Alarm tree analysis using statistical techniques

This work presents a systematic method for the generation and treatment of the alarms' graphs, being its final object to find the Alarm Root Cause of the Massive Alarms that are produced in the dispatching centers. Although many works about this matter have been already developed, the problem about the alarm management in the industry is still completely unsolved. In this paper, a simple statistic analysis of the historical data base is conducted. The results obtained by the acquisition alarm systems, are used to generate a directed graph from which the more significant alarms are extracted, previously analyzing any possible case in which a great quantity of alarms are produced.

Instrumentation for accelerated life tests of concentrator solar cells

Concentrator photovoltaic is an emergent technology that may be a good economical and efficient alternative for the generation of electricity at a competitive cost. However, the reliability of these new solar cells and systems is still an open issue due to the high-irradiation level they are subjected to as well as the electrical and thermal stresses that they are expected to endure. To evaluate the reliability in a short period of time, accelerated aging tests are essential. Thermal aging tests for concentrator photovoltaic solar cells and systems under illumination are not available because no technical solution to the problem of reaching the working concentration inside a climatic chamber has been available. This work presents an automatic instrumentation system that overcomes the aforementioned limitation. Working conditions have been simulated by forward biasing the solar cells to the current they would handle at the working concentration (in this case, 700 and 1050 times the irradiance at one standard sun). The instrumentation system has been deployed for more than 10 000 h in a thermal aging test for III-V concentrator solar cells, in which the generated power evolution at different temperatures has been monitored. As a result of this test, the acceleration factor has been calculated, thus allowing for the degradation evolution at any temperature in addition to normal working conditions to be obtained.

Recuperación secundaria en campos de petróleo y su conversión en almacenamientos subterráneos de gas natural

El objetivo de este proyecto es estudiar la recuperación secundaria de petróleo de la capa sureste Ayoluengo del campo Ayoluengo, Burgos (España), y su conversión en un almacenamiento subterráneo de gas. La capa Ayoluengo se ha considerado como una capa inclinada de 60 km por 10 km de superficie por 30 m de espesor en el que se han perforado 20 pozos, y en donde la recuperación primaria ha sido de un 19%. Se ha realizado el ajuste histórico de la recuperación primaria de gas, petróleo y agua de la capa desde el año 1965 al 2011. La conversión a almacenamiento subterráneo de gas se ha realizado mediante ciclos de inyección de gas, de marzo a octubre, y extracción de gas, de noviembre a febrero, de forma que se incrementa la presión del campo hasta alcanzar la presión inicial. El gas se ha inyectado y extraído por 5 pozos situados en la zona superior de la capa. Al mismo tiempo, se ha realizado una recuperación secundaria debido a la inyección de gas natural de 20 años de duración en donde la producción de petróleo se realiza por 14 pozos situados en la parte inferior de la capa. Para proceder a la simulación del ajuste histórico, conversión en almacenamiento y recuperación secundaria se utilizó el simulador Eclipse100. Los resultados obtenidos fueron una recuperación secundaria de petróleo de un 9% más comparada con la primaria. En cuanto al almacenamiento de gas natural, se alcanzó la presión inicial consiguiendo un gas útil de 300 Mm3 y un gas colchón de 217,3 Mm3. ABSTRACT The aim of this project is to study the secondary recovery of oil from the southeast Ayoluengo layer at the oil field Ayoluengo, Burgos (Spain), and its conversion into an underground gas storage. The Ayoluengo layer is an inclined layer of 60 km by 10km of area by 30 m gross and with 20 wells, which its primary recovery is of 19%. The history matching of the production of oil, gas and water has been carried out from the year 1965 until 2011. The conversion into an underground gas storage has been done in cycles of gas injection from March to October, and gas extraction from November to February, so that the reservoir pressure increases until it gets to the initial pressure. The gas has been injected and extracted through five well situated in the top part of the layer. At the same time, the secondary recovery has occurred due to de injection of natural gas during 20 years where the production of oil has been done through 14 wells situated in the lowest part of the layer. To proceed to the simulation of the history match, the conversion into an underground gas storage and its secondary recovery, the simulator used was Eclipse100. The results were a secondary recovery of oil of 9% more, compared to the primary recovery and concerning the underground gas storage, the initial reservoir pressure was achieved with a working gas of 300 Mm3 and a cushion gas of 217,3 Mm3.

Electronic structure of copper nitrides as a function of nitrogen content

he nitrogen content dependence of the electronic properties for copper nitride thin films with an atomic percentage of nitrogen ranging from 26 ± 2 to 33 ± 2 have been studied by means of optical (spectroscopic ellipsometry), thermoelectric (Seebeck), and electrical resistivity measurements. The optical spectra are consistent with direct optical transitions corresponding to the stoichiometric semiconductor Cu3N plus a free-carrier contribution, essentially independent of temperature, which can be tuned in accordance with the N-excess. Deviation of the N content from stoichiometry drives to significant decreases from − 5 to − 50 μV/K in the Seebeck coefficient and to large enhancements, from 10− 3 up to 10 Ω cm, in the electrical resistivity. Band structure and density of states calculations have been carried out on the basis of the density functional theory to account for the experimental results.

Decision-Making Mechanism to Organize the Agenda of a Guide-Robot

One of the major challenges in evolutionary robotics is constituted by the need of the robot being able to make decisions on its own, in accordance with the multiple tasks programmed, optimizing its timings and power. In this paper, we present a new automatic decision making mechanism for a robot guide that allows the robot to make the best choice in order to reach its aims, performing its tasks in an optimal way. The election of which is the best alternative is based on a series of criteria and restrictions of the tasks to perform. The software developed in the project has been verified on the tour-guide robot Urbano. The most important aspect of this proposal is that the design uses learning as the means to optimize the quality in the decision making. The modeling of the quality index of the best choice to perform is made using fuzzy logic and it represents the beliefs of the robot, which continue to evolve in order to match the "external reality”. This fuzzy system is used to select the most appropriate set of tasks to perform during the day. With this tool, the tour guide-robot prepares its agenda daily, which satisfies the objectives and restrictions, and it identifies the best task to perform at each moment. This work is part of the ARABOT project of the Intelligent Control Research Group at the Universidad Politécnica de Madrid to create "awareness" in a robot guide.

El aprendizaje en el proyecto URBANO

Se presenta el estado actual del proyecto URBANO, que en la versión 8.02 es una arquitectura distribuida de componentes orientada al diseño de aplicaciones en robots sociales. Se utiliza SOAP como mecanismo de integración remota. Se han diseñado nuevos componentes que permiten diferentes formas de aprendizaje. Por un lado, se ha diseñado una aplicación Android que posibilita la integración del móvil o tablet al control del robot. Por otro se ha desarrollado una ontología que permite representar, no solo conceptos, sino el aprendizaje propiamente dicho y se suman a los ya disponibles para la sintetización y reconocimiento de voces, gestión de gestos de cara y brazos, generación de trayectorias y navegación segura, modelo de estado de ánimo del robot y ejecución de tareas definidas por el usuario mediante el lenguaje propio UPL (Urbano Programming Language).

Aprendizaje en robots sociales: El caso de Urbano

Se presenta el estado actual del proyecto URBANO, que en la versión 8.02 es una arquitectura distribuida de componentes orientada al diseño de aplicaciones en robots sociales. Se utiliza SOAP como mecanismo de integración remota. Se han diseñado nuevos componentes que permiten diferentes formas de aprendizaje. Por un lado, se ha diseñado una aplicación Android que posibilita la integración del móvil o tablet al control del robot. Por otro se ha desarrollado una ontología que permite representar, no solo conceptos, sino el aprendizaje propiamente dicho y se suman a los ya disponibles para la sintetización y reconocimiento de voces, gestión de gestos de cara y brazos, generación de trayectorias y navegación segura, modelo de estado de ánimo del robot y ejecución de tareas definidas por el usuario mediante el lenguaje propio UPL (Urbano Programming Language)

Sir José Antonio y Sir Ramón

Sir José Antonio y Sir Ramón

PDR with a foot-mounted IMU and ramp detection

The localization of persons in indoor environments is nowadays an open problem. There are partial solutions based on the deployment of a network of sensors (Local Positioning Systems or LPS). Other solutions only require the installation of an inertial sensor on the person’s body (Pedestrian Dead-Reckoning or PDR). PDR solutions integrate the signals coming from an Inertial Measurement Unit (IMU), which usually contains 3 accelerometers and 3 gyroscopes. The main problem of PDR is the accumulation of positioning errors due to the drift caused by the noise in the sensors. This paper presents a PDR solution that incorporates a drift correction method based on detecting the access ramps usually found in buildings. The ramp correction method is implemented over a PDR framework that uses an Inertial Navigation algorithm (INS) and an IMU attached to the person’s foot. Unlike other approaches that use external sensors to correct the drift error, we only use one IMU on the foot. To detect a ramp, the slope of the terrain on which the user is walking, and the change in height sensed when moving forward, are estimated from the IMU. After detection, the ramp is checked for association with one of the existing in a database. For each associated ramp, a position correction is fed into the Kalman Filter in order to refine the INS-PDR solution. Drift-free localization is achieved with positioning errors below 2 meters for 1,000-meter-long routes in a building with a few ramps.

Análisis de movimientos y aceleraciones provocados por las acciones del oleaje y de los buques en el dique de Botafoc (Ibiza)

El reciente desarrollo de la instrumentación diseñada para proporcionar datos de aceleraciones y movimientos del cajón número 8 del dique Botafoc (Ibiza), perteneciente a la Autoridad Portuaria de Baleares (Puertos del Estado), en conjunción con datos procedentes de una instrumentación compuesta por sensores de presión existente en el paramento vertical, proporciona un novedoso medio para analizar la respuesta estructural del cajón, no sólo ante la acción del oleaje, sino también ante los efectos producidos por las maniobras de los buques en el muelle. Como la medición de estas aceleraciones y velocidades angulares se hace a altas frecuencias (de hasta 400 Hz), podemos proporcionar datos válidos acerca del comportamiento estructural y de los movimientos reales del cajón, tratando de correlacionar este comportamiento con los resultados obtenidos por el grupo de trabajo PROVERBS (Probabilistic design of vertical breakwaters, MAST III EU Programme), y generando una base de datos estadística de movimientos que deben considerarse para enriquecer los conocimientos en este ámbito. Además, la posibilidad de registrar los efectos causados por las maniobras de atraquedesatraque-estancia de los buques, abre un nuevo punto de vista al diseño estructural de un dique-muelle, siendo también de gran interés para los diseñadores de obras marítimas y para la correcta definición de las maniobras del buque en el muelle. The recent deployment of new instrumentation designed to provide accelerations and angular velocities from caisson #8 at Botafoc seawall, Ibiza, along with an existing pressure sensor instrumentation at the vertical wall, provides a way to record and process data of the structural response, not only to waves, but also to effects caused by ship mooring operations at Botafoc seawall. As the measurement of these angular speeds and accelerations is programmed with sampling frecuencies up to 400 Hz, and by integrating all data through time we may provide suitable data of the structural behaviour of the caisson. This behaviour is tried to be correlated with the PROVERBS working group achievements (Probabilistic design of vertical breakwaters, MAST III EU Programme), generating a statistical movement database that must be used to improve knowledge on this subject. Also the possibility to record the effects caused by the different ship mooring operations is a new point of view of the complete structural design of a seawall-wharf, which is considered an interesting matter for coastal designers as well for a correct ship mooring processes definition.

Mouse p53-deficient cancer models as platforms for obtaining genomic predictors of human cancer clinical outcomes

Mutations in the TP53 gene are very common in human cancers, and are associated with poor clinical outcome. Transgenic mouse models lacking the Trp53 gene or that express mutant Trp53 transgenes produce tumours with malignant features in many organs. We previously showed the transcriptome of a p53-deficient mouse skin carcinoma model to be similar to those of human cancers with TP53 mutations and associated with poor clinical outcomes. This report shows that much of the 682-gene signature of this murine skin carcinoma transcriptome is also present in breast and lung cancer mouse models in which p53 is inhibited. Further, we report validated gene-expression-based tests for predicting the clinical outcome of human breast and lung adenocarcinoma. It was found that human patients with cancer could be stratified based on the similarity of their transcriptome with the mouse skin carcinoma 682-gene signature. The results also provide new targets for the treatment of p53-defective tumours.

Nuevas cubiertas de madera para la iglesia de San Martín en Jiménez de Jamúz (León)

Nuevas cubiertas de madera para a iglesia de San Martín en Jiménez de Jamúz (León)

Auto-localization algorithm for local positioning systems

This paper studies the problem of determining the position of beacon nodes in Local Positioning Systems (LPSs), for which there are no inter-beacon distance measurements available and neither the mobile node nor any of the stationary nodes have positioning or odometry information. The common solution is implemented using a mobile node capable of measuring its distance to the stationary beacon nodes within a sensing radius. Many authors have implemented heuristic methods based on optimization algorithms to solve the problem. However, such methods require a good initial estimation of the node positions in order to find the correct solution. In this paper we present a new method to calculate the inter-beacon distances, and hence the beacons positions, based in the linearization of the trilateration equations into a closed-form solution which does not require any approximate initial estimation. The simulations and field evaluations show a good estimation of the beacon node positions.

Error estimation for the linearized auto-localization algorithm

The Linearized Auto-Localization (LAL) algorithm estimates the position of beacon nodes in Local Positioning Systems (LPSs), using only the distance measurements to a mobile node whose position is also unknown. The LAL algorithm calculates the inter-beacon distances, used for the estimation of the beacons’ positions, from the linearized trilateration equations. In this paper we propose a method to estimate the propagation of the errors of the inter-beacon distances obtained with the LAL algorithm, based on a first order Taylor approximation of the equations. Since the method depends on such approximation, a confidence parameter τ is defined to measure the reliability of the estimated error. Field evaluations showed that by applying this information to an improved weighted-based auto-localization algorithm (WLAL), the standard deviation of the inter-beacon distances can be improved by more than 30% on average with respect to the original LAL method.

Improved heuristic drift elimination with magnetically-aided dominant directions (MiHDE) for pedestrian navigation in complex buildings

The main problem of pedestrian dead-reckoning (PDR) using only a body-attached inertial measurement unit is the accumulation of heading errors. The heading provided by magnetometers in indoor buildings is in general not reliable and therefore it is commonly not used. Recently, a new method was proposed called heuristic drift elimination (HDE) that minimises the heading error when navigating in buildings. It assumes that the majority of buildings have their corridors parallel to each other, or they intersect at right angles, and consequently most of the time the person walks along a straight path with a heading constrained to one of the four possible directions. In this article we study the performance of HDE-based methods in complex buildings, i.e. with pathways also oriented at 45°, long curved corridors, and wide areas where non-oriented motion is possible. We explain how the performance of the original HDE method can be deteriorated in complex buildings, and also, how severe errors can appear in the case of false matches with the building's dominant directions. Although magnetic compassing indoors has a chaotic behaviour, in this article we analyse large data-sets in order to study the potential use that magnetic compassing has to estimate the absolute yaw angle of a walking person. Apart from these analysis, this article also proposes an improved HDE method called Magnetically-aided Improved Heuristic Drift Elimination (MiHDE), that is implemented over a PDR framework that uses foot-mounted inertial navigation with an extended Kalman filter (EKF). The EKF is fed with the MiHDE-estimated orientation error, gyro bias corrections, as well as the confidence over that corrections. We experimentally evaluated the performance of the proposed MiHDE-based PDR method, comparing it with the original HDE implementation. Results show that both methods perform very well in ideal orthogonal narrow-corridor buildings, and MiHDE outperforms HDE for non-ideal trajectories (e.g. curved paths) and also makes it robust against potential false dominant direction matchings.