Persona: Sánchez Moreno, José
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Sánchez Moreno
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Publicación Obtaining high preventive and resilience capacities in critical infrastructure by industrial automation cells(Elsevier, 2020-06) González, Santiago G.; Dormido Canto, Sebastián; Sánchez Moreno, JoséThe advances in Information Technologies (ITs) are providing Industrial Control Systems (ICS) with a great capacity for interconnection and adaptability. However, the use of communication networks makes ICS highly vulnerable. Consequently, it is essential to develop methodologies for the identification and subsequent classification of the ICS that intervene in critical infrastructure assets with any level of complexity, scalability and heterogeneity. The System and Infrastructure of Knowledge for Real Experimentation by means of Cells of Industrial Automation (SIKRECIA), described in this work, provides new capabilities for research, development, simulation and testing of the functioning of these systems, and the ability to foresee the behavior of a specific system in industrial production. The scenarios recreated through SIKRECIA have the ability to anticipate new threats that affect the ICS of critical infrastructures. Using SIKRECIA, a specific vulnerability of a PLC has been verified through the engineering programmed for the management of a traffic light control system. The results obtained demonstrate the high dependence between IT and OT (Operation Technologies) systems and therefore the importance of being able to recreate those environments before entering into operation. As SIKRECIA is an open system, it can use components from different industrial manufacturers to cover the existing architectures in the process industry.Publicación An event-based adaptation of the relay feedback experiment for frequency response identification of stable processes(Elsevier, 2023-04-13) Sánchez Moreno, José; Torre Cubillo, Luis de la; Chacón Sombría, Jesús; Dormido Canto, Sebastián; Elsevier; https://orcid.org/0000-0003-0898-3462An event-based modification of the classical relay feedback experiment without the inclusion of additional elements (integrator, time delay, . . . ) for identification of the spectrum of stable processes between zero and the phase cross-over frequency is presented. By inserting an event-based sampler in the control loop, the natural behaviour of a classical relay is simulated and the system is forced to work in two modes. The event-based sampler activates the first mode by sending control actions to the process every time the error signal crosses zero; this mode is to discover the approximated value of the cross-over frequency ω180◦ . During the second mode, the event-based sampler sends samples to the process simulating that the error signal crosses zero at ω180◦ /N where N is the number of points to identify in the range 0 ≤ ω ≤ ω180◦ . One advantage of this procedure is that the logic used in an already existing relay feedback experiment to fit a transfer function model or tune a controller could be maintained just replacing the relay block by the event-based sampler block presented in the paper. Simulations and experiments with different processes and in presence of noise demonstrate the effectivity of the procedure.Publicación Characterization of limit cycle oscillations induced by Fixed Threshold Samplers(Institute of Electrical and Electronics Engineers, 2022-06-17) Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; Sánchez Moreno, José; Dormido Bencomo, Sebastián; https://orcid.org/0000-0002-2472-2038; https://orcid.org/0000-0002-2405-8771In this work, a generalized study of the conditions for the appearance of limit cycle oscillations induced by any kind of sampler with multilevel fixed thresholds is presented. These kinds of samplers, which will be referred to as Fixed Threshold Samplers (FTS), are characterized by a series of parameters, which, when selected properly, allow obtaining some of the most used forms of quantization in Event-Based Control (EBC). Because of some sampler characteristics, the obtained limit cycle oscillations can present a bias, therefore, to characterize them the Dual Input Describing Function (DIDF) method is used. The obtained DIDF is analyzed revealing some interesting properties allowing to simplify the robustness analysis. The analysis takes into account the effect of the disturbance and reference signal influence on the system, generally overlooked in DF analysis. Guidelines about how to perform the robustness analysis are given, showing their application through some study cases.Publicación Distributed multi-UAV shield formation based on virtual surface constraints(Elsevier, 2024-03-30) Zaragoza, Salvador ; Guinaldo Losada, María; Sánchez Moreno, José; Mañas Álvarez, Francisco JoséThis paper proposes a method for the deployment of a multi-agent system of unmanned aerial vehicles (UAVs) as a shield with potential applications in the protection of infrastructures. The shield shape is modeled as a quadric surface in the 3D space. To design the desired formation (target distances between agents and interconnections), an algorithm is proposed where the input parameters are just the parametrization of the quadric and the number of agents of the system. This algorithm guarantees that the agents are almost uniformly distributed over the virtual surface and that the topology is a Delaunay triangulation. Moreover, a new method is proposed to check if the resulting triangulation meets that condition and is executed locally. Because this topology ensures that the formation is rigid, a distributed control law based on the gradient of a potential function is proposed to acquire the desired shield shape and proofs of stability are provided. Finally, simulation and experimental results illustrate the effectiveness of the proposed approach.Publicación Multiple frequency response points identification through single asymmetric relay feedback experiment(Elsevier, 2023-01) Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; Dormido, Sebastián; Sánchez Moreno, José; https://orcid.org/0000-0003-3397-2239In this paper a methodology to identify several points of the frequency response of a system using a single experiment is proposed. The identification is performed using the information obtained from an asymmetric relay feedback experiment. The frequency response points that are estimated correspond to the fundamental oscillation frequency induced by the asymmetric relay and its harmonics. The method is easy to implement since it only requires linear algebra operations, but relies on a proper data selection, which is largely studied, to obtain the most accurate results. The proposed method allows a Least Squares formulation, which has also been studied, and presents some benefits in terms of accuracy for certain cases. The presented results are validated experimentally using a practical identification case.Publicación Asymmetric delayed relay feedback identification based on the n-shifting approach(Taylor and Francis Group, 2021-08-20) Sánchez Moreno, José; Dormido Bencomo, Sebastián; Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; https://orcid.org/0000-0002-2405-8771; https://orcid.org/0000-0002-2472-2038; https://orcid.org/0000-0003-3397-2239The paper presents an improvement of the n-shifting technique to identify the frequency response of an industrial process using a fully asymmetric and delaying relay. The n-shifting approach allows the calculation of n + 1 points of G(s) by an asymmetric relay experiment. This set of n points is composed of G(0), G(jωosc), . . . , G(jnωosc), being ωoscthe oscillation frequency, and where G(jωosc) is in most cases located in the third quadrant of the Nyquist map. By delaying the relay output and repeating a similar experiment it can be generated n additional points of G(s) where the first point is G(jω’ osc) with 0 < ω’osc < ωosc. In this way, it is possible to depict the full output spectrum of G(s) from zero to very high frequencies by a short relay experiment. An example of identification and tuning of a PID controller with data from the n-shifting are presented to show the validity of the approach.Publicación A relay-feedback automatic tuning methodology of PIDA controllers for high-order processes(Taylor & Francis, 2024) Antonio Visioli; Sánchez Moreno, JoséIn this paper, we present a new automatic tuning methodology for proportional-integral-derivative-acceleration controllers. In particular, a (possibly high-order) model of the process is obtained by means of a relay-feedback test. Then, the four parameters of the controller are determined by approximating the general feedback internal model controller with a truncated Maclaurin series. In this context, the user can select a parameter that determines the speed of the response of the closed-loop system and implicitly handles the trade-off between aggressiveness and robustness. It is shown that the additional acceleration action allows an improvement of the performance with respect to a traditional proportional-integral-derivative controller and represents an effective solution for the control of high-order systems.Publicación On-line retuning of PID controllers with fixed threshold samplers(Elsevier, 2023-04-11) Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; Dormido, Sebastián; Sánchez Moreno, JoséThe appearance of limit cycle oscillations in control systems with fixed threshold based samplers degrades the performance of the control loop, accelerates the wear out of actuators, and introduces an unnecessary communication overhead in distributed control systems. In this paper, the role of the input signals to the control loop is taken into account when analyzing the existence of limit cycles induced by fixed threshold samplers. With this analysis, a methodology to re-tune PID controllers while running to avoid limit cycle oscillations generated by ramp-like excitation signals is presented. Implementation guidelines and several examples to illustrate the usefulness of the method are provided.Publicación Design and Development of an SVM-Powered Underwater Acoustic Modem(MDPI, 2024-05-05) Guerrero Chilaber, Gabriel S.; Moreno Salinas, David; Sánchez Moreno, José; https://orcid.org/0009-0009-9959-0250Underwater acoustic communication is fraught with challenges, including signal distortion, noise, and interferences unique to aquatic environments. This study aimed to advance the field by developing a novel underwater modem system that utilizes machine learning for signal classification, enhancing the reliability and clarity of underwater transmissions. This research introduced a system architecture incorporating a Lattice Semiconductors FPGA for signal modulation and a half-pipe waveguide to emulate the underwater environment. For signal classification, support vector machines (SVMs) were leveraged with the continuous wavelet transform (CWT) employed for feature extraction from acoustic signals. Comparative analysis with traditional signal processing techniques highlighted the efficacy of the CWT in this context. The experiments and tests carried out with the system demonstrated superior performance in classifying modulated signals under simulated underwater conditions, with the SVM providing a robust classification despite the presence of noise. The use of the CWT for feature extraction significantly enhanced the model’s accuracy, eliminating the need for further dimensionality reduction. Therefore, the integration of machine learning with advanced signal processing techniques presents a promising research line for overcoming the complexities of underwater acoustic communication. The findings underscore the potential of data mining methodologies to improve signal clarity and transmission reliability in aquatic environments.Publicación Low-Cost Portable System for Measurement and Representation of 3D Kinematic Parameters in Sport Monitoring: Discus Throwing as a Case Study(MDPI, 2022-12-02) Navarro Iribarne, Juan Francisco; Moreno Salinas, David; Sánchez Moreno, José; https://orcid.org/0000-0001-6994-3064Monitoring of sports practice has become an almost essential tool in high-level professional training. The knowledge of the exact movements performed by an athlete provides a great advantage over conventional training, since the best performance can be theoretically known in advance and the trainer will expect the real athlete’s movements to approximate it. Following this trend, this article deals with the design and development of a low-cost wearable biofeedback system for the measurement and representation of kinematic parameters in 3D. To capture the athlete’s movements, an inertial measurement unit (IMU) is used, whose data are processed in an microcontroller-based architecture. The kinematic parameters of the athlete’s movement are sent via Bluetooth to a smart phone, where they are displayed graphically. Experimental examples show the effectiveness of the device developed and illustrate the key results derived.