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Publicación Promoción de la Igualdad de trato y la no discriminación(Laborum ediciones, 2024) Nieto Rojas, PatriciaPublicación A Rule-Learning Approach for Detecting Faults in Highly Configurable Software Systems from Uniform Random Samples(2022) Heradio Gil, Rubén; Fernández Amoros, David José; Ruiz Parrado, Victoria; Cobo, Manuel J.; https://orcid.org/0000-0003-2993-7705; http://orcid.org/ 0000-0001-6575-803XSoftware systems tend to become more and more configurable to satisfy the demands of their increasingly varied customers. Exhaustively testing the correctness of highly configurable software is infeasible in most cases because the space of possible configurations is typically colossal. This paper proposes addressing this challenge by (i) working with a representative sample of the configurations, i.e., a ``uniform'' random sample, and (ii) processing the results of testing the sample with a rule induction system that extracts the faults that cause the tests to fail. The paper (i) gives a concrete implementation of the approach, (ii) compares the performance of the rule learning algorithms AQ, CN2, LEM2, PART, and RIPPER, and (iii) provides empirical evidence supporting our procedurePublicación Circuit Testing Based on Fuzzy Sampling with BDD Bases(University of Hawaiʻi at Mānoa, 2023) Pinilla, Elena; Fernández Amoros, David José; Heradio Gil, RubénFuzzy testing of integrated circuits is an established technique. Current approaches generate an approximately uniform random sample from a translation of the circuit to Boolean logic. These approaches have serious scalability issues, which become more pressing with the ever-increasing size of circuits. We propose using a base of binary decision diagrams to sample the translations as a soft computing approach. Uniformity is guaranteed by design and scalability is greatly improved. We test our approach against five other state-of-the-art tools and find our tool to outperform all of them, both in terms of performance and scalability.Publicación Pragmatic Random Sampling of the Linux Kernel: Enhancing the Randomness and Correctness of the conf Tool(Association for Computing Machinery, New York, 2024-09-02) Fernández Amoros, David José; Heradio Gil, Rubén; Horcas Aguilera, Jose Miguel; Galindo, José A.; Benavides, David; Fuentes, Lidia; https://orcid.org/0000-0003-3758-0195; https://orcid.org/0000-0002-5677-7156; https://orcid.org/0000-0002-8449-3273; https://orcid.org/0000-0001-9293-9784The configuration space of some systems is so large that it cannot be computed. This is the case with the Linux Kernel, which provides almost 19,000 configurable options described across more than 1,600 files in the Kconfig language. As a result, many analyses of the Kernel rely on sampling its configuration space (e.g., debugging compilation errors, predicting configuration performance, finding the configuration that optimizes specific performance metrics, etc.). The Kernel can be sampled pragmatically, with its built-in tool conf, or idealistically, translating the Kconfig files into logic formulas. The pros of the idealistic approach are that it provides statistical guarantees for the sampled configurations, but the cons are that it sets out many challenging problems that have not been solved yet, such as scalability issues. This paper introduces a new version of conf called randconfig+, which incorporates a series of improvements that increase the randomness and correctness of pragmatic sampling and also help validate the Boolean translation required for the idealistic approach. randconfig+ has been tested on 20,000 configurations generated for 10 different Kernel versions from 2003 to the present day. The experimental results show that randconfig+ is compatible with all tested Kernel versions, guarantees the correctness of the generated configurations, and increases conf’s randomness for numeric and string options.Publicación An Object-Oriented Library for Process Control Simulations in MATLAB(ELSEVIER, 2017) Rodríguez, Carlos; Guinaldo Losada, María; Aranda Escolástico, Ernesto; Guzmán, José L.This paper presents a library of MATLAB classes developed to provide a framework to allow performing easy and scalable process control simulations. The proposed object-oriented tool features the basic components of a control loop including: processes, controllers, sensors, actuators and connection links. The simulator can be configured to carry out simulations with continuous and/or discrete elements, and/or include event-triggered capabilities in a straightforward manner. The benefits of the proposed library are shown with the rapid development and simulation of a quadruple-tank system that is controlled by means of a PI controller.Publicación Stability of output event-based control systems through quadratic trigger functions(IEEE, 2015-10) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, SebastiánThe design of event-based controllers for systems with unknown states is investigated in this paper. The case of general quadratic triggering conditions that depend on the estimated state given by a Luenberger observer is studied. Novel frameworks are proposed for continuous and periodic event-based control providing criteria for asymptotic stability with the form of Linear Matrix Inequalities (LMIs). The frameworks are tested in simulation through a challenging system, such as the double rotary inverted pendulum.Publicación Underwater coverage with a mobile robot of limited control authority(IEEE, 2018) Aranda Escolástico, Ernesto; Cortes, Jorge; Guinaldo Losada, María; Dormido Canto, Sebastián; https://orcid.org/0000-0001-9582-5184This work considers the coverage of underwater areas with a mobile robot with constrained control and communication capabilities. While underwater, the robot can control its depth but it is subject to flow in the other directions. While on the surface, it can move (essentially) freely. The aim of the work is the coverage of the areas with the minimum waste of resources. For that, we propose a two-part algorithm, where one part is a genetic algorithm and the other part is an algorithm based on Netwton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.Publicación Distributed targeted distance-based formation control for mechanical systems(IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo J.; Guinaldo Losada, MaríaThis paper studies the problem of distributed targeted distance-based formation control for mechanical systems. The problem consists on finding a distributed control law such that if each agent observes a convex set as a targeted set, and also the relative position of their nearest neighbors, then the agents must achieve the desired formation in these sets while its velocities are driven to zero. We study the problem for agents with a time-delay communication in the measurements of the relative positions and where the motion of each agent is determined by a Lagrangian function. Simulation are given to validate the theoretical result.Publicación Fuzzy logic vs analytic controllers on a non-linear system(World Scientific, 2014) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián; Santos, M.In this paper, an intelligent control of the rotary inverted pendulum by fuzzy logic is presented. Specifically, the design consists of a Takagi-Sugeno fuzzy model to approximate the non-linear system to a succession of points where a linear system is described. A feedback gain is obtained that allows the stabilization of the inverted pendulum in a higher attractor than in the case of analytic Full State Feedback controller or Linear Quadratic Regulator.Publicación A novel approach for periodic event-triggering based on general quadratic functions(IEEE, 2015) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, SebastiánThis paper is concerned with periodic event-triggered control, which avoids the continuous monitoring of the state of the system while reducing the number of control updates. A new form of quadratic event-triggering condition is proposed to enlarge the inter-event times. The asymptotic stability criteria is analyzed by means of Lyapunov-Krasovskii functionals and the stability condition is expressed in terms of linear matrix inequalities. Simulation and experimental results are given to show the effectiveness of the proposed method.Publicación Periodic Event-Triggered Swing-Up Control of the Inverted Pendulum(Springer, 2016) Aranda Escolástico, Ernesto; Gordillo, F.; Guinaldo Losada, María; Dormido Canto, Sebastián; Garrido, Paulo; Soares, Filomena; Moreira, António PauloIn this paper, a novel strategy for swinging up an inverted pendulum is proposed. The strategy combines an energy-based control law with an event triggering condition to minimize transmissions, protect actuators and save energy. In addition, the strategy is periodic event-triggered, which provides two main advantages: An analytical way to determine a priori the sampling period to guarantee the appropriate behavior and an easy implementation in real prototypes.Publicación Innovative Food Systems Teaching & Learning: Overcoming disciplinary and teaching silos to fix the food system(Editorial Universitat Politècnica de València, 2017-06-21) Ajates González, RaquelWhile inter-university and interdisciplinary research projects are very common in Higher Education (HE), inter-university and interdisciplinary teaching programmes are still very rare. This paper reflects on the first year of the Innovative Food Systems Teaching and Learning (IFSTAL) programme. IFSTAL is a three-year project funded by the Higher Education Funding Council for England (HEFCE) with the aim of bringing together postgraduate students from very different programmes to learn about food and farming beyond their own disciplines. IFSTAL creates learning environments and activities that encourage students to think systemically about the transdisciplinary challenges facing the food system. IFSTAL combines both face to face events and an inter-university virtual learning environment (VLE) that was created from scratch for this project. At the end of its first year, a survey was carried out to evaluate the programme and inform the structure for year two (Y2). Survey data revealed students preferred interacting at face to face events over the shared VLE. The programme for Y2 was re-designed to incorporate more flipped classroom features with an andragogy-based approach.Publicación ‘GROW Citizens’ Observatory: Leveraging the power of citizens, open data and technology to generate engagement, innovative datasets and action on soil policy and soil moisture monitoring’(IOP Publishing, 2020) Woods, M.; Hemment, D.; Ajates González, Raquel; Cobley, A.; Xaver, A.; Konstantakopoulos, G.Citizens' Observatories (COs) seek to extend conventional citizen science (CS) activities to scale up the potential of citizen sensing for environmental monitoring and creation of open datasets, knowledge and action around environmental issues, both local and global. The GROW CO has connected the planetary dimension of satellites with the hyperlocal context of farmers and their soil. GROW has faced three main interrelated challenges associated with each of the three core audiences of the observatory, namely citizens, scientists and policy makers: one is sustained citizen engagement, quality assurance of citizen-generated data and the challenge to move from data to action in practice and policy. We discuss how each of these challenges were overcome and gave way to the following related project outputs: 1) Contributing to satellite validation and enhancing the collective intelligence of GEOSS 2) Dynamic maps and visualisations for growers, scientists and policy makers 3) Social-technical innovations data art.Publicación Distributed reconfiguration of distance-based formations with virtual surface constraints(IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco JoséThis paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.Publicación PoetryLab as Infrastructure for the Analysis of Spanish Poetry(Linköping University Electronic Press, 2021-06-22) Rosa, Javier de la; Pérez Pozo, Álvaro; Hernández Lorenzo, Laura; Díaz Paredes, Aitor; Ros Muñoz, Salvador; González Blanco, ElenaThe development of the network of ontologies of the ERC POSTDATA Project brought to light some deficiencies in terms of completeness in the currently available European poetry corpora. To tackle the issue in the realm of the Spanish poetic tradition, our approach consisted in designing a set of tools that any scholar could use to automatically enrich the analysis of Spanish poetry. The effort crystallized in the PoetryLab, an extensible open source toolkit for syllabification, scansion, enjambment detection, rhyme detection, stanza identification, and historical named entity recognition for Spanish poetry. We designed the system to be interoperable, compliant with the project ontologies, easy to use by tech-savvy and non-expert researchers, and requiring minimal maintenance and setup. Furthermore, we propose the integration of the PoetryLab as a core functionality in the tool catalog of CLARIN for Spanish poetry.Publicación Test embargo(2024) Lovelace, AdaPublicación Holocene changing coastlines in the Guadalete estuary (Bay of Cádiz, Southern Spain)(SISTEMAS RIAS, 1995) Dabrio, Cristino José; Goy Goy, José Luis; Zazo Cardeña, Caridad; Lario Gómez, JavierPublicación Improving autonomous vehicle automation through human-system interaction(EUROSIS) Fernandez Matellan, Raul; Martin Gomez, David; Tena Gago, David; Puertas Ramírez, David; González Boticario, JesúsSelf-driving cars (a.k.a. Autonomous Vehicles) have many challenges to tackle before having them fully deployed in our roads and cities. A critical one, which has been somehow neglected till recently, is to consider the driver in the system-user loop of vehicle performance. The purpose here is to tackle some of the current pending challenges involved in scaling up the level of autonomy of these systems. We have designed two user-vehicle experiences in two different sites with a common methodology that serves as an umbrella to collect all features required to model the driver-user. These two sites allow us to contrast and fine-tune this modelling issue. The approach consists in following a Learning Apprentice approach, where both the user behaviour and the system behaviour are learned and improved in a symbiotic ecosystem. This paper focuses on discussing the advantages of this approach and the main issues that require further research.Publicación Sistema para la mejora del entrenamiento del lanzamiento de disco(Comité Español de Automática, 2024-07-15) Moreno Salinas, David; Sánchez Moreno, J.; Álvarez, J.; Revuelta, C.En este trabajo se presenta el estado de desarrollo de un sistema de bajo coste orientado a entrenadores y atletas de alto rendimiento para la mejora de la técnica del lanzamiento de disco. El sistema está basado en el análisis conjunto de la información proporcionada por unidades de medida inerciales (IMU) y una cámara de vídeo. Inicialmente, las IMU se ubican en cinco puntos del cuerpo del lanzador (tobillo izquierdo y derecho, sacro, esternón y muñeca), así como en el interior del disco. La utilidad de las IMU es proporcionar datos de las aceleraciones y de los ángulos de orientación que permitan derivar de forma directa e indirecta ciertos parámetros biomecánicos del atleta durante el lanzamiento (p.e., desfase angular entre el eje de caderas, hombros y disco, velocidades angulares del disco, hombros y cadera, velocidad y ángulos de salida del disco, ángulo de spinning aplicado al disco, etc.), así como identificar las fases temporales que comporta todo lanzamiento y que determinan la calidad de éste, con el objetivo de maximizar la distancia de vuelo del disco. En lo que respecta al vídeo, éste se basa en la utilización de una única cámara para obtener un modelo de alambre 3D del atleta. Para ello, el vídeo se procesa mediante técnicas de aprendizaje profundo que obtienen la secuencia temporal de coordenadas 3D de hasta 23 puntos del cuerpo del atleta. Estos datos, junto con la información de las IMU, permiten mejorar el modelado biomecánico con parámetros como la ubicación del centro de masas del atleta y la evolución del momento angular del disco y del lanzador.Publicación Composición fotográfica mediante el uso de un dron(Comité Español de Automática, 2024-07-15) Sánchez García, Juan Miguel; Sánchez Moreno, José; Moreno Salinas, DavidLa composición fotográfica, conocida como mosaicos, es crucial en aplicaciones donde no es posible capturar toda la extensión de grandes superficies en una sola toma. Por ende, se requiere fotografiar secciones más pequeñas para luego componerlas y lograr una reproducción lo más precisa posible de la realidad. En este trabajo se presenta el resultado de aplicar los principios de las distintas etapas necesarias para crear un mosaico, complementado con el uso de un dron para la captura de las imágenes. La creación del mosaico implica técnicas avanzadas de procesamiento de imágenes que facilitan la detección de características, la transformación geométrica y la alineación de píxeles. Sin embargo, la experimentación con diferentes algoritmos ha revelado que no siempre es viable encontrar una transformación geométrica que produzca un mosaico de calidad, especialmente cuando las características de la fotografía no son óptimas, lo cual puede ser atribuible, en parte, a la resolución de los dispositivos fotográficos utilizados.