Distributes award protocol: A cooperation and communication method for robots.

In this Master’s Thesis a new Distributed Award Protocol (DAP) for robot communication and cooperation is presented. Task assignment (contract awarding) is done dynamically with contracts assigned to robots based upon the best bid received. Instead of having a manager and a contractor it is proposed a fully distributed bidding/awarding mechanism without a distinguished master. The best bidding robots are awarded with contract for execution. The contractors make decisions locally. This brings the following benefits: no communication bottleneck, low computational power requirement, increased robustness. DAP can handle multitasking. Tasks can be injected into system during the execution of already allocated tasks. As tasks have priorities, in the next cycle after taking into account actual bid parameters of all robots, tasks can be re-allocated. The aim is to minimize a global cost function which is a compromise between cost of task execution and cost of resources usage. Information about tasks and bid values is spread among robots with the use of a Round Robin Route, which is a novel solution proposed in this work. This method allows also identifying failed robots. Such failed robot is eliminated from the list of awarded robots and its replacement is found so the task is still executed by a team. If the failure of a robot was temporary (e.g. communication noise) and the robot can recover, it can again participate in the next bidding/awarding process. Using a bidding/awarding mechanism allows robots to dynamically relocate among tasks. This is also contributes to system robustness. DAP was evaluated through multiple experiments done in the multi-robot simulation system. Various scenarios were tested to check the idea of the main algorithm. Different failures of robots (communication failures, partial hardware malfunctions) were simulated and observations were made regarding how DAP recovers from them. Also the DAP flexibility to environment changes was watched. The experiments in the simulated environment confirmed the above features of DAP.

Desarrollo de un modelo de predimensionado de costes de construcción en el proyecto arquitectónico

El objetivo de la presente investigación es el desarrollo de un modelo de cálculo rápido, eficiente y preciso, para la estimación de los costes finales de construcción, en las fases preliminares del proyecto arquitectónico. Se trata de una herramienta a utilizar durante el proceso de elaboración de estudios previos, anteproyecto y proyecto básico, no siendo por tanto preciso para calcular el “predimensionado de costes” disponer de la total definición grafica y literal del proyecto. Se parte de la hipótesis de que en la aplicación práctica del modelo no se producirán desviaciones superiores al 10 % sobre el coste final de la obra proyectada. Para ello se formulan en el modelo de predimensionado cinco niveles de estimación de costes, de menor a mayor definición conceptual y gráfica del proyecto arquitectónico. Los cinco niveles de cálculo son: dos que toman como referencia los valores “exógenos” de venta de las viviendas (promoción inicial y promoción básica) y tres basados en cálculos de costes “endógenos” de la obra proyectada (estudios previos, anteproyecto y proyecto básico). El primer nivel de estimación de carácter “exógeno” (nivel .1), se calcula en base a la valoración de mercado de la promoción inmobiliaria y a su porcentaje de repercusión de suelo sobre el valor de venta de las viviendas. El quinto nivel de valoración, también de carácter “exógeno” (nivel .5), se calcula a partir del contraste entre el valor externo básico de mercado, los costes de construcción y los gastos de promoción estimados de la obra proyectada. Este contraste entre la “repercusión del coste de construcción” y el valor de mercado, supone una innovación respecto a los modelos de predimensionado de costes existentes, como proceso metodológico de verificación y validación extrínseca, de la precisión y validez de las estimaciones resultantes de la aplicación práctica del modelo, que se denomina Pcr.5n (Predimensionado costes de referencia con .5niveles de cálculo según fase de definición proyectual / ideación arquitectónica). Los otros tres niveles de predimensionado de costes de construcción “endógenos”, se estiman mediante cálculos analíticos internos por unidades de obra y cálculos sintéticos por sistemas constructivos y espacios funcionales, lo que se lleva a cabo en las etapas iniciales del proyecto correspondientes a estudios previos (nivel .2), anteproyecto (nivel .3) y proyecto básico (nivel .4). Estos cálculos teóricos internos son finalmente evaluados y validados mediante la aplicación práctica del modelo en obras de edificación residencial, de las que se conocen sus costes reales de liquidación final de obra. Según va evolucionando y se incrementa el nivel de definición y desarrollo del proyecto, desde los estudios previos hasta el proyecto básico, el cálculo se va perfeccionando en su nivel de eficiencia y precisión de la estimación, según la metodología aplicada: [aproximaciones sucesivas en intervalos finitos], siendo la hipótesis básica como anteriormente se ha avanzado, lograr una desviación máxima de una décima parte en el cálculo estimativo del predimensionado del coste real de obra. El cálculo del coste de ejecución material de la obra, se desarrolla en base a parámetros cúbicos funcionales “tridimensionales” del espacio proyectado y parámetros métricos constructivos “bidimensionales” de la envolvente exterior de cubierta/fachada y de la huella del edificio sobre el terreno. Los costes funcionales y constructivos se ponderan en cada fase del proceso de cálculo con sus parámetros “temáticos/específicos” de gestión (Pg), proyecto (Pp) y ejecución (Pe) de la concreta obra presupuestada, para finalmente estimar el coste de construcción por contrata, como resultado de incrementar al coste de ejecución material el porcentaje correspondiente al parámetro temático/especifico de la obra proyectada. El modelo de predimensionado de costes de construcción Pcr.5n, será una herramienta de gran interés y utilidad en el ámbito profesional, para la estimación del coste correspondiente al Proyecto Básico previsto en el marco técnico y legal de aplicación. Según el Anejo I del Código Técnico de la Edificación (CTE), es de obligado cumplimiento que el proyecto básico contenga una “Valoración aproximada de la ejecución material de la obra proyectada por capítulos”, es decir , que el Proyecto Básico ha de contener al menos un “presupuesto aproximado”, por capítulos, oficios ó tecnologías. El referido cálculo aproximado del presupuesto en el Proyecto Básico, necesariamente se ha de realizar mediante la técnica del predimensionado de costes, dado que en esta fase del proyecto arquitectónico aún no se dispone de cálculos de estructura, planos de acondicionamiento e instalaciones, ni de la resolución constructiva de la envolvente, por cuanto no se han desarrollado las especificaciones propias del posterior proyecto de ejecución. Esta estimación aproximada del coste de la obra, es sencilla de calcular mediante la aplicación práctica del modelo desarrollado, y ello tanto para estudiantes como para profesionales del sector de la construcción. Como se contiene y justifica en el presente trabajo, la aplicación práctica del modelo para el cálculo de costes en las fases preliminares del proyecto, es rápida y certera, siendo de sencilla aplicación tanto en vivienda unifamiliar (aisladas y pareadas), como en viviendas colectivas (bloques y manzanas). También, el modelo es de aplicación en el ámbito de la valoración inmobiliaria, tasaciones, análisis de viabilidad económica de promociones inmobiliarias, estimación de costes de obras terminadas y en general, cuando no se dispone del proyecto de ejecución y sea preciso calcular los costes de construcción de las obras proyectadas. Además, el modelo puede ser de aplicación para el chequeo de presupuestos calculados por el método analítico tradicional (estado de mediciones pormenorizadas por sus precios unitarios y costes descompuestos), tanto en obras de iniciativa privada como en obras promovidas por las Administraciones Públicas. Por último, como líneas abiertas a futuras investigaciones, el modelo de “predimensionado costes de referencia 5 niveles de cálculo”, se podría adaptar y aplicar para otros usos y tipologías diferentes a la residencial, como edificios de equipamientos y dotaciones públicas, valoración de edificios históricos, obras de urbanización interior y exterior de parcela, proyectos de parques y jardines, etc….. Estas lineas de investigación suponen trabajos paralelos al aquí desarrollado, y que a modo de avance parcial se recogen en las comunicaciones presentadas en los Congresos internacionales Scieconf/Junio 2013, Rics‐Cobra/Septiembre 2013 y en el IV Congreso nacional de patología en la edificación‐Ucam/Abril 2014. ABSTRACT The aim of this research is to develop a fast, efficient and accurate calculation model to estimate the final costs of construction, during the preliminary stages of the architectural project. It is a tool to be used during the preliminary study process, drafting and basic project. It is not therefore necessary to have the exact, graphic definition of the project in order to be able to calculate the cost‐scaling. It is assumed that no deviation 10% higher than the final cost of the projected work will occur during the implementation. To that purpose five levels of cost estimation are formulated in the scaling model, from a lower to a higher conceptual and graphic definition of the architectural project. The five calculation levels are: two that take as point of reference the ”exogenous” values of house sales (initial development and basic development), and three based on calculation of endogenous costs (preliminary study, drafting and basic project). The first ”exogenous” estimation level (level.1) is calculated over the market valuation of real estate development and the proportion the cost of land has over the value of the houses. The fifth level of valuation, also an ”exogenous” one (level.5) is calculated from the contrast between the basic external market value, the construction costs, and the estimated development costs of the projected work. This contrast between the ”repercussions of construction costs” and the market value is an innovation regarding the existing cost‐scaling models, as a methodological process of extrinsic verification and validation, of the accuracy and validity of the estimations obtained from the implementation of the model, which is called Pcr.5n (reference cost‐scaling with .5calculation levels according to the stage of project definition/ architectural conceptualization) The other three levels of “endogenous” construction cost‐scaling are estimated from internal analytical calculations by project units and synthetic calculations by construction systems and functional spaces. This is performed during the initial stages of the project corresponding to preliminary study process (level.2), drafting (level.3) and basic project (level.4). These theoretical internal calculations are finally evaluated and validated via implementation of the model in residential buildings, whose real costs on final payment of the works are known. As the level of definition and development of the project evolves, from preliminary study to basic project, the calculation improves in its level of efficiency and estimation accuracy, following the applied methodology: [successive approximations at finite intervals]. The basic hypothesis as above has been made, achieving a maximum deviation of one tenth, in the estimated calculation of the true cost of predimensioning work. The cost calculation for material execution of the works is developed from functional “three‐dimensional” cubic parameters for the planned space and constructive “two dimensional” metric parameters for the surface that envelopes around the facade and the building’s footprint on the plot. The functional and building costs are analyzed at every stage of the process of calculation with “thematic/specific” parameters of management (Pg), project (Pp) and execution (Pe) of the estimated work in question, and finally the cost of contractual construction is estimated, as a consequence of increasing the cost of material execution with the percentage pertaining to the thematic/specific parameter of the projected work. The construction cost‐scaling Pcr.5n model will be a useful tool of great interest in the professional field to estimate the cost of the Basic Project as prescribed in the technical and legal framework of application. According to the appendix of the Technical Building Code (CTE), it is compulsory that the basic project contains an “approximate valuation of the material execution of the work, projected by chapters”, that is, that the basic project must contain at least an “approximate estimate” by chapter, trade or technology. This approximate estimate in the Basic Project is to be performed through the cost‐scaling technique, given that structural calculations, reconditioning plans and definitive contruction details of the envelope are still not available at this stage of the architectural project, insofar as specifications pertaining to the later project have not yet been developed. This approximate estimate of the cost of the works is easy to calculate through the implementation of the given model, both for students and professionals of the building sector. As explained and justified in this work, the implementation of the model for cost‐scaling during the preliminary stage is fast and accurate, as well as easy to apply both in single‐family houses (detached and semi‐detached) and collective housing (blocks). The model can also be applied in the field of the real‐estate valuation, official appraisal, analysis of the economic viability of real estate developments, estimate of the cost of finished projects and, generally, when an implementation project is not available and it is necessary to calculate the building costs of the projected works. The model can also be applied to check estimates calculated by the traditional analytical method (state of measurements broken down into price per unit cost details), both in private works and those promoted by Public Authorities. Finally, as potential lines for future research, the “five levels of calculation cost‐scaling model”, could be adapted and applied to purposes and typologies other than the residential one, such as service buildings and public facilities, valuation of historical buildings, interior and exterior development works, park and garden planning, etc… These lines of investigation are parallel to this one and, by way of a preview, can be found in the dissertations given in the International Congresses Scieconf/June 2013, Rics‐Cobra/September 2013 and in the IV Congress on building pathology ‐Ucam/April 2014.

Infrastructure and Workflow for the Formal Evaluation of Semantic Search Technologies

This paper describes an infrastructure for the automated evaluation of semantic technologies and, in particular, semantic search technologies. For this purpose, we present an evaluation framework which follows a service-oriented approach for evaluating semantic technologies and uses the Business Process Execution Language (BPEL) to define evaluation workflows that can be executed by process engines. This framework supports a variety of evaluations, from different semantic areas, including search, and is extendible to new evaluations. We show how BPEL addresses this diversity as well as how it is used to solve specific challenges such as heterogeneity, error handling and reuse

CMOS integration of AlN based piezoelectric microcantilevers

El gran crecimiento de los sistemas MEMS (Micro Electro Mechanical Systems) así como su presencia en la mayoría de los dispositivos que usamos diariamente despertó nuestro interés. Paralelamente, la tecnología CMOS (Complementary Metal Oxide Semiconductor) es la tecnología más utilizada para la fabricación de circuitos integrados. Además de ventajas relacionadas con el funcionamiento electrónico del dispositivo final, la integración de sistemas MEMS en la tecnología CMOS reduce significantemente los costes de fabricación. Algunos de los dispositivos MEMS con mayor variedad de aplicaciones son los microflejes. Estos dispositivos pueden ser utilizados para la extracción de energía, en microscopios de fuerza atómica o en sensores, como por ejemplo, para biodetección. Los materiales piezoeléctricos más comúnmente utilizados en aplicaciones MEMS se sintetizan a altas temperaturas y por lo tanto no son compatibles con la tecnología CMOS. En nuestro caso hemos usado nitruro de alumino (AlN), que se deposita a temperatura ambiente y es compatible con la tecnología CMOS. Además, es biocompatible, y por tanto podría formar parte de un dispositivo que actúe como biosensor. A lo largo de esta tesis hemos prestado especial atención en desarrollar un proceso de fabricación rápido, reproducible y de bajo coste. Para ello, todos los pasos de fabricación han sido minuciosamente optimizados. Los parámetros de sputtering para depositar el AlN, las distintas técnicas y recetas de ataque, los materiales que actúan como electrodos o las capas sacrificiales para liberar los flejes son algunos de los factores clave estudiados en este trabajo. Una vez que la fabricación de los microflejes de AlN ha sido optimizada, fueron medidos para caracterizar sus propiedades piezoeléctricas y finalmente verificar positivamente su viabilidad como dispositivos piezoeléctricos. ABSTRACT The huge growth of MEMS (Micro Electro Mechanical Systems) as well as their presence in most of our daily used devices aroused our interest on them. At the same time, CMOS (Complementary Metal Oxide Semiconductor) technology is the most popular technology for integrated circuits. In addition to advantages related with the electronics operation of the final device, the integration of MEMS with CMOS technology reduces the manufacturing costs significantly. Some of the MEMS devices with a wider variety of applications are the microcantilevers. These devices can be used for energy harvesting, in an atomic force microscopes or as sensors, as for example, for biodetection. Most of the piezoelectric materials used for these MEMS applications are synthesized at high temperature and consequently are not compatible with CMOS technology. In our case we have used aluminum nitride (AlN), which is deposited at room temperature and hence fully compatible with CMOS technology. Otherwise, it is biocompatible and and can be used to compose a biosensing device. During this thesis work we have specially focused our attention in developing a high throughput, reproducible and low cost fabrication process. All the manufacturing process steps of have been thoroughly optimized in order to achieve this goal. Sputtering parameters to synthesize AlN, different techniques and etching recipes, electrode material and sacrificial layers are some of the key factors studied in this work to develop the manufacturing process. Once the AlN microcantilevers fabrication was optimized, they were measured to characterize their piezoelectric properties and to successfully check their viability as piezoelectric devices.

Towards data-aware cost-driven adaptation for service orchestrations.

Several activities in service oriented computing, such as automatic composition, monitoring, and adaptation, can benefit from knowing properties of a given service composition before executing them. Among these properties we will focus on those related to execution cost and resource usage, in a wide sense, as they can be linked to QoS characteristics. In order to attain more accuracy, we formulate execution costs / resource usage as functions on input data (or appropriate abstractions thereof) and show how these functions can be used to make better, more informed decisions when performing composition, adaptation, and proactive monitoring. We present an approach to, on one hand, synthesizing these functions in an automatic fashion from the definition of the different orchestrations taking part in a system and, on the other hand, to effectively using them to reduce the overall costs of non-trivial service-based systems featuring sensitivity to data and possibility of failure. We validate our approach by means of simulations of scenarios needing runtime selection of services and adaptation due to service failure. A number of rebinding strategies, including the use of cost functions, are compared.

Bioremediation of oil spills

Due to the increasing demand of petroleum everywhere, and the great amount of spills, accidents and disasters, there is an urgent need to find an effective, non-cost and harmless method to clean up the affected areas. There are microorganisms in nature (bacteria and fungi, mainly) that feed on hydrocarbons and transform them into others harmless chemical substances. These bacteria produce enzymes that degrade oil very effectively. This natural process can be accelerated by adding more bacteria or providing nutrients and oxygen to facilitate their growth, which is called ―bioaugmentation and biostimulation. Through this project we discover that these processes can be affected by different factors making difficult the biodegradation execution and opening a gap between the laboratory experiments and the real cases. Therefore, there is much remain to be done and a lot of study ahead to make this technique available in a great scale.

Cost and energy efficient reconfigurable embedded platform using Spartan-6 FPGAs

Modern FPGAs with run-time reconfiguration allow the implementation of complex systems offering both the flexibility of software-based solutions combined with the performance of hardware. This combination of characteristics, together with the development of new specific methodologies, make feasible to reach new points of the system design space, and make embedded systems built on these platforms acquire more and more importance. However, the practical exploitation of this technique in fields that traditionally have relied on resource restricted embedded systems, is mainly limited by strict power consumption requirements, the cost and the high dependence of DPR techniques with the specific features of the device technology underneath. In this work, we tackle the previously reported problems, designing a reconfigurable platform based on the low-cost and low-power consuming Spartan-6 FPGA family. The full process to develop the platform will be detailed in the paper from scratch. In addition, the implementation of the reconfiguration mechanism, including two profiles, is reported. The first profile is a low-area and low-speed reconfiguration engine based mainly on software functions running on the embedded processor, while the other one is a hardware version of the same engine, implemented in the FPGA logic. This reconfiguration hardware block has been originally designed to the Virtex-5 family, and its porting process will be also described in this work, facing the interoperability problem among different families.

Considerations in Determining the Cost of Measurement Uncertainty Associated with Dimensional Tolerances Verification

The verification of compliance with a design specification in manufacturing requires the use of metrological instruments to check if the magnitude associated with the design specification is or not according with tolerance range. Such instrumentation and their use during the measurement process, has associated an uncertainty of measurement whose value must be related to the value of tolerance tested. Most papers dealing jointly tolerance and measurement uncertainties are mainly focused on the establishment of a relationship uncertainty-tolerance without paying much attention to the impact from the standpoint of process cost. This paper analyzes the cost-measurement uncertainty, considering uncertainty as a productive factor in the process outcome. This is done starting from a cost-tolerance model associated with the process. By means of this model the existence of a measurement uncertainty is calculated in quantitative terms of cost and its impact on the process is analyzed.

Towards execution time estimation in abstract machine-based languages

Abstract machines provide a certain separation between platformdependent and platform-independent concerns in compilation. Many of the differences between architectures are encapsulated in the speciflc abstract machine implementation and the bytecode is left largely architecture independent. Taking advantage of this fact, we present a framework for estimating upper and lower bounds on the execution times of logic programs running on a bytecode-based abstract machine. Our approach includes a one-time, programindependent proflling stage which calculates constants or functions bounding the execution time of each abstract machine instruction. Then, a compile-time cost estimation phase, using the instruction timing information, infers expressions giving platform-dependent upper and lower bounds on actual execution time as functions of input data sizes for each program. Working at the abstract machine level makes it possible to take into account low-level issues in new architectures and platforms by just reexecuting the calibration stage instead of having to tailor the analysis for each architecture and platform. Applications of such predicted execution times include debugging/veriflcation of time properties, certiflcation of time properties in mobile code, granularity control in parallel/distributed computing, and resource-oriented specialization.

Combining static analysis and profiling for estimating execution times

Effective static analyses have been proposed which infer bounds on the number of resolutions. These have the advantage of being independent from the platform on which the programs are executed and have been shown to be useful in a number of applications, such as granularity control in parallel execution. On the other hand, in distributed computation scenarios where platforms with different capabilities come into play, it is necessary to express costs in metrics that include the characteristics of the platform. In particular, it is specially interesting to be able to infer upper and lower bounds on actual execution times. With this objective in mind, we propose an approach which combines compile-time analysis for cost bounds with a one-time profiling of a given platform in order to determine the valúes of certain parameters for that platform. These parameters calibrate a cost model which, from then on, is able to compute statically time bound functions for procedures and to predict with a significant degree of accuracy the execution times of such procedures in that concrete platform. The approach has been implemented and integrated in the CiaoPP system.

Using combined static analysis and profiling for logic program execution time estimation

Predicting statically the running time of programs has many applications ranging from task scheduling in parallel execution to proving the ability of a program to meet strict time constraints. A starting point in order to attack this problem is to infer the computational complexity of such programs (or fragments thereof). This is one of the reasons why the development of static analysis techniques for inferring cost-related properties of programs (usually upper and/or lower bounds of actual costs) has received considerable attention.

Lower bound cost estimation for logic programs

It is generally recognized that information about the runtime cost of computations can be useful for a variety of applications, including program transformation, granularity control during parallel execution, and query optimization in deductive databases. Most of the work to date on compile-time cost estimation of logic programs has focused on the estimation of upper bounds on costs. However, in many applications, such as parallel implementations on distributed-memory machines, one would prefer to work with lower bounds instead. The problem with estimating lower bounds is that in general, it is necessary to account for the possibility of failure of head unification, leading to a trivial lower bound of 0. In this paper, we show how, given type and mode information about procedures in a logic program, it is possible to (semi-automatically) derive nontrivial lower bounds on their computational costs. We also discuss the cost analysis for the special and frequent case of divide-and-conquer programs and show how —as a pragmatic short-term solution —it may be possible to obtain useful results simply by identifying and treating divide-and-conquer programs specially.

B-LOG: A branch and bound methodology for the parallel execution of logic programs

We propose a computational methodology -"B-LOG"-, which offers the potential for an effective implementation of Logic Programming in a parallel computer. We also propose a weighting scheme to guide the search process through the graph and we apply the concepts of parallel "branch and bound" algorithms in order to perform a "best-first" search using an information theoretic bound. The concept of "session" is used to speed up the search process in a succession of similar queries. Within a session, we strongly modify the bounds in a local database, while bounds kept in a global database are weakly modified to provide a better initial condition for other sessions. We also propose an implementation scheme based on a database machine using "semantic paging", and the "B-LOG processor" based on a scoreboard driven controller.

A program transformation for continuation call-based tabled execution

The advantages of tabled evaluation regarding program termination and reduction of complexity are well known —as are the significant implementation, portability, and maintenance efforts that some proposals (especially those based on suspensión) require. This implementation effort is reduced by program transformation-based continuation cali techniques, at some eñrciency cost. However, the traditional formulation of this proposal by Ramesh and Cheng limits the interleaving of tabled and non-tabled predicates and thus cannot be used as-is for arbitrary programs. In this paper we present a complete translation for the continuation cali technique which, using the runtime support needed for the traditional proposal, solves these problems and makes it possible to execute arbitrary tabled programs. We present performance results which show that CCall offers a useful tradeoff that can be competitive with state-of-the-art implementations.

Towards execution time estimation for logic programs via static analysis and profiling

Effective static analyses have been proposed which infer bounds on the number of resolutions or reductions. These have the advantage of being independent from the platform on which the programs are executed and have been shown to be useful in a number of applications, such as granularity control in parallel execution. On the other hand, in distributed computation scenarios where platforms with different capabilities come into play, it is necessary to express costs in metrics that include the characteristics of the platform. In particular, it is specially interesting to be able to infer upper and lower bounds on actual execution times. With this objective in mind, we propose an approach which combines compile-time analysis for cost bounds with a one-time profiling of the platform in order to determine the valúes of certain parameters for a given platform. These parameters calíbrate a cost model which, from then on, is able to compute statically time bound functions for procedures and to predict with a significant degree of accuracy the execution times of such procedures in the given platform. The approach has been implemented and integrated in the CiaoPP system.