DielmoOpenLidar: control de calidad de datos LIDAR y generación de productos finales

Desde hace más de 5 años DIELMO 3D S.L. ha estado trabajando en el desarrollo de software para el procesado de datos LiDAR, usándolo internamente para la producción de Modelos Digitales del Terreno (MDT) en numerosos proyectos. Finalmente, con la ayuda de la CIT hemos decidido tomar la iniciativa de crear un nuevo software libre basado en gvSIG para el manejo de datos LiDAR. En primer lugar haremos una introducción a la tecnología LiDAR, comentando los fundamentos básicos, los datos originales que se obtienen después de un vuelo y las aplicaciones o productos finales que se pueden generar a partir de la tecnología LiDAR. Una vez familiarizados con este tipo de datos, mostraremos el uso del driver desarrollado por DIELMO para el acceso, visualización y análisis de datos LiDAR originales en formato LAS y BIN para grandes volúmenes de datos. Por último comentaremos las herramientas que se están desarrollando para realizar controles de calidad a los datos originales y generar diferentes productos finales a partir de los datos originales: Modelo Digital del Terreno (MDT), Modelo Digital de Superficie (MDS) e imagen de intensidades

Admission Control for TCP Flows Using Packet Classes and Edge-to-edge Measurements of Aggregates

TCP flows from applications such as the web or ftp are well supported by a Guaranteed Minimum Throughput Service (GMTS), which provides a minimum network throughput to the flow and, if possible, an extra throughput. We propose a scheme for a GMTS using Admission Control (AC) that is able to provide different minimum throughput to different users and that is suitable for "standard" TCP flows. Moreover, we consider a multidomain scenario where the scheme is used in one of the domains, and we propose some mechanisms for the interconnection with neighbor domains. The whole scheme uses a small set of packet classes in a core-stateless network where each class has a different discarding priority in queues assigned to it. The AC method involves only edge nodes and uses a special probing packet flow (marked as the highest discarding priority class) that is sent continuously from ingress to egress through a path. The available throughput in the path is obtained at the egress using measurements of flow aggregates, and then it is sent back to the ingress. At the ingress each flow is detected using an implicit way and then it is admission controlled. If it is accepted, it receives the GMTS and its packets are marked as the lowest discarding priority classes; otherwise, it receives a best-effort service. The scheme is evaluated through simulation in a simple "bottleneck" topology using different traffic loads consisting of "standard" TCP flows that carry files of varying sizes

Admission control schemes for TCP elastic traffic in class-based networks

En aquesta tesi proposem dos esquemes de xarxa amb control d'admissió per al trànsit elàstic TCP amb mecanismes senzills. Ambdós esquemes són capaços de proporcionar throughputs diferents i aïllament entre fluxos, on un "flux" es defineix com una seqüència de paquets relacionats dins d'una connexió TCP. Quant a l'arquitectura, ambdós fan servir classes de paquets amb diferents prioritats de descart, i un control d'admissió implícit, edge-to-edge i basat en mesures. En el primer esquema, les mesures són per flux, mentre que en el segon, les mesures són per agregat. El primer esquema aconsegueix un bon rendiment fent servir una modificació especial de les fonts TCP, mentre que el segon aconsegueix un bon rendiment amb fonts TCP estàndard. Ambdós esquemes han estat avaluats satisfactòriament a través de simulació en diferents topologies de xarxa i càrregues de trànsit.

Operation and control of SBR processes for enhanced biological nutrient removal from wastewater

In the last decades, the awareness of environmental issues has increased in society considerably. There is an increasing need to improve the effluent quality of domestic wastewater treatment processes. This thesis describes the application of the Sequencing Batch Reactor (SBR) technology for Biological Nutrient Removal (BNR) from the wastewater. In particular, the work presented evolves from the nitrogen removal to the biological nutrient removal (i.e. nitrogen plus phosphorous removal) with special attention to the operational strategy design, the identification of possible reactor cycle controls or the influent composition related to the process efficiency. In such sense, also the use of ethanol as an external carbon (when low influent Carbon:Phosphorus (C:P) or Carbon:Nitrogen (C:N) ratios are presented) are studied as an alternative to maintain the BNR efficiency.

SBR technology for wastewater treatment: suitable operational conditions for a nutrient removal

Actualment, la legislació ambiental ha esdevingut més restrictiva pel que fa a la descàrrega d'aigües residuals amb nutrients, especialment en les anomenades àrees sensibles o zones vulnerables. Arran d'aquest fet, s'ha estimulat el coneixement, desenvolupament i millora dels processos d'eliminació de nutrients. El Reactor Discontinu Seqüencial (RDS) o Sequencing Batch Reactor (SBR) en anglès, és un sistema de tractament de fangs actius que opera mitjançant un procediment d'omplerta-buidat. En aquest tipus de reactors, l'aigua residual és addicionada en un sol reactor que treballa per càrregues repetint un cicle (seqüència) al llarg del temps. Una de les característiques dels SBR és que totes les diferents operacions (omplerta, reacció, sedimentació i buidat) es donen en un mateix reactor. La tecnologia SBR no és nova d'ara. El fet, és que va aparèixer abans que els sistema de tractament continu de fangs actius. El precursor dels SBR va ser un sistema d'omplerta-buidat que operava en discontinu. Entre els anys 1914 i 1920, varen sorgir certes dificultats moltes d'elles a nivell d'operació (vàlvules, canvis el cabal d'un reactor a un altre, elevat temps d'atenció per l'operari...) per aquests reactors. Però no va ser fins a finals de la dècada dels '50 principis del '60, amb el desenvolupament de nous equipaments i noves tecnologies, quan va tornar a ressorgir l'interès pels SBRs. Importants millores en el camp del subministrament d'aire (vàlvules motoritzades o d'acció pneumàtica) i en el de control (sondes de nivell, mesuradors de cabal, temporitzadors automàtics, microprocessadors) han permès que avui en dia els SBRs competeixin amb els sistemes convencional de fangs actius. L'objectiu de la present tesi és la identificació de les condicions d'operació adequades per un cicle segons el tipus d'aigua residual a l'entrada, les necessitats del tractament i la qualitat desitjada de la sortida utilitzant la tecnologia SBR. Aquestes tres característiques, l'aigua a tractar, les necessitats del tractament i la qualitat final desitjada determinen en gran mesura el tractament a realitzar. Així doncs, per tal d'adequar el tractament a cada tipus d'aigua residual i les seves necessitats, han estat estudiats diferents estratègies d'alimentació. El seguiment del procés es realitza mitjançant mesures on-line de pH, OD i RedOx, els canvis de les quals donen informació sobre l'estat del procés. Alhora un altre paràmetre que es pot calcular a partir de l'oxigen dissolt és la OUR que és una dada complementària als paràmetres esmentats. S'han avaluat les condicions d'operació per eliminar nitrogen d'una aigua residual sintètica utilitzant una estratègia d'alimentació esglaonada, a través de l'estudi de l'efecte del nombre d'alimentacions, la definició de la llargada i el número de fases per cicle, i la identificació dels punts crítics seguint les sondes de pH, OD i RedOx. S'ha aplicat l'estratègia d'alimentació esglaonada a dues aigües residuals diferents: una procedent d'una indústria tèxtil i l'altra, dels lixiviats d'un abocador. En ambdues aigües residuals es va estudiar l'eficiència del procés a partir de les condicions d'operació i de la velocitat del consum d'oxigen. Mentre que en l'aigua residual tèxtil el principal objectiu era eliminar matèria orgànica, en l'aigua procedent dels lixiviats d'abocador era eliminar matèria orgànica i nitrogen. S'han avaluat les condicions d'operació per eliminar nitrogen i fòsfor d'una aigua residual urbana utilitzant una estratègia d'alimentació esglaonada, a través de la definició del número i la llargada de les fases per cicle, i la identificació dels punts crítics seguint les sondes de pH, OD i RedOx. S'ha analitzat la influència del pH i la font de carboni per tal d'eliminar fòsfor d'una aigua sintètica a partir de l'estudi de l'increment de pH a dos reactors amb diferents fonts de carboni i l'estudi de l'efecte de canviar la font de carboni. Tal i com es pot veure al llarg de la tesi, on s'han tractat diferents aigües residuals per a diferents necessitats, un dels avantatges més importants d'un SBR és la seva flexibilitat.

Modelling, control and supervision for a class of hybrid systems

The aim of this thesis is to narrow the gap between two different control techniques: the continuous control and the discrete event control techniques DES. This gap can be reduced by the study of Hybrid systems, and by interpreting as Hybrid systems the majority of large-scale systems. In particular, when looking deeply into a process, it is often possible to identify interaction between discrete and continuous signals. Hybrid systems are systems that have both continuous, and discrete signals. Continuous signals are generally supposed continuous and differentiable in time, since discrete signals are neither continuous nor differentiable in time due to their abrupt changes in time. Continuous signals often represent the measure of natural physical magnitudes such as temperature, pressure etc. The discrete signals are normally artificial signals, operated by human artefacts as current, voltage, light etc. Typical processes modelled as Hybrid systems are production systems, chemical process, or continuos production when time and continuous measures interacts with the transport, and stock inventory system. Complex systems as manufacturing lines are hybrid in a global sense. They can be decomposed into several subsystems, and their links. Another motivation for the study of Hybrid systems is the tools developed by other research domains. These tools benefit from the use of temporal logic for the analysis of several properties of Hybrid systems model, and use it to design systems and controllers, which satisfies physical or imposed restrictions. This thesis is focused in particular types of systems with discrete and continuous signals in interaction. That can be modelled hard non-linealities, such as hysteresis, jumps in the state, limit cycles, etc. and their possible non-deterministic future behaviour expressed by an interpretable model description. The Hybrid systems treated in this work are systems with several discrete states, always less than thirty states (it can arrive to NP hard problem), and continuous dynamics evolving with expression: with Ki ¡ Rn constant vectors or matrices for X components vector. In several states the continuous evolution can be several of them Ki = 0. In this formulation, the mathematics can express Time invariant linear system. By the use of this expression for a local part, the combination of several local linear models is possible to represent non-linear systems. And with the interaction with discrete events of the system the model can compose non-linear Hybrid systems. Especially multistage processes with high continuous dynamics are well represented by the proposed methodology. Sate vectors with more than two components, as third order models or higher is well approximated by the proposed approximation. Flexible belt transmission, chemical reactions with initial start-up and mobile robots with important friction are several physical systems, which profits from the benefits of proposed methodology (accuracy). The motivation of this thesis is to obtain a solution that can control and drive the Hybrid systems from the origin or starting point to the goal. How to obtain this solution, and which is the best solution in terms of one cost function subject to the physical restrictions and control actions is analysed. Hybrid systems that have several possible states, different ways to drive the system to the goal and different continuous control signals are problems that motivate this research. The requirements of the system on which we work is: a model that can represent the behaviour of the non-linear systems, and that possibilities the prediction of possible future behaviour for the model, in order to apply an supervisor which decides the optimal and secure action to drive the system toward the goal. Specific problems can be determined by the use of this kind of hybrid models are: - The unity of order. - Control the system along a reachable path. - Control the system in a safe path. - Optimise the cost function. - Modularity of control The proposed model solves the specified problems in the switching models problem, the initial condition calculus and the unity of the order models. Continuous and discrete phenomena are represented in Linear hybrid models, defined with defined eighth-tuple parameters to model different types of hybrid phenomena. Applying a transformation over the state vector : for LTI system we obtain from a two-dimensional SS a single parameter, alpha, which still maintains the dynamical information. Combining this parameter with the system output, a complete description of the system is obtained in a form of a graph in polar representation. Using Tagaki-Sugeno type III is a fuzzy model which include linear time invariant LTI models for each local model, the fuzzyfication of different LTI local model gives as a result a non-linear time invariant model. In our case the output and the alpha measure govern the membership function. Hybrid systems control is a huge task, the processes need to be guided from the Starting point to the desired End point, passing a through of different specific states and points in the trajectory. The system can be structured in different levels of abstraction and the control in three layers for the Hybrid systems from planning the process to produce the actions, these are the planning, the process and control layer. In this case the algorithms will be applied to robotics ¡V a domain where improvements are well accepted ¡V it is expected to find a simple repetitive processes for which the extra effort in complexity can be compensated by some cost reductions. It may be also interesting to implement some control optimisation to processes such as fuel injection, DC-DC converters etc. In order to apply the RW theory of discrete event systems on a Hybrid system, we must abstract the continuous signals and to project the events generated for these signals, to obtain new sets of observable and controllable events. Ramadge & Wonham¡¦s theory along with the TCT software give a Controllable Sublanguage of the legal language generated for a Discrete Event System (DES). Continuous abstraction transforms predicates over continuous variables into controllable or uncontrollable events, and modifies the set of uncontrollable, controllable observable and unobservable events. Continuous signals produce into the system virtual events, when this crosses the bound limits. If this event is deterministic, they can be projected. It is necessary to determine the controllability of this event, in order to assign this to the corresponding set, , controllable, uncontrollable, observable and unobservable set of events. Find optimal trajectories in order to minimise some cost function is the goal of the modelling procedure. Mathematical model for the system allows the user to apply mathematical techniques over this expression. These possibilities are, to minimise a specific cost function, to obtain optimal controllers and to approximate a specific trajectory. The combination of the Dynamic Programming with Bellman Principle of optimality, give us the procedure to solve the minimum time trajectory for Hybrid systems. The problem is greater when there exists interaction between adjacent states. In Hybrid systems the problem is to determine the partial set points to be applied at the local models. Optimal controller can be implemented in each local model in order to assure the minimisation of the local costs. The solution of this problem needs to give us the trajectory to follow the system. Trajectory marked by a set of set points to force the system to passing over them. Several ways are possible to drive the system from the Starting point Xi to the End point Xf. Different ways are interesting in: dynamic sense, minimum states, approximation at set points, etc. These ways need to be safe and viable and RchW. And only one of them must to be applied, normally the best, which minimises the proposed cost function. A Reachable Way, this means the controllable way and safe, will be evaluated in order to obtain which one minimises the cost function. Contribution of this work is a complete framework to work with the majority Hybrid systems, the procedures to model, control and supervise are defined and explained and its use is demonstrated. Also explained is the procedure to model the systems to be analysed for automatic verification. Great improvements were obtained by using this methodology in comparison to using other piecewise linear approximations. It is demonstrated in particular cases this methodology can provide best approximation. The most important contribution of this work, is the Alpha approximation for non-linear systems with high dynamics While this kind of process is not typical, but in this case the Alpha approximation is the best linear approximation to use, and give a compact representation.