LMI-based H∞ controller of vehicle roll stability control systems with input and output delays

This article belongs to the Section Physical Sensors.Many of the current research works are focused on the development of different control systems for commercial vehicles in order to reduce the incidence of risky driving situations, while also improving stability and comfort. Some works are focused on developing low-cost embedded systems with enough accuracy, reliability, and processing time. Previous research works have analyzed the integration of low-cost sensors in vehicles. These works demonstrated the feasibility of using these systems, although they indicate that this type of low-cost kit could present relevant delays and noise that must be compensated to improve the performance of the device. For this purpose, it is necessary design controllers for systems with input and output delays. The novelty of this work is the development of an LMI-Based H∞ output-feedback controller that takes into account the effect of delays in the network, both on the sensor side and the actuator side, on RSC (Roll Stability Control) systems. The controller is based on an active suspension with input and output delays, where the anti-roll moment is used as a control input and the roll rate as measured data, both with delays. This controller was compared with a controller system with a no-delay consideration that was experiencing similar delays. The comparison was made through simulation tests with a validated vehicle on the TruckSim® software.This work was supported by the FEDER/Ministry of Science and Innovation-Agencia Estatal de Investigacion (AEI) of the Government of Spain through the project [RTI2018-095143-B-C21]

A Portfolio Inspired Metric For Project Selection in Construction Management

In this paper we adopt a portfolio management approach to make project selection decisions easer in construction management. In particular, we suggest to extend value-based analysis to project selection within a Portfolio of related projects. We define a new value based indicator, “Project Value to Portfolio Value” (PV2PV) to asses the added value of a new project to the value of the firm’s actual portfolio of projects. The PV2PV indicator allows us to establish the modified ranking of the individual projects of the portfolio should a new incoming project be included in the firm’s portfolio of standing projects. The approach not only is useful for construction corporations but for some financial corporations like Spanish banks, which after the construction bubble have become “project and facility owners”

Aplicación de técnicas de soft-computing a la clasificación automática de géneros musicales

El objetivo de este tfg es estudiar un método rápido y eficaz de clasificar archivos de audio según su género musical. El trabajo partirá con la búsqueda de una base de datos ya etiquetada. Una vez que se ha descargado y adecuado la base de datos se extraen de ella características tímbricas con las que identifiquen a cada género musical. Una vez que se tienen las características se implementará un clasificador que se encargará de distinguir entre uno u otro género musical en función de las características de entrada. Por último se buscarán mejoras en función de los resultados obtenidos.The aim of this tfg is to study a fast and efficient method to classify audio files by genre. The work will start with finding a database already labeled. Once downloaded the database, are extracted from it timbral features that identify each musical genre. Once you have the features, the classifier is responsible for classifying genres. Finally improvements will be sought based on the results obtained.Grado en Ingeniería en Tecnologías de Telecomunicació

Sistema Autónomo de Teleasistencia Robótica mediante técnicas de Inteligencia Artificial

El objetivo de este proyecto es implementar una arquitectura de control autónoma en un robot comercial orientado a ofrecer servicios de asistencia domiciliaria. Para ello, la arquitectura de control debe ser capaz de generar un plan que cumpla con los objetivos fijados por el usuario, permitiendo la movilidad por todo el hogar. Además, dicha arquitectura de control debe monitorizar el estado de ejecución del plan asegurando la integridad del robot mediante la verificación de la ejecución de las acciones planificadas en un entorno dinámico, consiguiendo un grado de autonomía aceptable para la aplicación que se quiere conseguir.The aim of this project is to implement an autonomous control architecture in a commercial robot with the objective of providing home care services. This control architecture should be able to generate a plan that meets the targets set by the user, allowing mobility throughout the home. In addition the control architecture should monitor the execution status of the plan, ensuring the integrity of the robot by verifying the implementation of the actions planned in a dynamic environment, achieving an acceptable degree of autonomy for the application to be achieved.Máster Universitario en Ingeniería de Telecomunicación (M125

Aplicación de técnicas de soft-computing a la clasificación automática de géneros musicales

El objetivo de este tfg es estudiar un método rápido y eficaz de clasificar archivos de audio según su género musical. El trabajo partirá con la búsqueda de una base de datos ya etiquetada. Una vez que se ha descargado y adecuado la base de datos se extraen de ella características tímbricas con las que identifiquen a cada género musical. Una vez que se tienen las características se implementará un clasificador que se encargará de distinguir entre uno u otro género musical en función de las características de entrada. Por último se buscarán mejoras en función de los resultados obtenidos.The aim of this tfg is to study a fast and efficient method to classify audio files by genre. The work will start with finding a database already labeled. Once downloaded the database, are extracted from it timbral features that identify each musical genre. Once you have the features, the classifier is responsible for classifying genres. Finally improvements will be sought based on the results obtained.Grado en Ingeniería en Tecnologías de Telecomunicació

Synchronous Roundabouts with Rotating Priority Sectors (SYROPS): high capacity and safety for conventional and autonomous vehicles

Roundabouts are a highway engineering concept meant to reduce congestion and improve safety. However, experience shows that capacity of roundabouts is limited, and safety is not optimal. However, these improvements in capacity and safety should be compatible with both manually-driven and autonomous vehicles. Incorporating existing advanced technologies to the signaling and control of roundabouts will undoubtedly contribute to these improvements but should not restrict this compatibility. We approach roundabouts as synchronous switches of vehicles, and propose a roundabout system (synchronous roundabouts with rotating priorities) based on vehicle platoons arriving at the roundabout at a uniform speed and within the time slot assigned to their entry, avoiding conflicts and stops. The proposed signaling system is visual for human drivers and wireless for connected and autonomous vehicles. We evaluated analytically and with simulations roundabouts of different radii for several values of the average distance between vehicles. Results show that average delays are 28.7% lower, with negligible dispersion. The capacity improvements depend on design parameters, moderate for small roundabouts, but that goes up to 70&-100% for short inter vehicular distances and medium and large roundabouts. Simulations with unbalanced traffic maintained the capacity improvement over standard roundabouts.Comunidad de Madri

Thermal behavior and entanglement in Pb-Pb and p-p collisions

The thermalization of the particles produced in collisions of small objects can be achieved by quantum entanglement of the partons of the initial state as was analyzed recently in proton-proton collisions. We extend such study to Pb-Pb collisions and to different multiplicities of proton-proton collisions. We observe that, in all cases, the effective temperature is approximately proportional to the hard scale of the collision. We show that such a relation between the thermalization temperature and the hard scale can be explained as a consequence of the clustering of the color sources. The fluctuations of the number of parton states decrease with multiplicity in Pb-Pb collisions as long as the width of the transverse-momentum distribution decreases, contrary to the p−p case. We relate these fluctuations to the temperature fluctuations by means of a Langevin equation for the white stochastic noise. We show that the multiplicity parton distribution for events with at least one hard parton collision is a Γ distribution. We use this result to compute the entanglement entropy, showing that the leading term is the logarithm of the number of partons, meaning that the n microstates are equally probable and the entropy is maximal. There is another contribution related to the inverse of the normalized parton number fluctuation, which at very high energy changes the behavior from ln n to ln √nWe are grateful for a grant from the María de Maeztu Unit of Excellence of Spain and the support of Xunta de Galicia under Project No. ED431C2017. This work has been partially carried out under Project No. FPA2017-83814-P of Ministerio de Ciencia, Innovación y Universidades (Spain)S

VEHIOT: Design and Evaluation of an IoT Architecture Based on Low-Cost Devices to Be Embedded in Production Vehicles

Nowadays, the current vehicles are incorporating control systems in order to improve their stability and handling. These control systems need to know the vehicle dynamics through the variables (lateral acceleration, roll rate, roll angle, sideslip angle, etc.) that are obtained or estimated from sensors. For this goal, it is necessary to mount on vehicles not only low-cost sensors, but also low-cost embedded systems, which allow acquiring data from sensors and executing the developed algorithms to estimate and to control with novel higher speed computing. All these devices have to be integrated in an adequate architecture with enough performance in terms of accuracy, reliability and processing time. In this article, an architecture to carry out the estimation and control of vehicle dynamics has been developed. This architecture was designed considering the basic principles of IoT and integrates low-cost sensors and embedded hardware for orchestrating the experiments. A comparison of two different low-cost systems in terms of accuracy, acquisition time and reliability has been done. Both devices have been compared with the VBOX device from Racelogic, which has been used as the ground truth. The comparison has been made from tests carried out in a real vehicle. The lateral acceleration and roll rate have been analyzed in order to quantify the error of these devices.This work might not have been possible had it not been for the funds provided by the Spanish Government through the projects TRA2013-48030-C2-1-R and TRA2008-05373/AUT

Exploring the influence of seasonal uncertainty in project risk management

27th IPMA World CongressFor years, many research studies have focused on programming projects, assuming a deterministic environment and complete task information. However, during the project performance, schedule may be subject to uncertainty which can lead to significant modifications. This fact has led to an increasing scientific literature in the field. In this article we consider the presence of an uncertainty of seasonal type (e.g. meteorological) that affects some of the activities that comprise the project. We discuss how the project risk can be affected by such uncertainty, depending on the start date of the project. By means of Monte Carlo simulation, we compute the statistical distribution functions of project duration at the end of the project. Then, we represent the variability of the project through the so-called Project Risk Baseline. In addition, we examine various sensitivity metrics - Criticality, Cruciality, Schedule Sensitivity Index -. We use them to prioritize each one of the activities of the project depending on its start date. In the last part of the study we demonstrate the relative importance of project tasks must consider a combined version of these three sensitivity measures.the project SPPORT: “Computational Models for Strategic Project Portfolio Management”, supported by the Regional Government of Castile and Leon (Spain) with grant VA056A12-

Beyond earned value management: a graphical framework for integrated cost, schedule and risk monitoring

26th IPMA World Congress. 2012, Crete, Greece,In this paper, we propose an innovative and simple graphical framework for project control and monitoring, to integrate the dimensions of project cost and schedule with risk management, therefore extending the Earned Value methodology (EVM). EVM allows Project managers to know whether the project has overruns (over-costs and/or delays), but project managers do not know when deviations from planned values are so important that corrective actions should be taken or, in case of good performance, sources of improvement can be detected. From the concept of project planned variability, we build a graphical methodology to know when a project remains “out of control” or “within expected variability” during the project lifecycle. To this aim, we define and represent new control indexes and new cumulative buffers. Five areas in the chart represent five different possible project states. To implement this framework, project managers only need the data provided by EVM traditional analysis and Monte-Carlo simulation. We also explore the sensitivity of the methodology to control variables.Project “Computational Models for Strategic Project Portfolio Management”, supported by the Regional Government of Castile and Leon (Spain) with grant VA056A12-2