Planar compact array with parasitic elements for MIMO systems

A compact planar array with parasitic elements is studied to be used in MIMO systems. Classical compact arrays suffer from high coupling which makes correlation and matching efficiency to be worse. A proper matching network improves these lacks although its bandwidth is low and may increase the antenna size. The proposed antenna makes use of parasitic elements to improve both correlation and efficiency. A specific software based on MoM has been developed to analyze radiating structures with several feed points. The array is optimized through a Genetic Algorithm to determine parasitic elements position in order to fulfill different figures of merit. The proposed design provides the required correlation and matching efficiency to have a good performance over a significant bandwidth.

Radiofrequency architectures and technologies for software defined radio

Six-port network is an interesting radiofrequency architecture with multiple possibilities. Since it was firstly introduced in the seventies as an alternative network analyzer, the six-port network has been used for many applications, such as homodyne receivers, radar systems, direction of arrival estimation, UWB (Ultra-Wide-Band), or MIMO (Multiple Input Multiple Output) systems. Currently, it is considered as a one of the best candidates to implement a Software Defined Radio (SDR). This thesis comprises an exhaustive study of this promising architecture, where its fundamentals and the state-of-the-art are also included. In addition, the design and development of a SDR 0.3-6 GHz six-port receiver prototype is presented in this thesis, which is implemented in conventional technology. The system is experimentally characterized and validated for RF signal demodulation with good performance. The analysis of the six-port architecture is complemented by a theoretical and experimental comparison with other radiofrequency architectures suitable for SDR. Some novel contributions are introduced in the present thesis. Such novelties are in the direction of the highly topical issues on six-port technique: development and optimization of real-time I-Q regeneration techniques for multiport networks; and search of new techniques and technologies to contribute to the miniaturization of the six-port architecture. In particular, the novel contributions of this thesis can be summarized as: - Introduction of a new real-time auto-calibration method for multiport receivers, particularly suitable for broadband designs and high data rate applications. - Introduction of a new direct baseband I-Q regeneration technique for five-port receivers. - Contribution to the miniaturization of six-port receivers by the use of the multilayer LTCC (Low Temperature Cofired Ceramic) technology. Implementation of a compact (30x30x1.25 mm) broadband (0.3-6 GHz) six-port receiver in LTTC technology. The results and conclusions derived from this thesis have been satisfactory, and quite fruitful in terms of publications. A total of fourteen works have been published, considering international journals and conferences, and national conferences. Aditionally, a paper has been submitted to an internationally recognized journal, which is currently under review.

A Visual AGV-Urban Car using Fuzzy Control

The goal of the work described in this paper is to develop a visual line guided system for being used on-board an Autonomous Guided Vehicle (AGV) commercial car, controlling the steering and using just the visual information of a line painted below the car. In order to implement the control of the vehicle, a Fuzzy Logic controller has been implemented, that has to be robust against curvature changes and velocity changes. The only input information for the controller is the visual distance from the image center captured by a camera pointing downwards to the guiding line on the road, at a commercial frequency of 30Hz. The good performance of the controller has successfully been demonstrated in a real environment at urban velocities. The presented results demonstrate the capability of the Fuzzy controller to follow a circuit in urban environments without previous information about the path or any other information from additional sensors

Ultrasonic sensors in urban traffic driving-aid systems

Currently, vehicles are often equipped with active safety systems to reduce the risk of accidents, most of which occur in urban environments. The most prominent include Antilock Braking Systems (ABS), Traction Control and Stability Control. All these systems use different kinds of sensors to constantly monitor the conditions of the vehicle, and act in an emergency. In this paper the use of ultrasonic sensors in active safety systems for urban traffic is proposed, and the advantages and disadvantages when compared to other sensors are discussed. Adaptive Cruise Control (ACC) for urban traffic based on ultrasounds is presented as an application example. The proposed system has been implemented in a fully-automated prototype vehicle and has been tested under real traffic conditions. The results confirm the good performance of ultrasonic sensors in these systems. ©2011 by the authors.

Some improvements over the continuation call tabling implementation technique

Tabled evaluation has been proved an effective method to improve several aspeets of goal-oriented query evaluation, including termination and complexity. Several "native" implementations of tabled evaluation have been developed which offer good performance, but many of them need significant changes to the underlying Prolog implementation. More portable approaches, generally using program transformation, have been proposed but they often result in lower efficieney. We explore some techniques aimed at combining the best of these worlds, i.e., developing a portable and extensible implementation, with minimal modifications at the abstract machine level, and with reasonably good performance. Our preliminary results indícate promising results.

BaTboT: a biologically inspired flapping and morphing bat robot actuated by SMA-based artificial muscles

Bats are animals that posses high maneuvering capabilities. Their wings contain dozens of articulations that allow the animal to perform aggressive maneuvers by means of controlling the wing shape during flight (morphing-wings). There is no other flying creature in nature with this level of wing dexterity and there is biological evidence that the inertial forces produced by the wings have a key role in the attitude movements of the animal. This can inspire the design of highly articulated morphing-wing micro air vehicles (not necessarily bat-like) with a significant wing-to-body mass ratio. This thesis presents the development of a novel bat-like micro air vehicle (BaTboT) inspired by the morphing-wing mechanism of bats. BaTboT’s morphology is alike in proportion compared to its biological counterpart Cynopterus brachyotis, which provides the biological foundations for developing accurate mathematical models and methods that allow for mimicking bat flight. In nature bats can achieve an amazing level of maneuverability by combining flapping and morphing wingstrokes. Attempting to reproduce the biological wing actuation system that provides that kind of motion using an artificial counterpart requires the analysis of alternative actuation technologies more likely muscle fiber arrays instead of standard servomotor actuators. Thus, NiTinol Shape Memory Alloys (SMAs) acting as artificial biceps and triceps muscles are used for mimicking the morphing wing mechanism of the bat flight apparatus. This antagonistic configuration of SMA-muscles response to an electrical heating power signal to operate. This heating power is regulated by a proper controller that allows for accurate and fast SMA actuation. Morphing-wings will enable to change wings geometry with the unique purpose of enhancing aerodynamics performance. During the downstroke phase of the wingbeat motion both wings are fully extended aimed at increasing the area surface to properly generate lift forces. Contrary during the upstroke phase of the wingbeat motion both wings are retracted to minimize the area and thus reducing drag forces. Morphing-wings do not only improve on aerodynamics but also on the inertial forces that are key to maneuver. Thus, a modeling framework is introduced for analyzing how BaTboT should maneuver by means of changing wing morphology. This allows the definition of requirements for achieving forward and turning flight according to the kinematics of the wing modulation. Motivated by the biological fact about the influence of wing inertia on the production of body accelerations, an attitude controller is proposed. The attitude control law incorporates wing inertia information to produce desired roll (φ) and pitch (θ) acceleration commands. This novel flight control approach is aimed at incrementing net body forces (Fnet) that generate propulsion. Mimicking the way how bats take advantage of inertial and aerodynamical forces produced by the wings in order to both increase lift and maneuver is a promising way to design more efficient flapping/morphing wings MAVs. The novel wing modulation strategy and attitude control methodology proposed in this thesis provide a totally new way of controlling flying robots, that eliminates the need of appendices such as flaps and rudders, and would allow performing more efficient maneuvers, especially useful in confined spaces. As a whole, the BaTboT project consists of five major stages of development: - Study and analysis of biological bat flight data reported in specialized literature aimed at defining design and control criteria. - Formulation of mathematical models for: i) wing kinematics, ii) dynamics, iii) aerodynamics, and iv) SMA muscle-like actuation. It is aimed at modeling the effects of modulating wing inertia into the production of net body forces for maneuvering. - Bio-inspired design and fabrication of: i) skeletal structure of wings and body, ii) SMA muscle-like mechanisms, iii) the wing-membrane, and iv) electronics onboard. It is aimed at developing the bat-like platform (BaTboT) that allows for testing the methods proposed. - The flight controller: i) control of SMA-muscles (morphing-wing modulation) and ii) flight control (attitude regulation). It is aimed at formulating the proper control methods that allow for the proper modulation of BaTboT’s wings. - Experiments: it is aimed at quantifying the effects of properly wing modulation into aerodynamics and inertial production for maneuvering. It is also aimed at demonstrating and validating the hypothesis of improving flight efficiency thanks to the novel control methods presented in this thesis. This thesis introduces the challenges and methods to address these stages. Windtunnel experiments will be oriented to discuss and demonstrate how the wings can considerably affect the dynamics/aerodynamics of flight and how to take advantage of wing inertia modulation that the morphing-wings enable to properly change wings’ geometry during flapping. Resumen: Los murciélagos son mamíferos con una alta capacidad de maniobra. Sus alas están conformadas por docenas de articulaciones que permiten al animal maniobrar gracias al cambio geométrico de las alas durante el vuelo. Esta característica es conocida como (alas mórficas). En la naturaleza, no existe ningún especimen volador con semejante grado de dexteridad de vuelo, y se ha demostrado, que las fuerzas inerciales producidas por el batir de las alas juega un papel fundamental en los movimientos que orientan al animal en vuelo. Estas características pueden inspirar el diseño de un micro vehículo aéreo compuesto por alas mórficas con redundantes grados de libertad, y cuya proporción entre la masa de sus alas y el cuerpo del robot sea significativa. Esta tesis doctoral presenta el desarrollo de un novedoso robot aéreo inspirado en el mecanismo de ala mórfica de los murciélagos. El robot, llamado BaTboT, ha sido diseñado con parámetros morfológicos muy similares a los descritos por su símil biológico Cynopterus brachyotis. El estudio biológico de este especimen ha permitido la definición de criterios de diseño y modelos matemáticos que representan el comportamiento del robot, con el objetivo de imitar lo mejor posible la biomecánica de vuelo de los murciélagos. La biomecánica de vuelo está definida por dos tipos de movimiento de las alas: aleteo y cambio de forma. Intentar imitar como los murciélagos cambian la forma de sus alas con un prototipo artificial, requiere el análisis de métodos alternativos de actuación que se asemejen a la biomecánica de los músculos que actúan las alas, y evitar el uso de sistemas convencionales de actuación como servomotores ó motores DC. En este sentido, las aleaciones con memoria de forma, ó por sus siglas en inglés (SMA), las cuales son fibras de NiTinol que se contraen y expanden ante estímulos térmicos, han sido usados en este proyecto como músculos artificiales que actúan como bíceps y tríceps de las alas, proporcionando la funcionalidad de ala mórfica previamente descrita. De esta manera, los músculos de SMA son mecánicamente posicionados en una configuración antagonista que permite la rotación de las articulaciones del robot. Los actuadores son accionados mediante una señal de potencia la cual es regulada por un sistema de control encargado que los músculos de SMA respondan con la precisión y velocidad deseada. Este sistema de control mórfico de las alas permitirá al robot cambiar la forma de las mismas con el único propósito de mejorar el desempeño aerodinámico. Durante la fase de bajada del aleteo, las alas deben estar extendidas para incrementar la producción de fuerzas de sustentación. Al contrario, durante el ciclo de subida del aleteo, las alas deben contraerse para minimizar el área y reducir las fuerzas de fricción aerodinámica. El control de alas mórficas no solo mejora el desempeño aerodinámico, también impacta la generación de fuerzas inerciales las cuales son esenciales para maniobrar durante el vuelo. Con el objetivo de analizar como el cambio de geometría de las alas influye en la definición de maniobras y su efecto en la producción de fuerzas netas, simulaciones y experimentos han sido llevados a cabo para medir cómo distintos patrones de modulación de las alas influyen en la producción de aceleraciones lineales y angulares. Gracias a estas mediciones, se propone un control de vuelo, ó control de actitud, el cual incorpora información inercial de las alas para la definición de referencias de aceleración angular. El objetivo de esta novedosa estrategia de control radica en el incremento de fuerzas netas para la adecuada generación de movimiento (Fnet). Imitar como los murciélagos ajustan sus alas con el propósito de incrementar las fuerzas de sustentación y mejorar la maniobra en vuelo es definitivamente un tópico de mucho interés para el diseño de robots aéros mas eficientes. La propuesta de control de vuelo definida en este trabajo de investigación podría dar paso a una nueva forma de control de vuelo de robots aéreos que no necesitan del uso de partes mecánicas tales como alerones, etc. Este control también permitiría el desarrollo de vehículos con mayor capacidad de maniobra. El desarrollo de esta investigación se centra en cinco etapas: - Estudiar y analizar el vuelo de los murciélagos con el propósito de definir criterios de diseño y control. - Formular modelos matemáticos que describan la: i) cinemática de las alas, ii) dinámica, iii) aerodinámica, y iv) actuación usando SMA. Estos modelos permiten estimar la influencia de modular las alas en la producción de fuerzas netas. - Diseño y fabricación de BaTboT: i) estructura de las alas y el cuerpo, ii) mecanismo de actuación mórfico basado en SMA, iii) membrana de las alas, y iv) electrónica abordo. - Contro de vuelo compuesto por: i) control de la SMA (modulación de las alas) y ii) regulación de maniobra (actitud). - Experimentos: están enfocados en poder cuantificar cuales son los efectos que ejercen distintos perfiles de modulación del ala en el comportamiento aerodinámico e inercial. El objetivo es demostrar y validar la hipótesis planteada al inicio de esta investigación: mejorar eficiencia de vuelo gracias al novedoso control de orientación (actitud) propuesto en este trabajo. A lo largo del desarrollo de cada una de las cinco etapas, se irán presentando los retos, problemáticas y soluciones a abordar. Los experimentos son realizados utilizando un túnel de viento con la instrumentación necesaria para llevar a cabo las mediciones de desempeño respectivas. En los resultados se discutirá y demostrará que la inercia producida por las alas juega un papel considerable en el comportamiento dinámico y aerodinámico del sistema y como poder tomar ventaja de dicha característica para regular patrones de modulación de las alas que conduzcan a mejorar la eficiencia del robot en futuros vuelos.

Modelización del cálculo de Indicadores Ambientales, a partir de sensores ópticos de alta resolución temporal a bordo de satélite

La presente tesis doctoral tiene por objeto el estudio y análisis de técnicas y modelos de obtención de parámetros biofísicos e indicadores ambientales, de manera automatizada a partir de imágenes procedentes de satélite de alta resolución temporal. En primer lugar se revisan los diferentes programas espaciales de observación del territorio, con especial atención a los que proporcionan dicha resolución. También se han revisado las metodologías y procesos que permiten la obtención de diferentes parámetros cuantitativos y documentos cualitativos, relacionados con diversos aspectos de las cubiertas terrestres, atendiendo a su adaptabilidad a las particularidades de los datos. En segundo lugar se propone un modelo de obtención de parámetros ambientales, que integra información proveniente de sensores espaciales y de otras fuentes auxiliares utilizando, en cierta medida, las metodologías presentadas en apartados anteriores y optimizando algunas de las referidas o proponiendo otras nuevas, de manera que se permita dicha obtención de manera eficiente, a partir de los datos disponibles y de forma sistemática. Tras esta revisión de metodologías y propuesta del modelo, se ha procedido a la realización de experimentos, con la finalidad de comprobar su comportamiento en diferentes casos prácticos, depurar los flujos de datos y procesos, así como establecer las situaciones que pueden afectar a los resultados. De todo ello se deducirá la evaluación del referido modelo. Los sensores considerados en este trabajo han sido MODIS, de alta resolución temporal y Thematic Mapper (TM), de media resolución espacial, por tratarse de instrumentos de referencia en la realización de estudios ambientales. También por la duración de sus correspondientes misiones de registro de datos, lo que permite realizar estudios de evolución temporal de ciertos parámetros biofísicos, durante amplios periodos de tiempo. Así mismo. es de destacar que la continuidad de los correspondientes programas parece estar asegurada. Entre los experimentos realizados, se ha ensayado una metodología para la integración de datos procedentes de ambos sensores. También se ha analizado un método de interpolación temporal que permite obtener imágenes sintéticas con la resolución espacial de TM (30 m) y la temporal de MODIS (1 día), ampliando el rango de aplicación de este último sensor. Asimismo, se han analizado algunos de los factores que afectan a los datos registrados, tal como la geometría de la toma de los mismos y los episodios de precipitación, los cuales alteran los resultados obtenidos. Por otro lado, se ha comprobado la validez del modelo propuesto en el estudio de fenómenos ambientales dinámicos, en concreto la contaminación orgánica de aguas embalsadas. Finalmente, se ha demostrado un buen comportamiento del modelo en todos los casos ensayados, así como su flexibilidad, lo que le permite adaptarse a nuevos orígenes de datos, o nuevas metodologías de cálculo. Abstract This thesis aims to the study and analysis of techniques and models, in order to obtain biophysical parameters and environmental indicators in an automated way, using high temporal resolution satellite data. Firstly we have reviewed the main Earth Observation Programs, paying attention to those that provide high temporal resolution. Also have reviewed the methodologies and process flow diagrams in order to obtain quantitative parameters and qualitative documents, relating to various aspects of land cover, according to their adaptability to the peculiarities of the data. In the next stage, a model which allows obtaining environmental parameters, has been proposed. This structure integrates information from space sensors and ancillary data sources, using the methodologies presented in previous sections that permits the parameters calculation in an efficient and automated way. After this review of methodologies and the proposal of the model, we proceeded to carry out experiments, in order to check the behavior of the structure in real situations. From this, we derive the accuracy of the model. The sensors used in this work have been MODIS, which is a high temporal resolution sensor, and Thematic Mapper (TM), which is a medium spatial resolution instrument. This choice was motivated because they are reference sensors in environmental studies, as well as for the duration of their corresponding missions of data logging, and whose continuity seems assured. Among the experiments, we tested a methodology that allows the integration of data from cited sensors, we discussed a proposal for a temporal interpolation method for obtaining synthetic images with spatial resolution of TM (30 m) and temporal of MODIS (1 day), extending the application range of this one. Furthermore, we have analyzed some of the factors that affect the recorded data, such as the relative position of the satellite with the ground point, and the rainfall events, which alter the obtained results. On the other hand, we have proven the validity of the proposed model in the study of the organic contamination in inland water bodies. Finally, we have demonstrated a good performance of the proposed model in all cases tested, as well as its flexibility and adaptability.

Probabilistic mapping with mobile robots in structured environments

La mayor parte de los entornos diseñados por el hombre presentan características geométricas específicas. En ellos es frecuente encontrar formas poligonales, rectangulares, circulares . . . con una serie de relaciones típicas entre distintos elementos del entorno. Introducir este tipo de conocimiento en el proceso de construcción de mapas de un robot móvil puede mejorar notablemente la calidad y la precisión de los mapas resultantes. También puede hacerlos más útiles de cara a un razonamiento de más alto nivel. Cuando la construcción de mapas se formula en un marco probabilístico Bayesiano, una especificación completa del problema requiere considerar cierta información a priori sobre el tipo de entorno. El conocimiento previo puede aplicarse de varias maneras, en esta tesis se presentan dos marcos diferentes: uno basado en el uso de primitivas geométricas y otro que emplea un método de representación cercano al espacio de las medidas brutas. Un enfoque basado en características geométricas supone implícitamente imponer un cierto modelo a priori para el entorno. En este sentido, el desarrollo de una solución al problema SLAM mediante la optimización de un grafo de características geométricas constituye un primer paso hacia nuevos métodos de construcción de mapas en entornos estructurados. En el primero de los dos marcos propuestos, el sistema deduce la información a priori a aplicar en cada caso en base a una extensa colección de posibles modelos geométricos genéricos, siguiendo un método de Maximización de la Esperanza para hallar la estructura y el mapa más probables. La representación de la estructura del entorno se basa en un enfoque jerárquico, con diferentes niveles de abstracción para los distintos elementos geométricos que puedan describirlo. Se llevaron a cabo diversos experimentos para mostrar la versatilidad y el buen funcionamiento del método propuesto. En el segundo marco, el usuario puede definir diferentes modelos de estructura para el entorno mediante grupos de restricciones y energías locales entre puntos vecinos de un conjunto de datos del mismo. El grupo de restricciones que se aplica a cada grupo de puntos depende de la topología, que es inferida por el propio sistema. De este modo, se pueden incorporar nuevos modelos genéricos de estructura para el entorno con gran flexibilidad y facilidad. Se realizaron distintos experimentos para demostrar la flexibilidad y los buenos resultados del enfoque propuesto. Abstract Most human designed environments present specific geometrical characteristics. In them, it is easy to find polygonal, rectangular and circular shapes, with a series of typical relations between different elements of the environment. Introducing this kind of knowledge in the mapping process of mobile robots can notably improve the quality and accuracy of the resulting maps. It can also make them more suitable for higher level reasoning applications. When mapping is formulated in a Bayesian probabilistic framework, a complete specification of the problem requires considering a prior for the environment. The prior over the structure of the environment can be applied in several ways; this dissertation presents two different frameworks, one using a feature based approach and another one employing a dense representation close to the measurements space. A feature based approach implicitly imposes a prior for the environment. In this sense, feature based graph SLAM was a first step towards a new mapping solution for structured scenarios. In the first framework, the prior is inferred by the system from a wide collection of feature based priors, following an Expectation-Maximization approach to obtain the most probable structure and the most probable map. The representation of the structure of the environment is based on a hierarchical model with different levels of abstraction for the geometrical elements describing it. Various experiments were conducted to show the versatility and the good performance of the proposed method. In the second framework, different priors can be defined by the user as sets of local constraints and energies for consecutive points in a range scan from a given environment. The set of constraints applied to each group of points depends on the topology, which is inferred by the system. This way, flexible and generic priors can be incorporated very easily. Several tests were carried out to demonstrate the flexibility and the good results of the proposed approach.

Effectiveness of combined sharing and freeness analysis using abstract interpretation

This paper presents improved unification algorithms, an implementation, and an analysis of the effectiveness of an abstract interpreter based on the sharing + freeness domain presented in a previous paper, which was designed to accurately and concisely represent combined freeness and sharing information for program variables. We first briefly review this domain and the unification algorithms previously proposed. We then improve these algorithms and correct them to deal with some cases which were not well analyzed previously, illustrating the improvement with an example. We then present the implementation of the improved algorithm and evaluate its performance by comparing the effectiveness of the information inferred to that of other interpreters available to us for an application (program parallelization) that is common to all these interpreters. All these systems have been embedded in a real parallelizing compiler. Effectiveness of the analysis is measured in terms of actual final performance of the system: i.e. in terms of the actual speedups obtained. The results show good performance for the combined domain in that it improves the accuracy of both types of information and also in that the analyzer using the combined domain is more effective in the application than any of the other analyzers it is compared to.

Modelization of low cycle fatigue damage in frames

Damage models based on the Continuum Damage Mechanics (CDM) include explicitly the coupling between damage and mechanical behavior and, therefore, are consistent with the definition of damage as a phenomenon with mechanical consequences. However, this kind of models is characterized by their complexity. Using the concept of lumped models, possible simplifications of the coupled models have been proposed in the literature to adapt them to the study of beams and frames. On the other hand, in most of these coupled models damage is associated only with the damage energy release rate which is shown to be the elastic strain energy. According to this, damage is a function of the maximum amplitude of cyclic deformation but does not depend on the number of cycles. Therefore, low cycle effects are not taking into account. From the simplified model proposed by Flórez-López, it is the purpose of this paper to present a formulation that allows to take into account the degradation produced not only by the peak values but also by the cumulative effects such as the low cycle fatigue. For it, the classical damage dissipative potential based on the concept of damage energy release rate is modified using a fatigue function in order to include cumulative effects. The fatigue function is determined through parameters such as the cumulative rotation and the total rotation and the number of cycles to failure. Those parameters can be measured or identified physically through the haracteristics of the RC. So the main advantage of the proposed model is the possibility of simulating the low cycle fatigue behavior without introducing parameters with no suitable physical meaning. The good performance of the proposed model is shown through a comparison between numerical and test results under cycling loading.

Detecting periodicity with horizontal visibility graphs

The horizontal visibility algorithm was recently introduced as a mapping between time series and networks. The challenge lies in characterizing the structure of time series (and the processes that generated those series) using the powerful tools of graph theory. Recent works have shown that the visibility graphs inherit several degrees of correlations from their associated series, and therefore such graph theoretical characterization is in principle possible. However, both the mathematical grounding of this promising theory and its applications are in its infancy. Following this line, here we address the question of detecting hidden periodicity in series polluted with a certain amount of noise. We first put forward some generic properties of horizontal visibility graphs which allow us to define a (graph theoretical) noise reduction filter. Accordingly, we evaluate its performance for the task of calculating the period of noisy periodic signals, and compare our results with standard time domain (autocorrelation) methods. Finally, potentials, limitations and applications are discussed.

Harmony: Towards automated self-adaptive consistency in cloud storage

In just a few years cloud computing has become a very popular paradigm and a business success story, with storage being one of the key features. To achieve high data availability, cloud storage services rely on replication. In this context, one major challenge is data consistency. In contrast to traditional approaches that are mostly based on strong consistency, many cloud storage services opt for weaker consistency models in order to achieve better availability and performance. This comes at the cost of a high probability of stale data being read, as the replicas involved in the reads may not always have the most recent write. In this paper, we propose a novel approach, named Harmony, which adaptively tunes the consistency level at run-time according to the application requirements. The key idea behind Harmony is an intelligent estimation model of stale reads, allowing to elastically scale up or down the number of replicas involved in read operations to maintain a low (possibly zero) tolerable fraction of stale reads. As a result, Harmony can meet the desired consistency of the applications while achieving good performance. We have implemented Harmony and performed extensive evaluations with the Cassandra cloud storage on Grid?5000 testbed and on Amazon EC2. The results show that Harmony can achieve good performance without exceeding the tolerated number of stale reads. For instance, in contrast to the static eventual consistency used in Cassandra, Harmony reduces the stale data being read by almost 80% while adding only minimal latency. Meanwhile, it improves the throughput of the system by 45% while maintaining the desired consistency requirements of the applications when compared to the strong consistency model in Cassandra.

Evaluación de protocolos de encaminamiento en una red inalámbrica mallada desplegada en una zona rural

The implementation of wireless communication systems in rural areas through the deployment of data networks in infrastructure mode is often inadequate due to its high cost and no fault tolerant centralized structure. Mesh networks can overcome these limitations while increases the coverage area in a more flexible way. This paper proposes the performance evaluation of the routing protocols IEEE 802.11s and Batman-Adv on an experimental wireless mesh network deployed in a rural environment called Lachocc, which is a community located at 4700 MASL in the Huancavelica region in Peru. The evaluation was based on the measurement of quality of service parameters such as bandwidth, delay and delay variation. As a result, it was determined that both protocols offer a good performance, but in most of the cases, Batman-Adv provides slightly better performance

Consolidation of a wsn and minimax method to rapidly neutralise intruders in strategic installations

Due to the sensitive international situation caused by still-recent terrorist attacks, there is a common need to protect the safety of large spaces such as government buildings, airports and power stations. To address this problem, developments in several research fields, such as video and cognitive audio, decision support systems, human interface, computer architecture, communications networks and communications security, should be integrated with the goal of achieving advanced security systems capable of checking all of the specified requirements and spanning the gap that presently exists in the current market. This paper describes the implementation of a decision system for crisis management in infrastructural building security. Specifically, it describes the implementation of a decision system in the management of building intrusions. The positions of the unidentified persons are reported with the help of a Wireless Sensor Network (WSN). The goal is to achieve an intelligent system capable of making the best decision in real time in order to quickly neutralise one or more intruders who threaten strategic installations. It is assumed that the intruders’ behaviour is inferred through sequences of sensors’ activations and their fusion. This article presents a general approach to selecting the optimum operation from the available neutralisation strategies based on a Minimax algorithm. The distances among different scenario elements will be used to measure the risk of the scene, so a path planning technique will be integrated in order to attain a good performance. Different actions to be executed over the elements of the scene such as moving a guard, blocking a door or turning on an alarm will be used to neutralise the crisis. This set of actions executed to stop the crisis is known as the neutralisation strategy. Finally, the system has been tested in simulations of real situations, and the results have been evaluated according to the final state of the intruders. In 86.5% of the cases, the system achieved the capture of the intruders, and in 59.25% of the cases, they were intercepted before they reached their objective.

Aplicación móvil para el acceso a juego de naipes sobre el desarrollo humano

Este Proyecto Fin de Carrera (PFC) tiene como objetivo el análisis, diseño e implementación de un videojuego móvil multijugador, con un enfoque educativo, para la sensibilización sobre el Índice de Desarrollo Humano (IDH). El sistema resultante se ha desarrollado para la Plataforma Android, utilizando el Framework AndEngine, que utiliza aceleración hardware de la GPU para garantizar un buen rendimiento en terminales de gama baja, de modo que pueda utilizarse en un amplio número de terminales móviles disponibles en el mercado. La aplicación se presenta como un juego de cartas con los diferentes países y sus datos humanitarios, los jugadores deben conocer el peso de los índices de desarrollo (esperanza de vida, renta, educación) de los países en comparación con los países de los otros jugadores. El sistema de juego premia a los jugadores con mayores conocimientos sobre los datos humanos de los diferentes países del mundo, de ese modo los mejores jugadores serán los que tengan más conocimientos de estos datos. El juego permite jugar partidas en solitario utilizando jugadores manejados por la CPU, o multijugador mediante WIFI o 3G. La actualización de la información y de los datos de las partidas se realiza a través de la comunicación con un servidor web ya implementado de forma complementaria a la realización de este proyecto. El sistema ha sido integrado y validado satisfactoriamente con diferentes terminales móviles y usuarios de diferente perfil de edad y uso. El videojuego se puede descargar de la página web creada en un proyecto complementario a éste (pendiente de publicación web), y ya se encuentra también disponible en Google Play. https://play.google.com/store/apps/details?id=xnetcom.pro.cartas&hl=es_419 ABSTRACT. This Project End of Career (PFC) takes as an aim the analysis, design and implementation of a multiplayer mobile videogame, with an educational approach, for the awareness on the Human Development Index (HDI). The resultant system has been developed for the Platform Android, using the AndEngine Framework, which uses hardware acceleration of the GPU to ensure a good performance on low-end terminals, so that it can be used in a wide range of mobile handsets available in the market. The application is presented as a card game with the different countries and his humanitarian information, the players must know the weight of the indexes of development (life expectancy, revenue, education) of the countries in comparison with the countries of other players. The game system rewards players with more knowledge on human information of different countries, thus the best players will be those with more knowledge of these information. The game allows to play items in solitarily using players handled by the CPU, or multiplayer by means of WIFI or 3G. The update of the information and data of the online games is done through communication with a web server implemented as a complement to the realization of this project. The system has been built and successfully validated with different mobile terminals and users of different age and usage profile. The game can be downloaded from the website created in a complementary project to this (web publication pending), and is now also available on Google Play https://play.google.com/store/apps/details?id=xnetcom.pro.cartas&hl=es_419