Economic MPC with periodic terminal constraints of nonlinear differential-algebraic-equation systems: Application to drinking water networks

© 2026 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other worksIn this paper, an Economic Model Predictive Control (EMPC) strategy with periodic terminal constraints is addressed for nonlinear differential-algebraic-equation systems with an application to Drinking Water Networks (DWNs). DWNs have some periodic behaviours because of the daily seasonality of water demands and electrical energy price. The periodic terminal constraint and economic terminal cost are implemented in the EMPC controller design for the purpose of achieving convergence. The feasibility of the proposed EMPC strategy when disturbances are considered is guaranteed by means of soft constraints implemented by using slack variables. Finally, the comparison results in a case study of the D-Town water network is provided by applying the EMPC strategy with or without periodic terminal constraints.Accepted versio

Pixel design and evaluation in CMOS image sensor technology

A chip designed in a 0.18 μm CMOS Image Sensor Technology (CIS) is presented which incorporates different pixel design alternatives for Active Pixel Sensor (APS). CIS technology improves characteristics such as sensitivity, dark current and noise, that are strongly layout dependent. This chip includes a set of pixel architectures where different parameters have been modified: layout of active diffusion, threshold voltage of the source follower transistor and the use of microlenses. Besides, structures to study the influence of crosstalk between pixels have been incorporated

Live demonstration: Real-time high dynamic range video acquisition using in-pixel adaptive content-aware tone mapping compression

This demonstration targets the acquisition of realtime video sequences involving High Dynamic Range (HDR) scenes. Adaptation to different illumination conditions while preserving contrast is achieved by using a sensor chip, which implements an adaptive content-aware tone mapping compression algorithm by using in-pixel circuitry. Its response gets adapted to changing illumination conditions by using at each frame a statistical estimation of the light distribution, which is derived from the HDR histogram calculated at the previous frame. This method allows adaptive HDR video, while capable to capture very large DR scenes including moving objects.Office of Naval Research (USA) N000141410355Ministerio de Economía y Competitividad IPT-2011-1625-430000Junta de Andalucía TIC 2338-201

CMOS 2.4μm chaotic oscillator: Experimental verification of chaotic encryption of audio

The Letter reports the first experimental verification of chaotic encryption of audio using custom monolithic chaotic oscillators. We use Gm-C techniques to realise a chaotic modulator/ demodulator IC that implements a 3rd-order nonlinear differential equation. This has been fabricated in 2.4μm double-poly technology and includes on-chip tuning circuitry based on amplitude detection. Measurements demonstrate how to exploit the synchronisation between two of these ICs for encrypted transmission

Economic health-aware LPV-MPC based on system reliability assessment for water transport network

This paper proposes a health-aware control approach for drinking water transport networks. This approach is based on an economic model predictive control (MPC) that considers an additional goal with the aim of extending the components and system reliability. The components and system reliability are incorporated into the MPC model using a Linear Parameter Varying (LPV) modeling approach. The MPC controller uses additionally an economic objective function that determines the optimal filling/emptying sequence of the tanks considering that electricity price varies between day and night and that the demand also follows a 24-h repetitive pattern. The proposed LPV-MPC control approach allows considering the model nonlinearities by embedding them in the parameters. The values of these varying parameters are updated at each iteration taking into account the new values of the scheduling variables. In this way, the optimization problem associated with the MPC problem is solved by means of Quadratic Programming (QP) to avoid the use of nonlinear programming. This iterative approach reduces the computational load compared to the solution of a nonlinear optimization problem. A case study based on the Barcelona water transport network is used for assessing the proposed approach performance.Peer ReviewedPostprint (published version

Leak localization in water distribution networks using pressure and data-driven classifier approach

Leaks in water distribution networks (WDNs) are one of the main reasons for water loss during fluid transportation. Considering the worldwide problem of water scarcity, added to the challenges that a growing population brings, minimizing water losses through leak detection and localization, timely and efficiently using advanced techniques is an urgent humanitarian need. There are numerous methods being used to localize water leaks in WDNs through constructing hydraulic models or analyzing flow/pressure deviations between the observed data and the estimated values. However, from the application perspective, it is very practical to implement an approach which does not rely too much on measurements and complex models with reasonable computation demand. Under this context, this paper presents a novel method for leak localization which uses a data-driven approach based on limit pressure measurements in WDNs with two stages included: (1) Two different machine learning classifiers based on linear discriminant analysis (LDA) and neural networks (NNET) are developed to determine the probabilities of each node having a leak inside a WDN; (2) Bayesian temporal reasoning is applied afterwards to rescale the probabilities of each possible leak location at each time step after a leak is detected, with the aim of improving the localization accuracy. As an initial illustration, the hypothetical benchmark Hanoi district metered area (DMA) is used as the case study to test the performance of the proposed approach. Using the fitting accuracy and average topological distance (ATD) as performance indicators, the preliminary results reaches more than 80% accuracy in the best cases.Peer ReviewedPostprint (published version

Integrated Circuitry to Detect Slippage Inspired by Human Skin and Artificial Retinas

This paper presents a bioinspired integrated tactile coprocessor that is able to generate a warning in the case of slippage via the data provided by a tactile sensor. Some implementations use different layers of piezoresistive and piezoelectric materials to build upon the raw sensor and obtain the static (pressure) as well as the dynamic (slippage) information. In this paper, a simple raw sensor is used, and a circuitry is implemented, which is able to extract the dynamic information from a single piezoresistive layer. The circuitry was inspired by structures found in human skin and retina, as they are biological systems made up of a dense network of receptors. It is largely based on an artificial retina , which is able to detect motion by using relatively simple spatial temporal dynamics. The circuitry was adapted to respond in the bandwidth of microvibrations produced by early slippage, resembling human skin. Experimental measurements from a chip implemented in a 0.35-mum four-metal two-poly standard CMOS process are presented to show both the performance of the building blocks included in each processing node and the operation of the whole system as a detector of early slippage.Ministerio de Economía y Competitividad TEC2006-12376-C02-01Gobierno de España TEC2006- 1572

SpotEgg: An image-processing tool for automatised analysis of colouration and spottiness

Colouration and patterning are widespread amongst organisms. Regarding avian eggs, colouration (reflectances) has been previously measured using spectrometers whereas spottiness has been determined using human-based scoring methods or by applying global thresholding over the luminance channel on photographs. However, the availability of powerful computers and digital image-processing algorithms and software offers new possibilities to develop systematised, automatable, and accurate methods to characterise visual information in eggs. Here, we provide a computing infrastructure (library of functions and a Graphical User Interface) for eggshell colouration and spottiness analysis called SpotEgg, which runs over MATLAB. Compared to previous methods, our method offers four novelties for eggshell visual analysis. First, we have developed a standardised non-human biased method to determine spottiness. Spottiness determination is based on four parameters that allow direct comparisons between studies and may improve results when relating colouration and patterning to pigment extraction. Second, researcher time devoted to routine tasks is remarkably reduced thanks to the incorporation of image-processing techniques that automatically detect the colour reference chart and egg-like shapes in the scene. Third, SpotEgg reduces the errors in colour estimation through the eggshell that are created by the different angles of view subtended from different parts of the eggshell and the optical centre of the camera. Fourth, SpotEgg runs automatic Fractal Dimension analysis (a measure of how the details in a pattern change with the scale at which this pattern is measured) of the spots pattern in case researchers want to relate other measurements with this special spatial pattern. Finally, although initially conceived for eggshell analysis, SpotEgg can also be applied in images containing objects different from eggs as feathers, frogs, insects, etc., since it allows the user to manually draw any region to be analysed making this tool useful not only for oologist but also for other evolutionary biologists.Peer reviewe

Integrated circuit interface for artificial skins

Artificial sensitive skins are intended to emulate the human skin to improve the skills of robots and machinery in complex unstructured environments. They are basically smart arrays of pressure sensors. As in the case of artificial retinas, one problem to solve is the management of the huge amount of information that such arrays provide, especially if this information should be used by a central processing unit to implement some control algorithms. An approach to manage such information is to increment the signal processing performed close to the sensor in order to extract the useful information and reduce the errors caused by long wires. This paper proposes the use of voltage to frequency converters to implement a quite straightforward analog to digital conversion as front end interface to digital circuitry in a smart tactile sensor. The circuitry commonly implemented to read out the information from a piezoresistive tactile sensor can be modified to turn it into an array of voltage to frequency converters. This is carried out in this paper, where the feasibility of the idea is shown through simulations and its performance is discussed.Gobierno de España TEC2006-12376-C02-01, TEC2006-1572

A mixed-signal early vision chip with embedded image and programming memories and digital I/O

From a system level perspective, this paper presents a 128 × 128 flexible and reconfigurable Focal-Plane Analog Programmable Array Processor, which has been designed as a single chip in a 0.35μm standard digital 1P-5M CMOS technology. The core processing array has been designed to achieve high-speed of operation and large-enough accuracy (∼ 7bit) with low power consumption. The chip includes on-chip program memory to allow for the execution of complex, sequential and/or bifurcation flow image processing algorithms. It also includes the structures and circuits needed to guarantee its embedding into conventional digital hosting systems: external data interchange and control are completely digital. The chip contains close to four million transistors, 90% of them working in analog mode. The chip features up to 330GOPs (Giga Operations per second), and uses the power supply (180GOP/Joule) and the silicon area (3.8 GOPS/mm2) efficiently, as it is able to maintain VGA processing throughputs of 100Frames/s with about 15 basic image processing tasks on each frame