), “Nuclear España” is a scientific-technical publication with almost thirty years of uninterrupted edition and more than 300 numbers published. Their pages approach technical subjects related to the nuclear energy, as well as the activities developed by the SNE, especially in national and international meetings. The main part of the magazine is composed by articles written by known specialist of the energy industry. One of the top goals of the magazine is to help on transferring the knowledge from the generation that built the nuclear power plants in Spain and the new generation of professionals that have started its nuclear career in the last years. Each number is monographic, trying to cover as many aspects on an issue as it is possible, with collaborations from the companies, the research centers and universities that helps to have complementary points of view. On the other hand the articles help to deep in the issue´s topic, broadening the view of the readers about the nuclear field and helping to share knowledge across the industry. The news section of the Magazine picks up the actuality of the sector as a whole. The editorial section reflects the opinion of the SNE Governing Board and the Magazine Committee on the subjects of interest in this field. On the other hand, the monthly interview sets out the professional outstanding opinions. With a total of eleven numbers per year, three of them have a noticeable international character: the one dedicated to the operative experiences on the Spanish and European nuclear power plants, the monographic issue devoted tothe Annual Meeting of the SNE and the international issue, which covers the last activities of the Spanish industry in international projects. Both first are bilingual issues (Spanish-English), whereas the international edition is published completely in English. Besides its diffusion through all the members of the SNE, the Magazine is distributed, in the national scope, to companies and organisms related to the nuclear power, universities, research centers, representatives of the Central, Autonomic and Local Administrations, mass media and communication professionals. It is also sent to the utilities and research centers in Europe, United States, South America and Asia.

Pressure measurements of the detachment bubble on the Bolund Island

Pressure measurements on the surface of a 1:230 scale model of Bolund Island are presented. The model is smooth and no boundary layer generation has been considered since the experiment is designed as the simplest possible reference case. Measurement have been taken for a range of Reynolds numbers based on the average undisturbed wind speed U∞ and the maximum height of the island, h [1.7×104, 8.5×104], and for a range of wind directions. Four minutes time series of pressure in more than 400 points have been acquired and analysed to obtain the spatial distribution of both the time average and the variance of the pressure signal. The horizontal extension of the detachment bubble for the different Reynolds numbers and wind directions is identified by isobars and curves of constant value of pressure variance. The applicability of this technique for evaluating the horizontal topology of high turbulence regions associated to detachment bubbles after escarpments in potential wind farm sites is analysed. The results obtained shows that the behaviour of the mean pressure coefficient, Cp, the std. pressure coefficient, Cp, and the skewness of the pressure, Sp can be used to study the bubble over the island to a certain extent. This experiment is part of the set of different analysis on the Bolund test case that is being undertaken within WAUDIT project by the different scientific groups.

Benefits of using a Wendland Kernel for free-surface flows

The aim of this paper Is lo discuss the influence of the selection of the interpolation kernel in the accuracy of the modeling of the internal viscous dissipation in Tree surface Hows, Simulations corresponding to a standing wave* for which an analytic solution available, are presented. Wendland and renormalized Gaussian kernels are considered. The differences in the flow pattern* and Internal dissipation mechanisms are documented for a range of Reynolds numbers. It is shown that the simulations with Wendland kernels replicate the dissipation mechanisms more accurately than those with a renormalized Gaussian kernel. Although some explanations are hinted we have Tailed to clarify which the core structural reasons for Mich differences are*

Results of the JET real-time disruption predictor in the ITER-like wall campaigns

The impact of disruptions in JET became even more important with the replacement of the previous Carbon Fiber Composite (CFC) wall with a more fragile full metal ITER-like wall (ILW). The development of robust disruption mitigation systems is crucial for JET (and also for ITER). Moreover, a reliable real-time (RT) disruption predictor is a pre-requisite to any mitigation method. The Advance Predictor Of DISruptions (APODIS) has been installed in the JET Real-Time Data Network (RTDN) for the RT recognition of disruptions. The predictor operates with the new ILW but it has been trained only with discharges belonging to campaigns with the CFC wall. 7 realtime signals are used to characterize the plasma status (disruptive or non-disruptive) at regular intervals of 1 ms. After the first 3 JET ILW campaigns (991 discharges), the success rate of the predictor is 98.36% (alarms are triggered in average 426 ms before the disruptions). The false alarm and missed alarm rates are 0.92% and 1.64%.

Domestic hot water consumption vs. solar thermal energy storage: the optimum size of the storage tank

Many efforts have been made in order to adequate the production of a solar thermal collector field to the consumption of domestic hot water of the inhabitants of a building. In that sense, much has been achieved in different domains: research agencies, government policies and manufacturers. However, most of the design rules of the solar plants are based on steady state models, whereas solar irradiance, consumption and thermal accumulation are inherently transient processes. As a result of this lack of physical accuracy, thermal storage tanks are sometimes left to be as large as the designer decides without any aforementioned precise recommendation. This can be a problem if solar thermal systems are meant to be implemented in nowadays buildings, where there is a shortage of space. In addition to that, an excessive storage volume could not result more efficient in many residential applications, but costly, extreme in space consumption and in some cases too heavy. A proprietary transient simulation program has been developed and validated with a detailed measurement campaign in an experimental facility. In situ environmental data have been obtained through a whole year of operation. They have been gathered at intervals of 10 min for a solar plant of 50 m2 with a storage tank of 3 m3, including the equipment for domestic hot water production of a typical apartment building. This program has been used to obtain the design and dimensioning criteria of DHW solar plants under daily transient conditions throughout a year and more specifically the size of the storage tank for a multi storey apartment building. Comparison of the simulation results with the current Spanish regulation applicable, “Código Técnico de la Edificación” (CTE 2006), offers fruitful details and establishes solar facilities dimensioning criteria.

Instability and topology bifurcations on a hemisphere-cylinder at high angle of attack

La configuración de un cilindro acoplado a una semi-esfera, conocida como ’hemispherecylinder’, se considera como un modelo simplificado para numerosas aplicaciones industriales tales como fuselaje de aviones o submarinos. Por tanto, el estudio y entendimiento de los fenómenos fluidos que ocurren alrededor de dicha geometría presenta gran interés. En esta tesis se muestra la investigación del origen y evolución de los, ya conocidos, patrones de flujo (burbuja de separación, vórtices ’horn’ y vórtices ’leeward’) que se dan en esta geometría bajo condiciones de flujo separado. Para ello se han llevado a cabo simulaciones numéricas (DNS) y ensayos experimentales usando la técnica de Particle Image Velocimetry (PIV), para una variedad de números de Reynolds (Re) y ángulos de ataque (AoA). Se ha aplicado sobre los resultados numéricos la teoría de puntos críticos obteniendo, por primera vez para esta geometría, un diagrama de bifurcaciones que clasifica los diferentes regímenes topológicos en función del número de Reynolds y del ángulo de ataque. Se ha llevado a cabo una caracterización completa sobre el origen y la evolución de los patrones estructurales característicos del cuerpo estudiado. Puntos críticos de superficie y líneas de corriente tridimensionales han ayudado a describir el origen y la evolución de las principales estructuras presentes en el flujo hasta alcanzar un estado de estabilidad desde el punto de vista topológico. Este estado se asocia con el patrón de los vórtices ’horn’, definido por una topología característica que se encuentra en un rango de números de Reynolds muy amplio y en regímenes compresibles e incompresibles. Por otro lado, con el objeto de determinar las estructuras presentes en el flujo y sus frecuencias asociadas, se han usado distintas técnicas de análisis: Proper Orthogonal Decomposition (POD), Dynamic Mode Decomposition (DMD) y análisis de Fourier. Dichas técnicas se han aplicado sobre los datos experimentales y numéricos, demostrándose la buena concordancia entre ambos resultados. Finalmente, se ha encontrado en ambos casos, una frecuencia dominante asociada con una inestabilidad de los vórtices ’leeward’. ABSTRACT The hemisphere-cylinder may be considered as a simplified model for several geometries found in industrial applications such as aircrafts’ fuselages or submarines. Understanding the complex flow phenomena that surrounds this particular geometry is therefore of major industrial interest. This thesis presents an investigation of the origin and evolution of the complex flow pattern; i.e. separation bubbles, horn vortices and leeward vortices, around the hemisphere-cylinder under separated flow conditions. To this aim, threedimensional Direct Numerical Simulations (DNS) and experimental tests, using Particle Image Velocimetry (PIV) techniques, have been performed for a variety of Reynolds numbers (Re) and angles of attack (AoA). Critical point theory has been applied to the numerical simulations to provide, for the first time for this geometry, a bifurcation diagram that classifies the different flow topology regimes as a function of the Reynolds number and the angle of attack. A complete characterization about the origin and evolution of the complex structural patterns of this geometry has been put in evidence. Surface critical points and surface and volume streamlines were able to describe the main flow structures and their strong dependence with the flow conditions up to reach the structurally stable state. This state was associated with the pattern of the horn vortices, found on ranges from low to high Reynolds numbers and from incompressible to compressible regimes. In addition, different structural analysis techniques have been employed: Proper Orthogonal Decomposition (POD), Dynamic Mode Decomposition (DMD) and Fourier analysis. These techniques have been applied to the experimental and numerical data to extract flow structure information (i.e. modes and frequencies). Experimental and numerical modes are shown to be in good agreement. A dominant frequency associated with an instability of the leeward vortices has been identified in both, experimental and numerical results.

Pressure measurements of the detachment bubble on the Bolund Island

Pressure measurements on the surface of a 1:230 scale model of Bolund Island are presented. The model is smooth and no boundary layer generation has been considered since the experiment is designed as the simplest possible reference case. Measurement have been taken for a range of Reynolds numbers based on the average undisturbed wind speed U? and the maximum height of the island, h [1.7×104 , 8.5×104], and for a range of wind directions. Four minutes time series of pressure in more than 400 points have been acquired and analysed to obtain the spatial distribution of both the time average and the variance of the pressure signal. The horizontal extension of the detachment bubble for the different Reynolds numbers and wind directions is identified by isobars and curves of constant value of pressure variance. The applicability of this technique for evaluating the horizontal topology of high turbulence regions associated to detachment bubbles after escarpments in potential wind farm sites is analysed. The results obtained shows that the behaviour of the mean pressure coefficient, Cp, the std. pressure coefficient, C?p, and the skewness of the pressure, Sp can be used to study the bubble over the island to a certain extent. This experiment is part of the set of different analysis on the Bolund test case that is being undertaken within WAUDIT project by the different scientific groups.

Cooperative Multi-robot Patrolling: A study of distributed approaches based on mathematical models of game theory to protect infrastructures

El principio de Teoría de Juegos permite desarrollar modelos estocásticos de patrullaje multi-robot para proteger infraestructuras criticas. La protección de infraestructuras criticas representa un gran reto para los países al rededor del mundo, principalmente después de los ataques terroristas llevados a cabo la década pasada. En este documento el termino infraestructura hace referencia a aeropuertos, plantas nucleares u otros instalaciones. El problema de patrullaje se define como la actividad de patrullar un entorno determinado para monitorear cualquier actividad o sensar algunas variables ambientales. En esta actividad, un grupo de robots debe visitar un conjunto de puntos de interés definidos en un entorno en intervalos de tiempo irregulares con propósitos de seguridad. Los modelos de partullaje multi-robot son utilizados para resolver este problema. Hasta el momento existen trabajos que resuelven este problema utilizando diversos principios matemáticos. Los modelos de patrullaje multi-robot desarrollados en esos trabajos representan un gran avance en este campo de investigación. Sin embargo, los modelos con los mejores resultados no son viables para aplicaciones de seguridad debido a su naturaleza centralizada y determinista. Esta tesis presenta cinco modelos de patrullaje multi-robot distribuidos e impredecibles basados en modelos matemáticos de aprendizaje de Teoría de Juegos. El objetivo del desarrollo de estos modelos está en resolver los inconvenientes presentes en trabajos preliminares. Con esta finalidad, el problema de patrullaje multi-robot se formuló utilizando conceptos de Teoría de Grafos, en la cual se definieron varios juegos en cada vértice de un grafo. Los modelos de patrullaje multi-robot desarrollados en este trabajo de investigación se han validado y comparado con los mejores modelos disponibles en la literatura. Para llevar a cabo tanto la validación como la comparación se ha utilizado un simulador de patrullaje y un grupo de robots reales. Los resultados experimentales muestran que los modelos de patrullaje desarrollados en este trabajo de investigación trabajan mejor que modelos de trabajos previos en el 80% de 150 casos de estudio. Además de esto, estos modelos cuentan con varias características importantes tales como distribución, robustez, escalabilidad y dinamismo. Los avances logrados con este trabajo de investigación dan evidencia del potencial de Teoría de Juegos para desarrollar modelos de patrullaje útiles para proteger infraestructuras. ABSTRACT Game theory principle allows to developing stochastic multi-robot patrolling models to protect critical infrastructures. Critical infrastructures protection is a great concern for countries around the world, mainly due to terrorist attacks in the last decade. In this document, the term infrastructures includes airports, nuclear power plants, and many other facilities. The patrolling problem is defined as the activity of traversing a given environment to monitoring any activity or sensing some environmental variables If this activity were performed by a fleet of robots, they would have to visit some places of interest of an environment at irregular intervals of time for security purposes. This problem is solved using multi-robot patrolling models. To date, literature works have been solved this problem applying various mathematical principles.The multi-robot patrolling models developed in those works represent great advances in this field. However, the models that obtain the best results are unfeasible for security applications due to their centralized and predictable nature. This thesis presents five distributed and unpredictable multi-robot patrolling models based on mathematical learning models derived from Game Theory. These multi-robot patrolling models aim at overcoming the disadvantages of previous work. To this end, the multi-robot patrolling problem was formulated using concepts of Graph Theory to represent the environment. Several normal-form games were defined at each vertex of a graph in this formulation. The multi-robot patrolling models developed in this research work have been validated and compared with best ranked multi-robot patrolling models in the literature. Both validation and comparison were preformed by using both a patrolling simulator and real robots. Experimental results show that the multirobot patrolling models developed in this research work improve previous ones in as many as 80% of 150 cases of study. Moreover, these multi-robot patrolling models rely on several features to highlight in security applications such as distribution, robustness, scalability, and dynamism. The achievements obtained in this research work validate the potential of Game Theory to develop patrolling models to protect infrastructures.

Searching for a consensus similarity function for generalized trapezoidal fuzzy numbers

There is controversy regarding the use of the similarity functions proposed in the literature to compare generalized trapezoidal fuzzy numbers since conflicting similarity values are sometimes output for the same pair of fuzzy numbers. In this paper we propose a similarity function aimed at establishing a consensus. It accounts for the different approaches of all the similarity functions. It also has better properties and can easily incorporate new parameters for future improvements. The analysis is carried out on the basis of a large and representative set of pairs of trapezoidal fuzzy numbers.