Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

This document is a self-archiving copy of the accepted version of the paper. Please find the final published version in IEEEXplore: http://dx.doi.org/10.1109/TE.2014.2358551This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.This work was supported in part by the Spanish CICYT under Project DPI2011-22443

Was There a Cambrian Explosion on Land? The Case of Arthropod Terrestrialization

Arthropods, the most diverse form of macroscopic life in the history of the Earth, originated in the sea. Since the early Cambrian, at least ~518 million years ago, these animals have dominated the oceans of the world. By the Silurian-Devonian, the fossil record attests to arthropods becoming the first animals to colonize land, However, a growing body of molecular dating and palaeontological evidence suggests that the three major terrestrial arthropod groups (myriapods, hexapods, and arachnids), as well as vascular plants, may have invaded land as early as the Cambrian-Ordovician. These dates precede the oldest fossil evidence of those groups and suggest an unrecorded continental 'Cambrian explosion' a hundred million years prior to the formation of early complex terrestrial ecosystems in the Silurian-Devonian. We review the palaeontological, phylogenomic, and molecular clock evidence pertaining to the proposed Cambrian terrestrialization of the arthropods. We argue that despite the challenges posed by incomplete preservation and the scarcity of early Palaeozoic terrestrial deposits, the discrepancy between molecular clock estimates and the fossil record is narrower than is often claimed. We discuss strategies for closing the gap between molecular clock estimates and fossil data in the evolution of early ecosystems on lan

Sistema móvil de información basado en una red de sensores inalámbricos aplicado a la movilidad urbana

La movilidad en las ciudades se ve comprometida por un tráfico cada vez más elevado y unas infraestructuras que no pueden ampliarse. Por tanto, la mejora de la movilidad y su sostenibilidad deben venir de la mano de una mejor gestión de los recursos, con la incorporación de estrategias de control del tráfico que se adapten en cada momento a sus condiciones. El principal obstáculo está en la obtención de esa información. Una posibilidad son las redes de sensores inalámbricos, que pueden aportar información sobre las condiciones en una zona de interés, con vistas a una planificación más eficiente y al despliegue de algoritmos de control más elaborados.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech. Agencia de Obra Pública de la Junta de Andalucía (proyecto GI3000/IDIZ, con apoyo financiaero de los fondos FEDER

Development and Evaluation of Fuzzy Logic Controllers for Improving Performance of Wind Turbines on Semi-Submersible Platforms under Different Wind Scenarios

Among renewable energy technologies, wind energy features one of the best possibilities for large-scale integration into power systems. However, there are specific restrictions regarding the installation areas for this technology, thus resulting in a growing, yet restricted, rate of penetration of the technology because of the limited viable sites onshore or in shallow waters. In this context, the use of offshore semi-submersible platforms appears as a promising option, which additionally enables the incorporation of other elements, such as wave energy converters or aquaculture. Nevertheless, this kind of offshore facility involves interactions between platform movements and the wind turbine, increasing the complexity of the system, causing traditional control techniques to not be able to fully cope with the dynamics of the system, and thus limiting the efficiency of energy extraction. On the contrary, the use of intelligent control techniques is an interesting option to take full account of the said interactions and to improve energy capture efficiency through the control of the pitch of the blades, especially under turbulent, above-rated wind profiles. This work presents an original fuzzy logic controller that has been validated by comparing it with previously validated controllers, following a developed methodology that allows comparison of controllers for wind turbines in semi-submersible platforms using performance indexes.This work was partially supported by the Ministry of Economy and Competitiveness (Government of Spain) and European Union (RTC-2016-5712-3); by the European Union, CDTI (Spain) and BEISS (UK) through the call H2020 ERA-NET DEMOWIND (WIP10+ project); by the Regional Government of Andalusia and European Union (UMA-CEIATECH-18); and finally, by partial funding for open access charge from the Universidad de Málaga. Partial funding for open access charge: Universidad de Málag

Integration of a Canine Agent in a Wireless Sensor Network for Information Gathering in Search and Rescue Missions

Search and rescue operations in the context of emergency response to human or natural disasters have the major goal of finding potential victims in the shortest possible time. Multi-agent teams, which can include specialized human respondents, robots and canine units, complement the strengths and weaknesses of each agent, like all-terrain mobility or capability to locate human beings. However, efficient coordination of heterogeneous agents requires specific means to locate the agents, and to provide them with the information they require to complete their mission. The major contribution of this work is an application of Wireless Sensor Networks (WSN) to gather information from a multi-agent team and to make it available to the rest of the agents while keeping coverage. In particular, a canine agent has been equipped with a mobile node installed on a harness, providing information about the dog’s location as well as gas levels. The configuration of the mobile node allows for flexible arrangement of the system, being able to integrate static as well as mobile nodes. The gathered information is available at an external database, so that the rest of the agents and the control center can use it in real time. The proposed scheme has been tested in realistic scenarios during search and rescue exercises

Close detection robotic platform for Search And Rescue missions based on Bluetooth Low Energy

Improvements in telecommunications and digitalization directly improve the efficacy of a wide variety of processes. Recently, detection systems have received considerable attention because of the importance of tracking infected people contacts during SARS-CoV-2 pandemic. Such implementations can be useful in the task of finding potential victims in the context of emergency response, especially in situations where GPS is not available or inspection by imaging is not practical. Radio signals come into play, and specifically from devices that transmit periodically and with low power consumption. With the rise of Internet of Things over the last years, the number of wearable devices that support BLE, such as smartbands, smartwatches or smartphones, has been increasing constantly, as well as the number of users that carry them. Those devices can provide considerable assistance in locating injured or unconscious people. This work presents a system for detecting victims by means of a terrestrial search and rescue (SAR) robot. A real implementation of a close detection robotic platform based on BLE for SAR interventions is laid out. To estimate the distance between a robotic agent and potential victims within an experimental area, a Log-distance path loss model is presented. The proposed scheme has been tested in realistic scenarios during SAR exercises.This work was partially funded by the Spanish project RTI2018-093421-B-I00. It has been also performed in the framework of the Horizon 2020 project LOCUS (ICT-871249) receiving funds from the European Union. This work has been also partially funded by Junta de Andalucía and ERDF projects: Consejería de Transformación Económica, Industria, Conocimiento y Universidades, Proyecto de Excelencia PENTA, P18-FR-4647; postdoctoral grant (Ref., DOC 01154, “selección de personal investigador doctor convocado mediante Resolución de 21 de mayo de 2020”, PAIDI 2020) and the I Plan Propio de Investigación, Transferencia y Divulgación Científica of the University of Málaga. The authors want to thank the collaboration of the Chair for Safety, Emergencies and Disasters of the University of Malaga, led by Prof. Jesús Miranda, as well as Javier Serón Barba for his support during the experiments. Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Intelligent control for improving the efficiency of a hybrid semi-submersible platform with wind turbine and wave energy converters: fuzzy control system for the wind turbine

[EN] The use of sea wind energy is limited by the limited viable spaces on the onshore or in shallow waters. This makes the use of offshore semi-submersible platforms to be an attractive option, which additionally enables to incorporate other elements as wave converters. However, the interactions between wave converters and wind turbine increase the complexity of the system, and the traditional control techniques do not allow to integrate in an easy way those interactions, thus limiting the efficiency of energy extraction. The use of intelligent control techniques –in particular, fuzzy control– allows to take full account of the said interactions and to improve energy extraction efficiency, although simulation models and systems including those effects are required. This paper presents the development of a fuzzy-logic based control system, scalable to consider the effects due to wave converters due to an in-house developed simulation model, for the control of a wind turbine installed on a semi-submersible platform.[ES] El aprovechamiento de la energía eólica marina está limitado por la saturación de los emplazamientos viables en tierra o aguas poco profundas. Esto hace que el empleo de plataformas semisumergibles mar adentro sea una opción atractiva, que además permite incorporar otros elementos como convertidores de oleaje. Sin embargo, las interacciones entre convertidores de olas y aerogeneradores aumentan la complejidad del sistema, y las técnicas de control convencional no permiten considerar fácilmente estas interacciones, limitando el aprovechamiento de la energía primaria. El uso de técnicas de control inteligente, en particular control borroso, permite considerar estas interacciones y mejorar este aprovechamiento, si bien es necesario contar con modelos y sistemas de simulación que incluyan estos efectos. Este trabajo presenta el desarrollo de un sistema de control basado en lógica borrosa, escalable para considerar los efectos del control de convertidores de oleaje; para el control de un aerogenerador instalado en una plataforma semisumergible OC4.Este trabajo ha sido realizado parcialmente gracias al apoyo del Ministerio de Economía y Competitividad del Gobierno de España, a través del proyecto ORPHEO (RTC-2016-5712-3) del Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016, Programa Estatal de Investigación, Desarrollo e Innovación orientada a los Retos de la Sociedad, y de la Unión Europea a través del proyecto WIP10+ de la convocatoria ERA-NET DEMOWIND, de CDTI (España) y BEISS (Reino Unido), a través del programa de investigación e innovación H2020. Asimismo, los autores desean agradece a D. 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Revista Iberoamericana de Automática e Informática Industrial RIAI 12(2): 208-17. http://linkinghub.elsevier.com/retrieve/pii/S1697791215000102. https://doi.org/10.1016/j.riai.2015.03.004Farhat, Maissa et al. 2015. "Diseño e Implementación de Un Sistema de Control Estable Basado En Lógica Borrosa Para Optimizar El Rendimiento de Un Sistema de Generación Fotovoltaico." RIAI - Revista Iberoamericana de Automatica e Informatica Industrial 12(4): 476-87. https://doi.org/10.1016/j.riai.2015.07.006Garcia, Mari Cruz, Miguel A. Sanz-Bobi, and Javier del Pico. 2006. "SIMAP: Intelligent System for Predictive Maintenance. Application to the Health Condition Monitoring of a Windturbine Gearbox." Computers in Industry 57(6): 552-68. https://doi.org/10.1016/j.compind.2006.02.011González-González, Asier et al. 2014. "Pitch Based Wind Turbine Intelligent Speed Setpoint Adjustment Algorithms." 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Sistema de comunicación de respaldo mediante tecnología LoRa con hardware y software abierto para aplicaciones de robótica de emergencias

Los sistemas de comunicación entre nodos sensores y los equipos de búsqueda y rescate presentan posibles vulnerabilidades ante emergencias o catástrofes, como el fallo de la infraestructura del sistema o la saturación de la red. Por ello, es necesario evaluar alternativas para garantizar la disponibilidad del sistema y los datos necesarios para la estrategia del equipo. Los requerimientos de una red de largo alcance y bajo consumo apuntan a evaluar las distintas tecnologías que engloban las redes LPWAN (Low Power, Wide Area Network). Entre ellas, destaca el protocolo LoRaWAN (Long Range, Wide Area Network) por ofrecer una flexibilidad operativa que no tienen los demás. De lado del hardware, se realizó una selección de componentes abiertos para los nodos sensores y el gateway. Para conseguir una red ad-hoc se ha usado el proyecto ChirpStack como servidor de red y de aplicación. Finalmente, se ha integrado el software de aplicación QGIS con la base de datos PostgreSQL que almacena los datos en la misma tarjeta host del gateway. El sistema fue probado en las XV Jornadas Internacionales de la Universidad de Málaga sobre Seguridad, Emergencias y Catástrofes. El código y la documentación del sistema presentado en este artículo está disponible en https://github.com/jjflozano/BackUpCommLoRa.Universidad de Málaga, Campus de Excelencia Internacional Andalucía Tech. Proyecto RTI2018-093421-B-I00, Ministerio de Ciencia, Innovación y Universidades, Programa Estatal de I+D+i 2018. Proyecto UMA18-FEDERJA-090, Programa operativo FEDER Andalucía 2014-2020, Convocatoria 2018, Junta de Andalucía

Geochemistry of atmospheric aerosols in Andalusia (Southern Spain)

Comunicación presentada en: V Reunión Española de Ciencia y Tecnología de Aerosoles – RECTA 2011 celebrada del 27 al 29 de junio de 2011 en CIEMAT, Madrid

Immediate improvement of left ventricular mechanics following transcatheter aortic valve replacement

Background: Left ventricular (LV) mechanics are impaired in patients with severe aortic stenosis (AS). Transcatheter aortic valve replacement (TAVR) has become a widespread technique for patients with severe AS considered inoperable or high risk for traditional open-surgery. This procedure could have a positive impact in LV mechanics. The aim of this study was to evaluate the immediate effect of TAVR on LV function recovery, as assessed by myocardial deformation parameters. Methods: One-hundred twelve consecutive patients (81.4 ± 6.4 years, 50% female) from 10 centres in Europe with severe AS who successfully underwent TAVR with either a self-expanding CoreValve (Medtronic, Minneapolis, MN) or a mechanically expanded Lotus valve (Boston Scientific, Natick, MA) were enrolled in a prospective multi-center study. A complete echocardiographic examination was performed at baseline and immediately before discharge, including the assessment of LV strain using standard two-dimensional images. Results: Echocardiographic examination with global longitudinal strain (GLS) quantification could be obtained in 92 patients, because of echocardiographic and logistic reasons. Between examinations, a modest statistically significant improvement in GLS could be seen (GLS% –15.00 ± 4.80 at baseline;–16.15 ± 4.97 at discharge, p = 0.028). In a stratified analysis, only women showed a significant improvement in GLS and a trend towards greater improvement in GLS according to severity of systolic dysfunction as measured by LV ejection fraction could be noted. Conclusions: Immediate improvement in GLS was appreciated after TAVR procedure. Whether this finding continues to be noted in a more prolonged follow-up and its clinical implications need to be assessed in further studies