Estudio e implementación de Middleware para aplicaciones de control distribuido

[Resumen] En este artículo se presenta un middleware (CKMultipeer) desarrollado específicamente para la implementación de sistemas de control distribuido. El objetivo de este desarrollo es disponer de un sistema sencillo, con buenas propiedades sobre el que se puedan ensayar diferentes modelos de implementación tanto de las comunicaciones como de la ejecución de tareas. El middleware desarrollado, además de permitir profundizar con implementaciones reales y diferentes estructuras de ejecución, se ha utilizado con éxito para la realización de diversas aplicaciones prácticas como es el caso de robots modulares que se han construido por agregación de componentes en red.Ministerio de Ciencia e Innovación; TIN2014-56158-C4-4-

Knowledge-infused and Consistent Complex Event Processing over Real-time and Persistent Streams

Emerging applications in Internet of Things (IoT) and Cyber-Physical Systems (CPS) present novel challenges to Big Data platforms for performing online analytics. Ubiquitous sensors from IoT deployments are able to generate data streams at high velocity, that include information from a variety of domains, and accumulate to large volumes on disk. Complex Event Processing (CEP) is recognized as an important real-time computing paradigm for analyzing continuous data streams. However, existing work on CEP is largely limited to relational query processing, exposing two distinctive gaps for query specification and execution: (1) infusing the relational query model with higher level knowledge semantics, and (2) seamless query evaluation across temporal spaces that span past, present and future events. These allow accessible analytics over data streams having properties from different disciplines, and help span the velocity (real-time) and volume (persistent) dimensions. In this article, we introduce a Knowledge-infused CEP (X-CEP) framework that provides domain-aware knowledge query constructs along with temporal operators that allow end-to-end queries to span across real-time and persistent streams. We translate this query model to efficient query execution over online and offline data streams, proposing several optimizations to mitigate the overheads introduced by evaluating semantic predicates and in accessing high-volume historic data streams. The proposed X-CEP query model and execution approaches are implemented in our prototype semantic CEP engine, SCEPter. We validate our query model using domain-aware CEP queries from a real-world Smart Power Grid application, and experimentally analyze the benefits of our optimizations for executing these queries, using event streams from a campus-microgrid IoT deployment.Comment: 34 pages, 16 figures, accepted in Future Generation Computer Systems, October 27, 201

Dynamic Reconfiguration of a RGBD Sensor Based on QoS and QoC Requirements in Distributed Systems

The inclusion of embedded sensors into a networked system provides useful information for many applications. A Distributed Control System (DCS) is one of the clearest examples where processing and communications are constrained by the client s requirements and the capacity of the system. An embedded sensor with advanced processing and communications capabilities supplies high level information, abstracting from the data acquisition process and objects recognition mechanisms. The implementation of an embedded sensor/actuator as a Smart Resource permits clients to access sensor information through distributed network services. Smart resources can offer sensor services as well as computing, communications and peripheral access by implementing a self-aware based adaptation mechanism which adapts the execution profile to the context. On the other hand, information integrity must be ensured when computing processes are dynamically adapted. Therefore, the processing must be adapted to perform tasks in a certain lapse of time but always ensuring a minimum process quality. In the same way, communications must try to reduce the data traffic without excluding relevant information. The main objective of the paper is to present a dynamic configuration mechanism to adapt the sensor processing and communication to the client s requirements in the DCS. This paper describes an implementation of a smart resource based on a Red, Green, Blue, and Depth (RGBD) sensor in order to test the dynamic configuration mechanism presented.This work has been supported by the Spanish Science and Innovation Ministry MICINN under the CICYT project M2C2: "Codiseno de sistemas de control con criticidad mixta basado en misiones" TIN2014-56158-C4-4-P and the Programme for Research and Development PAID of the Polytechnic University of Valencia: UPV-PAID-FPI-2013. 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Manipulador aéreo con brazos antropomórficos de articulaciones flexibles

[Resumen] Este artículo presenta el primer robot manipulador aéreo con dos brazos antropomórficos diseñado para aplicarse en tareas de inspección y mantenimiento en entornos industriales de difícil acceso para operarios humanos. El robot consiste en una plataforma aérea multirrotor equipada con dos brazos antropomórficos ultraligeros, así como el sistema de control integrado de la plataforma y los brazos. Una de las principales características del manipulador es la flexibilidad mecánica proporcionada en todas las articulaciones, lo que aumenta la seguridad en las interacciones físicas con el entorno y la protección del propio robot. Para ello se ha introducido un compacto y simple mecanismo de transmisión por muelle entre el eje del servo y el enlace de salida. La estructura en aluminio de los brazos ha sido cuidadosamente diseñada de forma que los actuadores estén aislados frente a cargas radiales y axiales que los puedan dañar. El manipulador desarrollado ha sido validado a través de experimentos en base fija y en pruebas de vuelo en exteriores.Ministerio de Economía y Competitividad; DPI2014-5983-C2-1-