Policy gradient based Reinforcement Learning for real autonomous underwater cable tracking

This paper proposes a field application of a high-level reinforcement learning (RL) control system for solving the action selection problem of an autonomous robot in cable tracking task. The learning system is characterized by using a direct policy search method for learning the internal state/action mapping. Policy only algorithms may suffer from long convergence times when dealing with real robotics. In order to speed up the process, the learning phase has been carried out in a simulated environment and, in a second step, the policy has been transferred and tested successfully on a real robot. Future steps plan to continue the learning process on-line while on the real robot while performing the mentioned task. We demonstrate its feasibility with real experiments on the underwater robot ICTINEU AUV

Using petri nets to specify and execute missions for autonomous underwater vehicles

This paper presents the design and implementation of a mission control system (MCS) for an autonomous underwater vehicle (AUV) based on Petri nets. In the proposed approach the Petri nets are used to specify as well as to execute the desired autonomous vehicle mission. The mission is easily described using an imperative programming language called mission control language (MCL) that formally describes the mission execution thread. A mission control language compiler (MCL-C) able to automatically translate the MCL into a Petri net is described and a real-time Petri net player that allows to execute the resulting Petri net onboard an AUV are also presented

Graphical simulators for AUV development

A long development time is needed from the design to the implementation of an AUV. During the first steps, simulation plays an important role, since it allows for the development of preliminary versions of the control system to be integrated. Once the robot is ready, the control systems are implemented, tuned and tested. The use of a real-time simulator can help closing the gap between off-line simulation and real testing using the already implemented robot. When properly interfaced with the robot hardware, a real-time graphical simulation with a "hardware in the loop" configuration, can allow for the testing of the implemented control system running in the actual robot hardware. Hence, the development time is drastically reduced. These paper overviews the field of graphical simulators used for AUV development proposing a classification. It also presents NEPTUNE, a multi-vehicle, real-time, graphical simulator based on OpenGL that allows hardware in the loop simulations

Two methods for voltage sag source location

This paper presents and compares two approaches to estimate the origin (upstream or downstream) of voltage sag registered in distribution substations. The first approach is based on the application of a single rule dealing with features extracted from the impedances during the fault whereas the second method exploit the variability of waveforms from an statistical point of view. Both approaches have been tested with voltage sags registered in distribution substations and advantages, drawbacks and comparative results are presented

A survey on voltage sag events in power systems

This paper aims to survey the techniques and methods described in literature to analyse and characterise voltage sags and the corresponding objectives of these works. The study has been performed from a data mining point of view

Abstracting qualitative information for process supervision

Supervisory systems evolution makes the obtaining of significant information from processes more important in the way that the supervision systems' particular tasks are simplified. So, having signal treatment tools capable of obtaining elaborate information from the process data is important. In this paper, a tool that obtains qualitative data about the trends and oscillation of signals is presented. An application of this tool is presented as well. In this case, the tool, implemented in a computer-aided control systems design (CACSD) environment, is used in order to give to an expert system for fault detection in a laboratory plant

I-SS: integrated supervision systems approach based on interactive components

Process supervision is the activity focused on monitoring the process operation in order to deduce conditions to maintain the normality including when faults are present Depending on the number/distribution/heterogeneity of variables, behaviour situations, sub-processes, etc. from processes, human operators and engineers do not easily manipulate the information. This leads to the necessity of automation of supervision activities. Nevertheless, the difficulty to deal with the information complicates the design and development of software applications. We present an approach called "integrated supervision systems". It proposes multiple supervisors coordination to supervise multiple sub-processes whose interactions permit one to supervise the global process

Interacting software-agents to support a kind of expert supervision systems

Expert supervision systems are software applications specially designed to automate process monitoring. The goal is to reduce the dependency on human operators to assure the correct operation of a process including faulty situations. Construction of this kind of application involves an important task of design and development in order to represent and to manipulate process data and behaviour at different degrees of abstraction for interfacing with data acquisition systems connected to the process. This is an open problem that becomes more complex with the number of variables, parameters and relations to account for the complexity of the process. Multiple specialised modules tuned to solve simpler tasks that operate under a co-ordination provide a solution. A modular architecture based on concepts of software agents, taking advantage of the integration of diverse knowledge-based techniques, is proposed for this purpose. The components (software agents, communication mechanisms and perception/action mechanisms) are based on ICa (Intelligent Control architecture), software middleware supporting the build-up of applications with software agent features

Application for fault location in electrical power distribution systems

Fault location has been studied deeply for transmission lines due to its importance in power systems. Nowadays the problem of fault location on distribution systems is receiving special attention mainly because of the power quality regulations. In this context, this paper presents an application software developed in Matlabtrade that automatically calculates the location of a fault in a distribution power system, starting from voltages and currents measured at the line terminal and the model of the distribution power system data. The application is based on a N-ary tree structure, which is suitable to be used in this application due to the highly branched and the non- homogeneity nature of the distribution systems, and has been developed for single-phase, two-phase, two-phase-to-ground, and three-phase faults. The implemented application is tested by using fault data in a real electrical distribution power system

Modos ventilatorios avanzados : Ventilación de Soporte Adaptativo (ASV)

El soporte ventilatorio es una de las intervenciones más utilizadas en las unidades de cuidado intensivo. A pesar de su rol «salvador» puede ser un procedimiento riesgoso para el paciente si no es aplicado apropiadamente. Para disminuír los riesgos inherentes a la misma, modos ventilatorios avanzados continúan siendo desarrollados a fin de mejorar los desenlaces clínicos de los pacientes. Estos avances incluyen sistemas de control de asa cerrada, como el ASV, el cual se ajusta automáticamente a los requerimientos del paciente. Es importante el entendimiento de este novedoso modo ventilatorio por el personal médico, incluyendo sus efectos en la mecánica pulmonar. Este artículo discutirá sobre el modo de ventilación de soporte adaptativo haciendo énfasis particular en sus parámetros, ventajas y desventajas sobre la oxigenación y ventilación.

Transformaciones y evolución de las fuentes del derecho administrativo colombiano a partir de los tratados de integración

Esta tesis producto del trabajo de investigación se planteo sobre las bases de un derecho administrativo interno creado para resolver los problemas suscitados al interior del Estado en consonancia con los postulados constitucionales, teniendo en cuenta el artículo 4° en que se establece la supremacía de la Constitución y los artículo 9°, 93, 94 y 224 al 227 que ordenan el desarrollo del derecho de integración en el marco de los países Latinoamericanos y del Caribe, por lo que surge la imperiosa necesidad de armonizar el derecho de la integración con el ordenamiento jurídico nacional y en especial con el derecho administrativo quien deberá recepcionar el mencionado ordenamiento supraestatal, alterando las tradicionales concepciones de las fuentes de este derecho interno. Por lo tanto, desde la perspectiva del derecho administrativo comprendido como un derecho legislado que regula las relaciones entre el Estado y los particulares en el que prevalece el “principio de legalidad” de los actos administrativos, se puede intuir que constituye un problema jurídico los impactos derivados de los tratados de integración, donde nos preguntamos sí las categorías de fuentes actuales del derecho administrativo son las adecuadas para abordar la recepción de estas disposiciones Por lo que al explorara las incidencias en el derecho administrativo con ocasión de la recepción del derecho de integración con particular énfasis en la Comunidad Andina, identificamos que uno de los rasgos más distintivos del ordenamiento jurídico andino, como el de otros esquemas de integración, proviene del discutido concepto de supranacionalidad. Dentro de la teoría jurídica contemporánea la comprensión de este término trae una novísima concepción que al mismo tiempo es respetuosa de la soberanía interna de los Estados miembros, la cual permite el surgimiento del nuevo ente común donde es posible la distribución de competencias en la reglamentación de ciertos ámbitos entre autoridades multilaterales y nacionales, conservando su propia autonomía. Este concepto ha permitido que en el ordenamiento comunitario andino, a semejanza de lo que acontece en el derecho interno de los Estados, exista un sistema de control de las normas jurídicas garantizado por una jurisdicción contenciosa-administrativa ejercida a través del Tribunal de Justicia de la Comunidad Andina. Lo que en definitiva incide en el derecho administrativo interno al encontramos frente a ordenamientos independientes, como lo son los del derecho de integración, en los que se producen, aplican y ejecutan normas según las reglas de juego adoptadas para ese efecto por los Estados miembros, que dependerán del marco del proceso de integración y su armonización con las normas internas. Es por ello, que en el resultado final de esta tesis se constata la aparición de nuevas fuentes de legalidad, donde ya no sólo se contemplará la ley y la jurisprudencia, ésta última posicionada con el devenir del tiempo debido a su pertinencia, como lo podemos contrastar con la expedición del Nuevo Código de Procedimiento Contencioso Administrativo (L. 1437/11) que aún no ha entrado en vigencia, en donde se resalta la importancia del Precedente Judicial a partir de las sentencias de unificación del Consejo de Estado. Pero más allá, de este nuevo reconocimiento legislativo, el sistema de fuentes establecido se verá alterado en su jerarquía con el derecho que nace con ocasión de los tratados de integración, lo que aún no se refleja en este nuevo Código, el cual no prevé la aplicación de las nuevas fuentes de legalidad.

La estructura y funcionalidad de los sistemas en el modelo de Bronfenbrenner y su utilidad en entornos empresariales

El proyecto será desarrollado en base al modelo ecológico del desarrollo humano, (Bronfenbrenner, 1999) partiendo desde la explicación y conceptualización del modelo en términos generales, guiando la investigación hacia un ámbito organizacional en donde se podrá aplicar la teoría descrita por Bronfenbrenner y así, determinar cuál es la estructura y funcionalidad de los sistemas en el modelo además de establecer qué utilidad tiene en entornos empresariales por medio del análisis de los múltiples sistemas, relaciones, interacciones y efectos que tienen y que desarrollan las empresas u organizaciones en el transcurso de su vida. A lo largo de la investigación se hará referencia a diferentes conceptos relacionados tanto con el modelo como con el mundo en que se desarrollan las organizaciones, tales como clusters, sistemas, sectores, estrategias, marketing relacional, comunidad, interacciones, influencias, entre otros; los cuales permitirán acercar lo mayor posible el modelo de Bronfenbrenner al mundo empresarial y lograr desarrollar de mejor manera la intención de aplicar el modelo al mundo organizacional.

Entre obligación histórica, juego intergubernamental y vínculo trasatlántico: las tres caras de la nueva política europea de seguridad y defensa común

Una primera aproximación al estudio de las causas y circunstancias que han llevado a que la UE, como nuevo actor político y militar, opte por un tipo de seguridad particular, diferente a los modelos tradicionales de defensa colectiva ya existentes

DAI-DEPUR: an integrated and distributed architecture for wastewater treatment plants supervision

The activated sludge process - the main biological technology usually applied to wastewater treatment plants (WWTP) - directly depends on live beings (microorganisms), and therefore on unforeseen changes produced by them. It could be possible to get a good plant operation if the supervisory control system is able to react to the changes and deviations in the system and can take the necessary actions to restore the system’s performance. These decisions are often based both on physical, chemical, microbiological principles (suitable to be modelled by conventional control algorithms) and on some knowledge (suitable to be modelled by knowledge-based systems). But one of the key problems in knowledge-based control systems design is the development of an architecture able to manage efficiently the different elements of the process (integrated architecture), to learn from previous cases (spec@c experimental knowledge) and to acquire the domain knowledge (general expert knowledge). These problems increase when the process belongs to an ill-structured domain and is composed of several complex operational units. Therefore, an integrated and distributed AI architecture seems to be a good choice. This paper proposes an integrated and distributed supervisory multi-level architecture for the supervision of WWTP, that overcomes some of the main troubles of classical control techniques and those of knowledge-based systems applied to real world systems

Multi-agent collaboration for decision support in shared zones of intelligent buildings

In domain of intelligent buildings, saving energy in buildings and increasing preferences of occupants are two important factors. These factors are the important keys for evaluating the performance of work environment. In recent years, many researchers combine these areas to create the system that can change from original to the modern work environment called intelligent work environment. Due to advance of agent technology, it has received increasing attention in the area of intelligent pervasive environments. In this paper, we review several issues in intelligent buildings, with respect to the implementation of control system for intelligent buildings via multi-agent systems. Furthermore, we present the MASBO (Multi-Agent System for Building cOntrol) that has been implemented for controlling the building facilities to reach the balancing between energy efficiency and occupant’s comfort. In addition to enhance the MASBO system, the collaboration through negotiation among agents is presented.