Logic-Based Outer Approximation for the Design of Discrete-Continuous Dynamic Systems with Implicit Discontinuities

We address the optimization of discrete-continuous dynamic optimization problems using a disjunctive multistage modeling framework, with implicit discontinuities, which increases the problem complexity since the number of continuous phases and discrete events is not known a-priori. After setting a fixed alternative sequence of modes, we convert the infinite-dimensional continuous mixed-logic dynamic (MLDO) problem into a finite dimensional discretized GDP problem by orthogonal collocation on finite elements. We use the Logic-based Outer Approximation algorithm to fully exploit the structure of the GDP representation of the problem. This modelling framework is illustrated with an optimization problem with implicit discontinuities (diver problem).

Voronoi cells via linear inequality systems

The theory and methods of linear algebra are a useful alternative to those of convex geometry in the framework of Voronoi cells and diagrams, which constitute basic tools of computational geometry. As shown by Voigt and Weis in 2010, the Voronoi cells of a given set of sites T, which provide a tesselation of the space called Voronoi diagram when T is finite, are solution sets of linear inequality systems indexed by T. This paper exploits systematically this fact in order to obtain geometrical information on Voronoi cells from sets associated with T (convex and conical hulls, tangent cones and the characteristic cones of their linear representations). The particular cases of T being a curve, a closed convex set and a discrete set are analyzed in detail. We also include conclusions on Voronoi diagrams of arbitrary sets.

Selective SWIFT-R. A Flexible Software-Based Technique for Soft Error Mitigation in Low-Cost Embedded Systems

Commercial off-the-shelf microprocessors are the core of low-cost embedded systems due to their programmability and cost-effectiveness. Recent advances in electronic technologies have allowed remarkable improvements in their performance. However, they have also made microprocessors more susceptible to transient faults induced by radiation. These non-destructive events (soft errors), may cause a microprocessor to produce a wrong computation result or lose control of a system with catastrophic consequences. Therefore, soft error mitigation has become a compulsory requirement for an increasing number of applications, which operate from the space to the ground level. In this context, this paper uses the concept of selective hardening, which is aimed to design reduced-overhead and flexible mitigation techniques. Following this concept, a novel flexible version of the software-based fault recovery technique known as SWIFT-R is proposed. Our approach makes possible to select different registers subsets from the microprocessor register file to be protected on software. Thus, design space is enriched with a wide spectrum of new partially protected versions, which offer more flexibility to designers. This permits to find the best trade-offs between performance, code size, and fault coverage. Three case studies have been developed to show the applicability and flexibility of the proposal.

Active Visual Features Based on Events to Guide Robot Manipulators in Tracking Tasks

Traditional visual servoing systems do not deal with the topic of moving objects tracking. When these systems are employed to track a moving object, depending on the object velocity, visual features can go out of the image, causing the fail of the tracking task. This occurs specially when the object and the robot are both stopped and then the object starts the movement. In this work, we have employed a retina camera based on Address Event Representation (AER) in order to use events as input in the visual servoing system. The events launched by the camera indicate a pixel movement. Event visual information is processed only at the moment it occurs, reducing the response time of visual servoing systems when they are used to track moving objects.

Geodynamic events reconstructed in the Betic, Maghrebian, and Apennine chains (central-western Tethys)

A synthetic study has been made to identify main tectono-sedimentary and geodynamic events in central-western Tethys. For this, an interdisciplinary analysis has been performed on successions belonging to tectonic units derived from Betic-Maghrebian-southern Apennine “Flysch basin” domain. The stratigraphic records of the internal, external, and mixed successions deposited in lateral basins of different chains show very similar characters, especially regarding: (a) lithostratigraphy and ages; (b) kind and provenance of supplies (immature and supermature petrofacies from internal and external margins, respectively); (c) presence of “mixed successions” (composed of alternating internal and external petrofacies) attesting to clear palaeogeographic relationships between opposite depositional systems; and (d) timing of the deformation. In addition, specific lithofacies reveal correspondence with similar sedimentary events, such as: (1) very thick silicoclastic supply concentrated in restricted time ranges indicating the main deformational phases in the margin/basin systems; (2) levels rich in black-shales, glauconian, siliceous-producers, and volcaniclastic intercalations, widespread in the studied successions and linked to particular events at the Tethyan scale (anoxic periods, starvation-upwelling, acid-intermediate penecontemporaneous volcanic activity, respectively). Tectonic influence has also been recorded by means of unconformities and tectofacies (such as turbidites, slumps, or olisthostromes, etc.), being correlated with the main deformational phases. Similar stratigraphic and tectonic events have also been found in the Calvana unit of Val Marecchia nappe (Ligurides, northern Apennine). Correlations of stratigraphic and tectonic events support the proposal of an evolutionary geodynamic model involving the presence of a “Mesomediterranean microplate” in intermediate position during Africa-Europe convergence. The closure of central-western Tethys occasioned the Betic-Maghrebian-southern Apennine oceanic branch deformation and the birth of perimediterranean chains during middle-late Miocene.