DC MICROGRID STABILIZATION THROUGH FUZZY CONTROL OF INTERLEAVED, HETEROGENEOUS STORAGE ELEMENTS

As microgrid power systems gain prevalence and renewable energy comprises greater and greater portions of distributed generation, energy storage becomes important to offset the higher variance of renewable energy sources and maximize their usefulness. One of the emerging techniques is to utilize a combination of lead-acid batteries and ultracapacitors to provide both short and long-term stabilization to microgrid systems. The different energy and power characteristics of batteries and ultracapacitors imply that they ought to be utilized in different ways. Traditional linear controls can use these energy storage systems to stabilize a power grid, but cannot effect more complex interactions. This research explores a fuzzy logic approach to microgrid stabilization. The ability of a fuzzy logic controller to regulate a dc bus in the presence of source and load fluctuations, in a manner comparable to traditional linear control systems, is explored and demonstrated. Furthermore, the expanded capabilities (such as storage balancing, self-protection, and battery optimization) of a fuzzy logic system over a traditional linear control system are shown. System simulation results are presented and validated through hardware-based experiments. These experiments confirm the capabilities of the fuzzy logic control system to regulate bus voltage, balance storage elements, optimize battery usage, and effect self-protection.

A comparative analysis of hospital -based physician monitoring systems

The purpose of the multiple case-study was to determine how hospital subsystems (such as physician monitoring and credentialing; quality assurance; risk management; and peer review) were supporting the monitoring of physicians? Three large metropolitan hospitals in Texas were studied and designated as hospitals #1, #2, and #3. Realizing that hospital subsystems are a unique entity and part of a larger system, conclusions were made on the premises of a quality control system, in relation to the tools of government (particularly the Health Care Quality Improvement Act (HCQIA)), and in relation to itself as a tool of a hospital.^ Three major analytical assessments were performed. First, the subsystems were analyzed as to their "completeness"; secondly, the subsystems were analyzed for "performance"; and thirdly, the subsystems were analyzed in reference to the interaction of completeness and performance.^ The physician credentialing and monitoring and the peer review subsystems as quality control systems were most complete, efficient, and effective in hospitals #1 and #3. The HCQIA did not seem to be an influencing factor in the completeness of the subsystem in hospital #1. The quality assurance and risk management subsystem in hospital #2 was not representative of completeness and performance and the HCQIA was not an influencing factor in the completeness of the Q.A. or R.M. systems in any hospital. The efficiency (computerization) of the physician credentialing, quality assurance and peer review subsystems in hospitals #1 and #3 seemed to contribute to their effectiveness (system-wide effect).^ The results indicated that the more complete, effective, and efficient subsystems were characterized by (1) all defined activities being met, (2) the HCQIA being an influencing factor, (3) a decentralized administrative structure, (4) computerization an important element, and (5) staff was sophisticated in subsystem operations. However, other variables were identified which deserve further research as to their effect on completeness and performance of subsystems. They include (1) medical staff affiliations, (2) system funding levels, (3) the system's administrative structure, and (4) the physician staff "cultural" characteristics. Perhaps by understanding other influencing factors, health care administrators may plan subsystems that will be compatible with legislative requirements and administrative objectives. ^

Design and Test of a High QoS Radio Network for CBTC Systems in Subway Tunnels

Communications Based Train Control Systems require high quality radio data communications for train signaling and control. Actually most of these systems use 2.4GHz band with proprietary radio transceivers and leaky feeder as distribution system. All them demand a high QoS radio network to improve the efficiency of railway networks. We present narrow band, broad band and data correlated measurements taken in Madrid underground with a transmission system at 2.4 GHz in a test network of 2 km length in subway tunnels. The architecture proposed has a strong overlap in between cells to improve reliability and QoS. The radio planning of the network is carefully described and modeled with narrow band and broadband measurements and statistics. The result is a network with 99.7% of packets transmitted correctly and average propagation delay of 20ms. These results fulfill the specifications QoS of CBTC systems.

Spacecraft thermal control design data

This paper shows the actual state of a compilation work on Thermal Control Design Data being done at Madrid (Lamf-ETSIA) under several ESTEC contracts, introducing a Handbook already issued, its additions and updatings.

Making Transport Safer: V2V-Based Automated Emergency Braking System

An important goal in the field of intelligent transportation systems (ITS) is to provide driving aids aimed at preventing accidents and reducing the number of traffic victims. The commonest traffic accidents in urban areas are due to sudden braking that demands a very fast response on the part of drivers. Attempts to solve this problem have motivated many ITS advances including the detection of the intention of surrounding cars using lasers, radars or cameras. However, this might not be enough to increase safety when there is a danger of collision. Vehicle to vehicle communications are needed to ensure that the other intentions of cars are also available. The article describes the development of a controller to perform an emergency stop via an electro-hydraulic braking system employed on dry asphalt. An original V2V communication scheme based on WiFi cards has been used for broadcasting positioning information to other vehicles. The reliability of the scheme has been theoretically analyzed to estimate its performance when the number of vehicles involved is much higher. This controller has been incorporated into the AUTOPIA program control for automatic cars. The system has been implemented in Citro��n C3 Pluriel, and various tests were performed to evaluate its operation.

Metodolog��as de modelado, monitorizaci��n y asistencia rob��tica en neurorrehabilitaci��n funcional de extremidad superior

La Organizaci��n Mundial de la Salud (OMS) prev�� que para el a��o 2020, el Da��o Cerebral Adquirido (DCA) estar�� entre las 10 causas m��s comunes de discapacidad. Estas lesiones, dadas sus consecuencias f��sicas, sensoriales, cognitivas, emocionales y socioecon��micas, cambian dram��ticamente la vida de los pacientes y sus familias. Las nuevas t��cnicas de intervenci��n precoz y el desarrollo de la medicina intensiva en la atenci��n al DCA han mejorado notablemente la probabilidad de supervivencia. Sin embargo, hoy por hoy, las lesiones cerebrales no tienen ning��n tratamiento quir��rgico que tenga por objetivo restablecer la funcionalidad perdida, sino que las terapias rehabilitadoras se dirigen hacia la compensaci��n de los d��ficits producidos. Uno de los objetivos principales de la neurorrehabilitaci��n es, por tanto, dotar al paciente de la capacidad necesaria para ejecutar las Actividades de Vida Diaria (AVDs) necesarias para desarrollar una vida independiente, siendo fundamentales aquellas en las que la Extremidad Superior (ES) est�� directamente implicada, dada su gran importancia a la hora de la manipulaci��n de objetos. Con la incorporaci��n de nuevas soluciones tecnol��gicas al proceso de neurorrehabilitaci��n se pretende alcanzar un nuevo paradigma centrado en ofrecer una pr��ctica personalizada, monitorizada y ubicua con una valoraci��n continua de la eficacia y de la eficiencia de los procedimientos y con capacidad de generar conocimientos que impulsen la ruptura del paradigma de actual. Los nuevos objetivos consistir��n en minimizar el impacto de las enfermedades que afectan a la capacidad funcional de las personas, disminuir el tiempo de incapacidad y permitir una gesti��n m��s eficiente de los recursos. Estos objetivos cl��nicos, de gran impacto socio-econ��mico, s��lo pueden alcanzarse desde una apuesta decidida en nuevas tecnolog��as, metodolog��as y algoritmos capaces de ocasionar la ruptura tecnol��gica necesaria que permita superar las barreras que hasta el momento han impedido la penetraci��n tecnol��gica en el campo de la rehabilitaci��n de manera universal. De esta forma, los trabajos y resultados alcanzados en la Tesis son los siguientes: 1. Modelado de AVDs: como paso previo a la incorporaci��n de ayudas tecnol��gicas al proceso rehabilitador, se hace necesaria una primera fase de modelado y formalizaci��n del conocimiento asociado a la ejecuci��n de las actividades que se realizan como parte de la terapia. En particular, las tareas m��s complejas y a su vez con mayor repercusi��n terap��utica son las AVDs, cuya formalizaci��n permitir�� disponer de modelos de movimiento sanos que actuar��n de referencia para futuros desarrollos tecnol��gicos dirigidos a personas con DCA. Siguiendo una metodolog��a basada en diagramas de estados UML se han modelado las AVDs 'servir agua de una jarra' y 'coger un botella' 2. Monitorizaci��n ub��cua del movimiento de la ES: se ha dise��ado, desarrollado y validado un sistema de adquisici��n de movimiento basado en tecnolog��a inercial que mejora las limitaciones de los dispositivos comerciales actuales (coste muy elevado e incapacidad para trabajar en entornos no controlados); los altos coeficientes de correlaci��n y los bajos niveles de error obtenidos en los corregistros llevados a cabo con el sistema comercial BTS SMART-D demuestran la alta precisi��n del sistema. Tambi��n se ha realizado un trabajo de investigaci��n exploratorio de un sistema de captura de movimiento de coste muy reducido basado en visi��n estereosc��pica, habi��ndose detectado los puntos clave donde se hace necesario incidir desde un punto de vista tecnol��gico para su incorporaci��n en un entorno real 3. Resoluci��n del Problema Cinem��tico Inverso (PCI): se ha dise��ado, desarrollado y validado una soluci��n al PCI cuando el manipulador se corresponde con una ES humana estudi��ndose 2 posibles alternativas, una basada en la utilizaci��n de un Perceptr��n Multicapa (PMC) y otra basada en sistemas Artificial Neuro-Fuzzy Inference Systems (ANFIS). La validaci��n, llevada a cabo utilizando informaci��n relativa a los modelos disponibles de AVDs, indica que una soluci��n basada en un PMC con 3 neuronas en la capa de entrada, una capa oculta tambi��n de 3 neuronas y una capa de salida con tantas neuronas como Grados de Libertad (GdLs) tenga el modelo de la ES, proporciona resultados, tanto de precisi��n como de tiempo de c��lculo, que la hacen id��nea para trabajar en sistemas con requisitos de tiempo real 4. Control inteligente assisted-as-needed: se ha dise��ado, desarrollado y validado un algoritmo de control assisted-as-needed para una ortesis rob��tica con capacidades de actuaci��n anticipatoria de la que existe un prototipo implementado en la actualidad. Los resultados obtenidos demuestran c��mo el sistema es capaz de adaptarse al perfil disfuncional del paciente activando la ayuda en instantes anteriores a la ocurrencia de movimientos incorrectos. Esta estrategia implica un aumento en la participaci��n del paciente y, por tanto, en su actividad muscular, foment��ndose los procesos la plasticidad cerebral responsables del reaprendizaje o readaptaci��n motora 5. Simuladores rob��ticos para planificaci��n: se propone la utilizaci��n de un simulador rob��tico assisted-as-needed como herramienta de planificaci��n de sesiones de rehabilitaci��n personalizadas y con un objetivo cl��nico marcado en las que interviene una ortesis robotizada. Los resultados obtenidos evidencian como, tras la ejecuci��n de ciertos algoritmos sencillos, es posible seleccionar autom��ticamente una configuraci��n para el algoritmo de control assisted-as-needed que consigue que la ortesis se adapte a los criterios establecidos desde un punto de vista cl��nico en funci��n del paciente estudiado. Estos resultados invitan a profundizar en el desarrollo de algoritmos m��s avanzados de selecci��n de par��metros a partir de bater��as de simulaciones Estos trabajos han servido para corroborar las hip��tesis de investigaci��n planteadas al inicio de la misma, permitiendo, asimismo, la apertura de nuevas l��neas de investigaci��n. Summary The World Health Organization (WHO) predicts that by the year 2020, Acquired Brain Injury (ABI) will be among the ten most common ailments. These injuries dramatically change the life of the patients and their families due to their physical, sensory, cognitive, emotional and socio-economic consequences. New techniques of early intervention and the development of intensive ABI care have noticeably improved the survival rate. However, in spite of these advances, brain injuries still have no surgical or pharmacological treatment to re-establish the lost functions. Neurorehabilitation therapies address this problem by restoring, minimizing or compensating the functional alterations in a person disabled because of a nervous system injury. One of the main objectives of Neurorehabilitation is to provide patients with the capacity to perform specific Activities of the Daily Life (ADL) required for an independent life, especially those in which the Upper Limb (UL) is directly involved due to its great importance in manipulating objects within the patients' environment. The incorporation of new technological aids to the neurorehabilitation process tries to reach a new paradigm focused on offering a personalized, monitored and ubiquitous practise with continuous assessment of both the efficacy and the efficiency of the procedures and with the capacity of generating new knowledge. New targets will be to minimize the impact of the sicknesses affecting the functional capabilitiies of the subjects, to decrease the time of the physical handicap and to allow a more efficient resources handling. These targets, of a great socio-economic impact, can only be achieved by means of new technologies and algorithms able to provoke the technological break needed to beat the barriers that are stopping the universal penetration of the technology in the field of rehabilitation. In this way, this PhD Thesis has achieved the following results: 1. ADL Modeling: as a previous step to the incorporation of technological aids to the neurorehabilitation process, it is necessary a first modelling and formalization phase of the knowledge associated to the execution of the activities that are performed as a part of the therapy. In particular, the most complex and therapeutically relevant tasks are the ADLs, whose formalization will produce healthy motion models to be used as a reference for future technological developments. Following a methodology based on UML state-chart diagrams, the ADLs 'serving water from a jar' and 'picking up a bottle' have been modelled 2. Ubiquitous monitoring of the UL movement: it has been designed, developed and validated a motion acquisition system based on inertial technology that improves the limitations of the current devices (high monetary cost and inability of working within uncontrolled environments); the high correlation coefficients and the low error levels obtained throughout several co-registration sessions with the commercial sys- tem BTS SMART-D show the high precision of the system. Besides an exploration of a very low cost stereoscopic vision-based motion capture system has been carried out and the key points where it is necessary to insist from a technological point of view have been detected 3. Inverse Kinematics (IK) problem solving: a solution to the IK problem has been proposed for a manipulator that corresponds to a human UL. This solution has been faced by means of two different alternatives, one based on a Mulilayer Perceptron (MLP) and another based on Artificial Neuro-Fuzzy Inference Systems (ANFIS). The validation of these solutions, carried out using the information regarding the previously generated motion models, indicate that a MLP-based solution, with an architecture consisting in 3 neurons in the input layer, one hidden layer of 3 neurons and an output layer with as many neurons as the number of Degrees of Freedom (DoFs) that the UL model has, is the one that provides the best results both in terms of precission and in terms of processing time, making in idoneous to be integrated within a system with real time restrictions 4. Assisted-as-needed intelligent control: an assisted-as-needed control algorithm with anticipatory actuation capabilities has been designed, developed and validated for a robotic orthosis of which there is an already implemented prototype. Obtained results demonstrate that the control system is able to adapt to the dysfunctional profile of the patient by triggering the assistance right before an incorrect movement is going to take place. This strategy implies an increase in the participation of the patients and in his or her muscle activity, encouraging the neural plasticity processes in charge of the motor learning 5. Planification with a robotic simulator: in this work a robotic simulator is proposed as a planification tool for personalized rehabilitation sessions under a certain clinical criterium. Obtained results indicate that, after the execution of simple parameter selection algorithms, it is possible to automatically choose a specific configuration that makes the assisted-as-needed control algorithm to adapt both to the clinical criteria and to the patient. These results invite researchers to work in the development of more complex parameter selection algorithms departing from simulation batteries Obtained results have been useful to corroborate the hypotheses set out at the beginning of this PhD Thesis. Besides, they have allowed the creation of new research lines in all the studied application fields.

Cross-entropy optimization for scaling factors of a fuzzy controller: a see-and-avoid approach for unmanned aerial systems

The Cross-Entropy (CE) is an efficient method for the estimation of rare-event probabilities and combinatorial optimization. This work presents a novel approach of the CE for optimization of a Soft-Computing controller. A Fuzzy controller was designed to command an unmanned aerial system (UAS) for avoiding collision task. The only sensor used to accomplish this task was a forward camera. The CE is used to reach a near-optimal controller by modifying the scaling factors of the controller inputs. The optimization was realized using the ROS-Gazebo simulation system. In order to evaluate the optimization a big amount of tests were carried out with a real quadcopter.

A platform for real-time control education with LEGO MINDSTORMS.

A set of software development tools for building real-time control systems on a simple robotics platform is described in the paper. The tools are being used in a real-time systems course as a basis for student projects. The development platform is a low-cost PC running GNU/Linux, and the target system is LEGO MINDSTORMS NXT, thus keeping the cost of the laboratory low. Real-time control software is developed using a mixed paradigm. Functional code for control algorithms is automatically generated in C from Simulink models. This code is then integrated into a concurrent, real-time software architecture based on a set of components written in Ada. This approach enables the students to take advantage of the high-level, model-oriented features that Simulink oers for designing control algorithms, and the comprehensive support for concurrency and real-time constructs provided by Ada.

Experiences on the specification of algorithms for fire and smoke control in road tunnels

The main objective of ventilation systems in case of fire is the reduction of the possible consequences by achieving the best possible conditions for the evacuation of the users and the intervention of the emergency services. The required immediate transition, from normal to emergency functioning of the ventilation equipments, is being strengthened by the use of automatic and semi-automatic control systems, what reduces the response times through the help to the operators, and the use of pre-defined strategies. A further step consists on the use of closed-loop algorithms, which takes into account not only the initial conditions but their development (air velocity, traffic situation, etc.), optimizing smoke control capacity.

Transductive neurofuzzy-based torque control of a milling process: results of a case study

This paper presents the design and implementation of an intelligent control system based on local neurofuzzy models of the milling process relayed through an Ehternet-based application. Its purpose is to control the spindle torque of a milling process by using an internal model control paradigm to modify the feed rate in real time. The stabilization of cutting cutting torque is especially necessary in milling processes such as high-spedd roughing of steel moulds and dies tha present minor geometric uncertainties. Thus, maintenance of the curring torque increaes the material removal rate and reduces the risk of damage due to excessive spindle vibration, a very sensitive and expensive component in all high-speed milling machines. Torque control is therefore an interesting challenge from an industrial point of view.

Genetic fuzzy-based steering wheel controller using a mass-produced car

Intelligent Transportation Systems (ITS) cover a broad range of methods and technologies that provide answers to many problems of transportation. Unmanned control of the steering wheel is one of the most important challenges facing researchers in this area. This paper presents a method to adjust automatically a fuzzy controller to manage the steering wheel of a mass-produced vehicle to reproduce the steering of a human driver. To this end, information is recorded about the car's state while being driven by human drivers and used to obtain, via genetic algorithms, appropriate fuzzy controllers that can drive the car in the way that humans do. These controllers have satisfy two main objectives: to reproduce the human behavior, and to provide smooth actions to ensure comfortable driving. Finally, the results of automated driving on a test circuit are presented, showing both good route tracking (similar to the performance obtained by persons in the same task) and smooth driving.

Integration of a data acquisition system based on FlexRIO technology with EPICS

EPICS (Experimental Physics and Industrial Control System) lies in a set of software tools and applications which provide a software infrastructure for building distributed data acquisition and control systems. Currently there is an increase in use of such systems in large Physics experiments like ITER, ESS, and FREIA. In these experiments, advanced data acquisition systems using FPGA-based technology like FlexRIO are more frequently been used. The particular case of ITER (International Thermonuclear Experimental Reactor), the instrumentation and control system is supported by CCS (CODAC Core System), based on RHEL (Red Hat Enterprise Linux) operating system, and by the plant design specifications in which every CCS element is defined either hardware, firmware or software. In this degree final project the methodology proposed in Implementation of Intelligent Data Acquisition Systems for Fusion Experiments using EPICS and FlexRIO Technology Sanz et al. [1] is used. The final objective is to provide a document describing the fulfilled process and the source code of the data acquisition system accomplished. The use of the proposed methodology leads to have two diferent stages. The first one consists of the hardware modelling with graphic design tools like LabVIEWFPGA which later will be implemented in the FlexRIO device. In the next stage the design cycle is completed creating an EPICS controller that manages the device using a generic device support layer named NDS (Nominal Device Support). This layer integrates the data acquisition system developed into CCS (Control, data access and communication Core System) as an EPICS interface to the system. The use of FlexRIO technology drives the use of LabVIEW and LabVIEW FPGA respectively. RESUMEN. EPICS (Experimental Physics and Industrial Control System) es un conjunto de herramientas software utilizadas para el desarrollo e implementaci��n de sistemas de adquisici��n de datos y control distribuidos. Cada vez es m��s utilizado para entornos de experimentaci��n f��sica a gran escala como ITER, ESS y FREIA entre otros. En estos experimentos se est��n empezando a utilizar sistemas de adquisici��n de datos avanzados que usan tecnolog��a basada en FPGA como FlexRIO. En el caso particular de ITER, el sistema de instrumentaci��n y control adoptado se basa en el uso de la herramienta CCS (CODAC Core System) basado en el sistema operativo RHEL (Red Hat) y en las especificaciones del dise��o del sistema de planta, en la cual define todos los elementos integrantes del CCS, tanto software como firmware y hardware. En este proyecto utiliza la metodolog��a propuesta para la implementaci��n de sistemas de adquisici��n de datos inteligente basada en EPICS y FlexRIO. Se desea generar una serie de ejemplos que cubran dicho ciclo de dise��o completo y que ser��an propuestos como casos de uso de dichas tecnolog��as. Se proporcionar�� un documento en el que se describa el trabajo realizado as�� como el c��digo fuente del sistema de adquisici��n. La metodolog��a adoptada consta de dos etapas diferenciadas. En la primera de ellas se modela el hardware y se sintetiza en el dispositivo FlexRIO utilizando LabVIEW FPGA. Posteriormente se completa el ciclo de dise��o creando un controlador EPICS que maneja cada dispositivo creado utilizando una capa software gen��rica de manejo de dispositivos que se denomina NDS (Nominal Device Support). Esta capa integra la soluci��n en CCS realizando la interfaz con la capa EPICS del sistema. El uso de la tecnolog��a FlexRIO conlleva el uso del lenguaje de programaci��n y descripci��n hardware LabVIEW y LabVIEW FPGA respectivamente.

Modelizaci��n e integraci��n de sistemas de adquisici��n de datos inteligentes en sistemas de instrumentaci��n para dispositivos de fusi��n

La obtenci��n de energ��a a partir de la fusi��n nuclear por confinamiento magn��tico del plasma, es uno de los principales objetivos dentro de la comunidad cient��fica dedicada a la energ��a nuclear. Desde la construcci��n del primer dispositivo de fusi��n, hasta la actualidad, se han llevado a cabo multitud de experimentos, que hoy en d��a, gran parte de ellos dan soporte al proyecto International Thermonuclear Experimental Reactor (ITER). El principal problema al que se enfrenta ITER, se basa en la monitorizaci��n y el control del plasma. Gracias a las nuevas tecnolog��as, los sistemas de instrumentaci��n y control permiten acercarse m��s a la soluci��n del problema, pero a su vez, es m��s complicado estandarizar los sistemas de adquisici��n de datos que se usan, no solo en ITER, sino en otros proyectos de igual complejidad. Desarrollar nuevas implementaciones hardware y software bajo los requisitos de los diagn��sticos definidos por los cient��ficos, supone una gran inversi��n de tiempo, retrasando la ejecuci��n de nuevos experimentos. Por ello, la soluci��n que plantea esta tesis, consiste en la definici��n de una metodolog��a de dise��o que permite implementar sistemas de adquisici��n de datos inteligentes y su f��cil integraci��n en entornos de fusi��n para la implementaci��n de diagn��sticos. Esta metodolog��a requiere del uso de los dispositivos Reconfigurable Input/Output (RIO) y Flexible RIO (FlexRIO), que son sistemas embebidos basados en tecnolog��a Field-Programmable Gate Array (FPGA). Para completar la metodolog��a de dise��o, estos dispositivos van a ser soportados por un software basado en EPICS Device Support utilizando la tecnolog��a EPICS software asynDriver. Esta metodolog��a se ha evaluado implementando prototipos para los controladores r��pidos de planta de ITER, tanto para casos pr��cticos de ��mbito general como adquisici��n de datos e im��genes, como para casos concretos como el diagn��stico del fission chamber, implementando pre-procesado en tiempo real. Adem��s de casos pr��cticos, esta metodolog��a se ha utilizado para implementar casos reales, como el Ion Source Hydrogen Positive (ISHP), desarrollada por el European Spallation Source (ESS Bilbao) y la Universidad del Pa��s Vasco. Finalmente, atendiendo a las necesidades que los experimentos en los entornos de fusi��n requieren, se ha dise��ado un mecanismo mediante el cual los sistemas de adquisici��n de datos, que pueden ser implementados mediante la metodolog��a de dise��o propuesta, pueden integrar un reloj hardware capaz de sincronizarse con el protocolo IEEE1588-V2, permitiendo a estos, obtener los TimeStamps de las muestras adquiridas con una exactitud y precisi��n de decenas de nanosegundos y realizar streaming de datos con TimeStamps. ABSTRACT Fusion energy reaching by means of nuclear fusion plasma confinement is one of the main goals inside nuclear energy scientific community. Since the first fusion device was built, many experiments have been carried out and now, most of them give support to the International Thermonuclear Experimental Reactor (ITER) project. The main difficulty that ITER has to overcome is the plasma monitoring and control. Due to new technologies, the instrumentation and control systems allow an approaching to the solution, but in turn, the standardization of the used data acquisition systems, not only in ITER but also in other similar projects, is more complex. To develop new hardware and software implementations under scientific diagnostics requirements, entail time costs, delaying new experiments execution. Thus, this thesis presents a solution that consists in a design methodology definition, that permits the implementation of intelligent data acquisition systems and their easy integration into fusion environments for diagnostic purposes. This methodology requires the use of Reconfigurable Input/Output (RIO) and Flexible RIO (FlexRIO) devices, based on Field-Programmable Gate Array (FPGA) embedded technology. In order to complete the design methodology, these devices are going to be supported by an EPICS Device Support software, using asynDriver technology. This methodology has been evaluated implementing ITER PXIe fast controllers prototypes, as well as data and image acquisition, so as for concrete solutions like the fission chamber diagnostic use case, using real time preprocessing. Besides of these prototypes solutions, this methodology has been applied for the implementation of real experiments like the Ion Source Hydrogen Positive (ISHP), developed by the European Spallation Source and the Basque country University. Finally, a hardware mechanism has been designed to integrate a hardware clock into RIO/FlexRIO devices, to get synchronization with the IEEE1588-V2 precision time protocol. This implementation permits to data acquisition systems implemented under the defined methodology, to timestamp all data acquired with nanoseconds accuracy, permitting high throughput timestamped data streaming.

Especificaci��n del comportamiento de un avatar en un mundo virtual mediante una ontolog��a

El presente trabajo describe la construcci��n de una aplicaci��n que controla a un Non Player Character (NPC), en un mundo virtual. La aplicaci��n desarrollada, que tiene como nombre BotManager, realiza dos tareas fundamentales: 1) conectarse al repositorio de conocimiento, que en esta implementaci��n es una ontolog��a expresada en OWL, para obtener las acciones que debe realizar el NPC dentro del mundo virtual; y 2) ordenar al NPC que realice estas acciones en un mundo virtual creado con la plataforma OpenSimulator. BotManager puede tener variadas aplicaciones, por lo tanto puede ser usada como complemento en mundos virtuales aplicados a la educaci��n, simulaci��n, ocio, etc. Ahora bien, la principal raz��n que motiv�� el desarrollo del BotManager fue la de crear un sistema de demostraci��n autom��tica de tareas en un mundo virtual destinado a la educaci��n/ entrenamiento. De esta forma, un Sistema Inteligente de Tutor��a integrado con un mundo virtual podr��a demostrar paso a paso a un estudiante c��mo realizar una tarea en el mundo virtual. La ontolog��a que lee el BotManager extiende la ontolog��a propuesta en la tesis ���Una propuesta de modelado del estudiante basada en ontolog��as y diagn��stico pedag��gico-cognitivo no mon��tono��� de Julia Parraga en el 2011 (Ontolog��a de Julia). La construcci��n y las pruebas del BotManager se llevaron a cabo en tres etapas: 1) creaci��n de la Ontolog��a de Acciones del NPC que extiende la Ontolog��a de Julia; 2) dise��o e implementaci��n de la aplicaci��n en C# que lee la ontolog��a que contiene el plan de acci��n del NPC, y ordena al NPC realizar las acciones en el mundo virtual; y 3) pruebas de la aplicaci��n con la pr��ctica ���preparaci��n de una taza de cafe���, que es parte de un Laboratorio Virtual de Biotecnolog��a. El BotManager se ha dise��ado como una aplicaci��n cliente que se conecta a un servidor de Open- Simulator. Por lo tanto, puede ejecutarse en una m��quina distinta a la del servidor. Asimismo, en la implementaci��n del BotManager se ha utilizado una librer��a gratuita denominada LibOpenMetaverse que permite controlar un NPC de forma remota.---ABSTRACT---This paper describes the construction of an application that controls a Non Player Character (NPC), in a virtual world. The application developed, called BotManager, performs two main tasks: 1) the connection to the repository of knowledge, which in this implementation is an ontology expressed in OWL, and retrieving the actions to be performed by the NPC within the virtual world; and 2) commanding the NPC to perform these actions in a virtual world created with the OpenSimulator platform. BotManager can have diverse applications, therefore it can be used as a complement in virtual worlds applied to education, simulation, entertainment, etc. However, the main reason behind the development of BotManager was to create an automatic demonstration of tasks in a virtual world for education / training. Thus, a virtual world integrated with an Intelligent Tutoring Systems could demonstrate step by step to a student how to perform a task in the virtual world. The ontology used by the BotManager extends ontology proposed in the thesis ���A proposal for modeling ontologies based student and not monotonous teaching-cognitive diagnosis��� by Julia Parraga in 2011 (Julia���s Ontology). Construction and testing of BotManager were conducted in three stages: 1) creation of the NPC Actions Ontology by extending the Julia���s Ontology; 2) design and implementation of the application in C# that reads the ontology containing the plan of action of the NPC, and commands the NPC to perform the read plan in the virtual world; and 3) testing of the application with the practice ���preparing a cup of coffee���, which is part of a Virtual Laboratory of Biotechnology. The BotManager has been designed as a client application that connects to an OpenSimulator server. Therefore, it can run on a different machine to the server. To implement the BotManager we have used a free library called libopenmetaverse that allows us to control a NPC remotely.

CompactRIO: advanced data acquisition systems integration in CODAC Core System

Las herramientas de configuraci��n basadas en lenguajes de alto nivel como LabVIEW permiten el desarrollo de sistemas de adquisici��n de datos basados en hardware reconfigurable FPGA muy complejos en un breve periodo de tiempo. La estandarizaci��n del ciclo de dise��o hardware/software y la utilizaci��n de herramientas como EPICS facilita su integraci��n con la plataforma de adquisici��n y control ITER CODAC CORE SYSTEM (CCS) basada en Linux. En este proyecto se propondr�� una metodolog��a que simplificar�� el ciclo completo de integraci��n de plataformas novedosas, como cRIO, en las que el funcionamiento del hardware de adquisici��n puede ser modificado por el usuario para que ��ste se amolde a sus requisitos espec��ficos. El objetivo principal de este proyecto fin de master es realizar la integraci��n de un sistema cRIO NI9159 y diferentes m��dulos de E/S anal��gica y digital en EPICS y en CODAC CORE SYSTEM (CCS). Este ��ltimo consiste en un conjunto de herramientas software que simplifican la integraci��n de los sistemas de instrumentaci��n y control del experimento ITER. Para cumplir el objetivo se realizar��n las siguientes tareas: ��� Desarrollo de un sistema de adquisici��n de datos basado en FPGA con la plataforma hardware CompactRIO. En esta tarea se realizar�� la configuraci��n del sistema y la implementaci��n en LabVIEW para FPGA del hardware necesario para comunicarse con los m��dulos: NI9205, NI9264, NI9401.NI9477, NI9426, NI9425 y NI9476 ��� Implementaci��n de un driver software utilizando la metodolog��a de AsynDriver para integraci��n del cRIO con EPICS. Esta tarea requiere definir todos los records necesarios que exige EPICS y crear las interfaces adecuadas que permitir��n comunicarse con el hardware. ��� Implementar la descripci��n del sistema cRIO y del driver EPICS en el sistema de descripci��n de plantas de ITER llamado SDD. Esto automatiza la creaci��n de las aplicaciones de EPICS que se denominan IOCs. SUMMARY The configuration tools based in high-level programing languages like LabVIEW allows the development of high complex data acquisition systems based on reconfigurable hardware FPGA in a short time period. The standardization of the hardware/software design cycle and the use of tools like EPICS ease the integration with the data acquisition and control platform of ITER, the CODAC Core System based on Linux. In this project a methodology is proposed in order to simplify the full integration cycle of new platforms like CompactRIO (cRIO), in which the data acquisition functionality can be reconfigured by the user to fits its concrete requirements. The main objective of this MSc final project is to develop the integration of a cRIO NI-9159 and its different analog and digital Input/Output modules with EPICS in a CCS. The CCS consists of a set of software tools that simplifies the integration of instrumentation and control systems in the International Thermonuclear Reactor (ITER) experiment. To achieve such goal the following tasks are carried out: ��� Development of a DAQ system based on FPGA using the cRIO hardware platform. This task comprehends the configuration of the system and the implementation of the mandatory hardware to communicate to the I/O adapter modules NI9205, NI9264, NI9401, NI9477, NI9426, NI9425 y NI9476 using LabVIEW for FPGA. ��� Implementation of a software driver using the asynDriver methodology to integrate such cRIO system with EPICS. This task requires the definition of the necessary EPICS records and the creation of the appropriate interfaces that allow the communication with the hardware. ��� Develop the cRIO system���s description and the EPICS driver in the ITER plant description tool named SDD. This development will automate the creation of EPICS applications, called IOCs.