STOP-IT: strategic, tactical, operational protection of water infrastructure against cyberphysical threats

Water supply and sanitation infrastructures are essential for our welfare, but vulnerable to several attack types facilitated by the ever-changing landscapes of the digital world. A cyber-attack on critical infrastructures could for example evolve along these threat vectors: chemical/biological contamination, physical or communications disruption between the network and the supervisory SCADA. Although conceptual and technological solutions to security and resilience are available, further work is required to bring them together in a risk management framework, strengthen the capacities of water utilities to systematically protect their systems, determine gaps in security technologies and improve risk management approaches. In particular, robust adaptable/flexible solutions for prevention, detection and mitigation of consequences in case of failure due to physical and cyber threats, their combination and cascading effects (from attacks to other critical infrastructure, i.e. energy) are still missing. There is (i) an urgent need to efficiently tackle cyber-physical security threats, (ii) an existing risk management gap in utilities’ practices and (iii) an un-tapped technology market potential for strategic, tactical and operational protection solutions for water infrastructure: how the H2020 STOP-IT project aims to bridge these gaps is presented in this paper.Postprint (published version

A computational framework for polyconvex large strain elasticity

This paper presents a novel computational formulation for large strain polyconvex elasticity. The formulation, based on the original ideas introduced by Schröder etal. (2011), introduces the deformation gradient (the fibre map), its adjoint (the area map) and its determinant (the volume map) as independent kinematic variables of a convex strain energy function. Compatibility relationships between these variables and the deformed geometry are enforced by means of a multi-field variational principle with additional constraints. This process allows the use of different approximation spaces for each variable. The paper extends the ideas presented in Schröder etal. (2011) by introducing conjugate stresses to these kinematic variables which can be used to define a generalised convex complementary energy function and a corresponding complementary energy principle of the Hellinger-Reissner type, where the new conjugate stresses are primary variables together with the deformed geometry. Both compressible and incompressible or nearly incompressible elastic models are considered. A key element to the developments presented in the paper is the new use of a tensor cross product, presented for the first time by de Boer (1982), page 76, which facilitates the algebra associated with the adjoint of the deformation gradient. For the numerical examples, quadratic interpolation of the displacements, piecewise linear interpolation of strain and stress fields and piecewise constant interpolation of the Jacobian and its stress conjugate are considered for compressible cases. In the case of incompressible materials two formulations are presented. First, continuous quadratic interpolation for the displacement together with piecewise constant interpolation for the pressure and second, linear continuous interpolation for both displacement and pressure stabilised via a Petrov-Galerkin technique

Community structure in industrial SAT instances

Modern SAT solvers have experienced a remarkable progress on solving industrial instances. It is believed that most of these successful techniques exploit the underlying structure of industrial instances. Recently, there have been some attempts to analyze the structure of industrial SAT instances in terms of complex networks, with the aim of explaining the success of SAT solving techniques, and possibly improving them. In this paper, we study the community structure, or modularity, of industrial SAT instances. In a graph with clear community structure, or high modularity, we can find a partition of its nodes into communities such that most edges connect variables of the same community. Representing SAT instances as graphs, we show that most application benchmarks are characterized by a high modularity. On the contrary, random SAT instances are closer to the classical Erdös-Rényi random graph model, where no structure can be observed. We also analyze how this structure evolves by the effects of the execution of a CDCL SAT solver, and observe that new clauses learned by the solver during the search contribute to destroy the original structure of the formula. Motivated by this observation, we finally present an application that exploits the community structure to detect relevant learned clauses, and we show that detecting these clauses results in an improvement on the performance of the SAT solver. Empirically, we observe that this improves the performance of several SAT solvers on industrial SAT formulas, especially on satisfiable instances.Peer ReviewedPostprint (published version

Estudio en modelo físico / modelo numérico del flujo en un cruce de calles no ortogonales, y con bombeo transversal

En el pasado la construcción de las calles, principalmente en zonas próximas a rieras, iba destinado a conducir el agua que provenía de las cuencas. En la actualidad las calles se diseñan con otra función, facilitar la circulación de los automóviles, y por lo tanto solo están preparadas para conducir una pequeña cantidad de agua, la que se genera en la misma calle a causa de la lluvia, y con el propósito que sea interceptada por algún imbornal. El propósito de éste estudio es conocer el comportamiento hidráulico de un cruce de calles. A partir de un suceso de lluvia se produce un proceso de transformación de la precipitación en escorrentía. Por lo tanto, se genera un flujo que circula por las calles. Esta situación puede llegar al punto que se generarse una gran escorrentía de agua, provocado por el fallo del sistema de drenaje o por la obstrucción de los imbornales. Aunque esta situación límite, no será objeto de esta tesina ya que asumimos que toda el agua será captada por el imbornal, y los caudales no serán nunca muy grandes

Experimental design and verification of a centralized controller for irrigation canals

This thesis aims to develop a predictive control for irrigation canals to improve the management of water resources. Water is necessary for life and it is a scarce good that we need for drinking, in the agriculture, etc. At the same time, it can constitute a serious threat in particular areas due to the difficulty to grow foods by the increasing of prolonged droughts. The agriculture holds an important part of the food chain and the water resources for agriculture are important, the problem is the water transport systems present low efficiencies in practice. The yield agriculture has to be optimized, because the goal of an operational water manager is to deliver the water to the irrigation sites accurately and efficiently. To improve the efficiency of the water transport systems is necessary to invest in automating the operation of irrigation canals. In order to fulfill these objectives, we define an overall control diagrams scheme in chapter 5 which splits the management of the canal control in different blocks. The management of a canal start from setting the demand delivery accurately taking into account the crops necessities during an irrigation cycle and establishing the gate trajectories for controlling the canal in each time step. In an ideal case, the system would be controlled but some factors which could deviated the desired state for the canal from the real canal state, as for instance, a disturbance introduced into the canal. In that circumstances, it would be necessary to introduce in our overall control diagram, other algorithms which could aid the watermaster to restore the desired state of the canal. These algorithms, developed and tested for us, are the CSI and GoRoSoBo algorithms. The first one defines a powerful tool in the management of a canal. The Watermaster establishes the gates positions and fixes the desired water level at checkpoints to fulfill a scheduled demand. In that sense, when someone introduce a disturbance into the canal perturbs the water level at checkpoints, so the scheduled deliveries cannot fulfilled by the watermaster. In such case, the water level measurements at these checkpoints could be sent to the CSI algorithms which calculates the real extracted flow and the current canal state along the canal, that is, the water level and velocity in all cross-sections of the canal. This task is performed by the CSI algorithm which has been designed in this thesis and tested in numerous numerical examples (chapter 7) and experimentally in a laboratory canal of the Technical University of Catalonia (chapter 8). The last one is the essential tool in the management of a canal, that is, a control algorithm operating in real-time. The GoRoSoBo algorithm (Gómez, Rodellar, Soler, Bonet) is a feedback control algorithm which calculates the optimum gates trajectories for a predictive horizon taking into account the current canal state obtained by CSI as well as the scheduled demands and the previous gate trajectories. GoRoSoBo has been designed in this thesis and tested in several numerical examples (chapter 10) as the Test-Case proposed by the ASCE Task Committee on Canal Automation Algorithms (chapter 11). In that sense, we propose a centralized control performance to manage the canal control. In addition to these two main contributions, many other smaller developments, minor results and practical recommendations for irrigation canal automation are presented throughout this thesis.Aquesta tesi té com a objectiu principal desenvolupar un control predictiu per a canals de reg i d'aquesta manera fer una aportació a la gestió dels recursos hídrics. L'aigua és un bé escàs i necessari per a la vida. És un recurs que fem un ús habitual d'ell, per consum propi, a la industria, com a font d'energia, a la agricultura.... .Un recurs tan preuat en zones amb escassetat per sequeres prologades constitueix un problema important, ja que afecta al desenvolupament de la zona. Concretament al sector de la agricultura pot provocar una davallada dels cultius i la incapacitat de cobrir les necessitats de la zona. L'agricultura és una part important de la cadena alimentària i els recursos hídrics per a l'agricultura són imprescindibles. Un greu problema a la agricultura son els baixos rendiments dels cultius moltes vegades relacionats amb sistemes de transport d'aigua poc eficients. La gestió dels recursos hídrics ha de ser optimitzada per obtenir rendiments competitius, ja que l'objectiu d'un gestor d'aigua és lliurar l'aigua de reg amb precisió i eficiència. Per millorar l'eficiència dels sistemes de transport d'aigua és necessari invertir en l'automatització dels canals de reg. Per complir aquests objectius, es defineix un esquema general de control al capítol 5, que divideix la gestió del control de canal en diferents blocs. La gestió d'un canal de reg s'inicia amb la programació de les demandes hídriques dels agricultors tenint en compte les necessitats dels diferents cultius durant un cicle de reg. Amb aquesta informació el watermaster tindria que establir les trajectòries de comporta o les accions de control per lliurar les demanades hídriques requerides als diferents punts del canal. En un cas ideal, el sistema seria controlat però a la realitat alguns factors externs podrien desviar l'estat desitjat del real, com per exemple extraccions de cabal desconeguts. En aquest cas, caldria introduir en el nostre diagrama general de control, altres algoritmes que podrien ajudar al WaterMaster a restablir l'estat desitjat. Aquests algoritmes, desenvolupats i testejats per nosaltres, són els algoritmes CSI i GoRoSoBo. CSI defineix una poderosa eina en la gestió d'un canal. El Watermaster estableix les posicions de les comportes i fixa el nivell d'aigua desitjat per complir amb les demandes hídriques programades en diferent punts del canal. En aquest sentit, quan algú introdueix una pertorbació altera el nivells de l'aigua al llarg del canal modificant els lliuraments programats inicialment de tal manera que no es podrien complir. En aquest cas, les mesures dels nivells d'aigua en diferents punts de control podrien ser enviats al algoritme CSI que tenint en compte aquest informació, les trajectòries de comporta i les demandes previstes calcularia el caudal real extret per les estructures de control i l'estat hidrodinàmic del canal, és a dir, el nivell de l'aigua i la velocitat en totes les seccions del canal. Aquesta tasca es duu a terme mitjançant l'algorisme CSI que ha estat dissenyat en aquesta tesi i provat en nombrosos exemples numèrics (capítol 7) i experimentalment en un canal de laboratori de la Universitat Politècnica de Catalunya (capítol 8). L'altre algorisme (GoRoSoBo) és l'eina essencial en la gestió d'un canal, és a dir, un algoritme de control que opera en temps real. GoRoSoBo (Gómez, Rodellar, Soler, Bonet) és un algorisme de control de retroalimentació (feedback) que calcula les trajectòries de comporta òptimes per un horitzó de predicció tenint en compte l'estat hidrodinàmic del canal en el moment actual i els caudals reals d'extracció obtinguts per CSI, així com les demandes programades i les trajectòries de comporta anteriors. GoRoSoBo ha estat dissenyat en aquesta tesi i provat en diversos exemples numèrics (capítol 10), així com als casos de prova proposats pel ASCE (Clemmens et a., 1998) (capítol 11) amb resultats excel·lent

A first order hyperbolic framework for large strain computational solid dynamics: An upwind cell centred Total Lagrangian scheme

This paper builds on recent work developed by the authors for the numerical analysis of large strain solid dynamics, by introducing an upwind cell centred hexahedral Finite Volume framework implemented within the open source code OpenFOAM [http://www.openfoam.com/http://www.openfoam.com/]. In Lee, Gil and Bonet [1], a first order hyperbolic system of conservation laws was introduced in terms of the linear momentum and the deformation gradient tensor of the system, leading to excellent behaviour in two dimensional bending dominated nearly incompressible scenarios. The main aim of this paper is the extension of this algorithm into three dimensions, its tailor-made implementation into OpenFOAM and the enhancement of the formulation with three key novelties. First, the introduction of two different strategies in order to ensure the satisfaction of the underlying involutions of the system, that is, that the deformation gradient tensor must be curl-free throughout the deformation process. Second, the use of a discrete angular momentum projection algorithm and a monolithic Total Variation Diminishing Runge-Kutta time integrator combined in order to guarantee the conservation of angular momentum. Third, and for comparison purposes, an adapted Total Lagrangian version of the Hyperelastic-GLACE nodal scheme of Kluth and Despr´es [2] is presented. A series of challenging numerical examples are examined in order to assess the robustness and accuracy of the proposed algorithm, benchmarking it against an ample spectrum of alternative numerical strategies developed by the authors in recent publications

Scale-Free Random SAT Instances

We focus on the random generation of SAT instances that have properties similar to real-world instances. It is known that many industrial instances, even with a great number of variables, can be solved by a clever solver in a reasonable amount of time. This is not possible, in general, with classical randomly generated instances. We provide a different generation model of SAT instances, called scale-free random SAT instances. This is based on the use of a non-uniform probability distribution P(i) ∼ i −β to select variable i, where β is a parameter of the model. This results in formulas where the number of occurrences k of variables follows a power-law distribution P(k) ∼ k −δ , where δ = 1 + 1/β. This property has been observed in most real-world SAT instances. For β = 0, our model extends classical random SAT instances. We prove the existence of a SAT– UNSAT phase transition phenomenon for scale-free random 2-SAT instances with β < 1/2 when the clause/variable ratio is m/n = 1−2β (1−β) 2 . We also prove that scale-free random k-SAT instances are unsatisfiable with a high probability when the number of clauses exceeds ω(n (1−β)k ). The proof of this result suggests that, when β > 1 − 1/k, the unsatisfiability of most formulas may be due to small cores of clauses. Finally, we show how this model will allow us to generate random instances similar to industrial instances, of interest for testing purposes.This research was supported by the project PROOFS, Grant PID2019-109137GB-C21 funded by MCIN/AEI/10.13039/501100011033

An upwind vertex centred Finite Volume solver for Lagrangian solid dynamics

A vertex centred Jameson–Schmidt–Turkel (JST) finite volume algorithm was recently introduced by the authors (Aguirre et al., 2014 [1]) in the context of fast solid isothermal dynamics. The spatial discretisation scheme was constructed upon a Lagrangian two-field mixed (linear momentum and the deformation gradient) formulation presented as a system of conservation laws [2], [3] and [4]. In this paper, the formulation is further enhanced by introducing a novel upwind vertex centred finite volume algorithm with three key novelties. First, a conservation law for the volume map is incorporated into the existing two-field system to extend the range of applications towards the incompressibility limit (Gil et al., 2014 [5]). Second, the use of a linearised Riemann solver and reconstruction limiters is derived for the stabilisation of the scheme together with an efficient edge-based implementation. Third, the treatment of thermo-mechanical processes through a Mie–Grüneisen equation of state is incorporated in the proposed formulation. For completeness, the study of the eigenvalue structure of the resulting system of conservation laws is carried out to demonstrate hyperbolicity and obtain the correct time step bounds for non-isothermal processes. A series of numerical examples are presented in order to assess the robustness of the proposed methodology. The overall scheme shows excellent behaviour in shock and bending dominated nearly incompressible scenarios without spurious pressure oscillations, yielding second order of convergence for both velocities and stresses

On a tensor cross product based formulation of large strain solid mechanics

This paper describes in detail the formulation of large strain solid mechanics based on the tensor cross product, originally presented by R. de Boer, Vektor- und Tensorrechnung für Ingenieure, Springer-Verlag, 1982., page 76, and recently re-introduced by Bonet et al. in J. Bonet, A. J. Gil, R. Ortigosa, A computational framework for polyconvex large strain elasticity, Computer Methods in Applied Mechanics and Engineering 283 (2015) 1061 – 1094., and J. Bonet, A. J. Gil, C. H. Lee, M. Aguirre, R. Ortigosa, A first order hyperbolic framework for large strain computational solid dynamics. Part I: Total Lagrangian isothermal elasticity, Computer Methods in Applied Mechanics and Engineering 283 (2015) 689 – 732. The paper shows how the tensor cross product facilitates the algebra associated with the area and volume maps between reference and final configurations. These maps, together with the fibre map, make up the fundamental kinematic variables in polyconvex elasticity. The algebra proposed leads to novel expressions for the tangent elastic operator which neatly separates material from geometrical dependencies. The paper derives new formulas for the spatial and material stress and their corresponding elasticity tensors. These are applied to the simple case of a Mooney-Rivlin material model. The extension to transversely isotropic material models is also considered