Evaluación y desarrollo incremental de una arquitectura software de referencia para sistemas de teleoperación utilizando métodos formales

[SPA] Los sistemas de teleoperación cubren una amplísima gama de misiones y mecanismos, y cada uno de ellos debe satisfacer una serie de requisitos muy específicos. Este trabajo de tesis se ocupa de la evaluación y re-diseño de una Arquitectura de Referencia para sistemas de teleoperación de robots de servicios, utilizando respectivamente los métodos ATAM (Architecture Tradeoff Analysis Method) y ABD (Architecture Based Design). Entre las principales aportaciones de la tesis pueden mencionarse: - La caracterización de los atributos de calidad de los sistemas considerados. - La evaluación de una arquitectura de referencia utilizando el método ATAM. - La propuesta de una nueva descomposición funcional para los sistemas considerados. - La especificación de requisitos para un modelo de componentes aplicable a este tipo de sistemas. Las principales conclusiones del trabajo de tesis pueden resumirse en. - Deben adoptarse estrategias de diseño e implementación que permitan separar por un lado los patrones de interacción entre componentes de su funcionalidad y por otro los diferentes aspectos de dicha funcionalidad. - Es mucho más interesante definir un marco de desarrollo en el que puedan definirse diferentes arquitecturas que intentar definir una sola arquitectura para todo el dominio. [ENG]Teleoperation systems cover a wide range of missions and mechanisms, and each must satisfy a number of specific requirements. The thesis deals with the evaluation and redesign of a reference architecture for robot tele-operation systems, using respectively the methods ATAM (Architecture Tradeoff Analysis Method) and ABD (Architecture Based Design). Among the main contributions of the thesis may be included: - Characterization of quality attributes of the teleoperation systems. - Assessment of a reference architecture using the ATAM method. - A functional decomposition for the considered systems - A requirement specification for a component model applicable to teleoperation systems. The main design drivers for the development of software architectures in the teleoperation are to provide designers with strategies that separate the patterns of interaction between components from their functionality. These strategies should be the basis to define a development framework to define specific architectures aimed to fulfill the specific requirements of the different systems. It is much more interesting to develop such a framework that to attempt to define a single architecture for the entire domain.Universidad Politécnica de Cartagen

Governance and safety assessment

Depto. de Ciencia Política y de la AdministraciónFac. de Ciencias Políticas y SociologíaTRUEpu

Real Time Teaching with Java: JPR3

This paper describes a development platform built around a digital railroad scale{model: JPR3 (Java Platform for Realtime Railway Research). The laboratory equipment and software aims to achieve two goals: help and motivate students of real{time systems and as support for postgraduate students. Students nd the scale{model really challenging and are very motivated by it; thus it's easy for them to really learn and practice all the concepts of real{time systems. But it's not only for students use: it also serves as a research platform for postgraduate students, thanks to the possibilities o ered by the scale{model. Java has been chosen as the programming language codify the platform and the implementation of the system is described in this work.This work was supported in part by the Spanish Ministry of Education (with reference ACF2000{0037{IN) and the Regional Government of Murcia (Séneca Programmes with reference PB/8/FS/02

Reconfiguración Dinámica de Arquitecturas Software Aplicada a la Tolerancia a Fallos

En la actualidad, el desarrollo de sistemas software tolerante a fallos se realiza a un nivel dependiente de la tecnología, con lo que aumenta su complejidad y disminuye la reutilización. La mayoría de estrategias de tolerancia a fallos son estáticas: se basan en replicar elementos críticos para que, ante cualquier fallo, sus réplicas tomen el relevo. En este trabajo se describe cómo la reconfiguración dinámica de arquitecturas software puede aplicarse para desarrollar sistemas tolerantes a fallos. Las técnicas de reconfiguración dinámica permiten cambiar la configuración de sistemas software complejos en tiempo de ejecución, sin necesidad de detener el sistema. Este artículo describe cómo la reconfiguración dinámica es soportada a nivel de arquitecturas software y mediante aspectos, separando la funcionalidad de reconfiguración y las políticas de recuperación frente a fallos del resto de funcionalidades del sistema. Esto se ilustra mediante la definición de las políticas de recuperación del sistema de visión del Agrobot, un sistema robótico del ámbito agrícola

Are Charter Value and Supervision Aligned? A Segmentation Analysis.

Política de acceso abierto tomada de: https://v2.sherpa.ac.uk/id/publication/13929Previous work suggests that the charter value hypothesis is theoretically grounded and empirically supported, but not universally. Accordingly, this paper aims to perform an analysis of the relations between charter value, risk taking, and supervision, taking into account the relations’ complexity. Specifically, using the CAMELS rating system as a general framework for supervision, we study how charter value relates to risk and supervision by means of classification and regression tree analysis. The sample covers the period 2005–2016 and consists of listed banks in countries that were members of the Eurozone when it came into existence, along with Greece. To evaluate the crisis consequences, we also separately analyze four subperiods and countries that required financial aid from third parties and those that did not so, along with large and small banks. Our results reflect the complexity of the relations between charter value, supervision, and risk. Indeed, supervision and charter value seem aligned regarding only some types of risk.Spanish Ministry of Economics and Competitiveness (Projects ECO2014-52345-P and MTM2016-79765-P (AEI/FEDER, UE

Vortex-assisted dispersive liquid–liquid microextraction for the determination of molybdenum in plants by inductively coupled plasma optical emission spectrometry

A new procedure for determining trace concentrations of Mo in plants combining dispersive liquid–liquid microextraction and inductively coupled plasma optical emission spectrometry is proposed here. An automated discrete sample introduction system using a Flow Blurring® multiple nebulizer (FBMN) and a solenoid valve were used to insert an organic rich phase into the plasma. The experimental conditions for the microextraction procedure were: 0.5% m v−1 of 8-hydroxyquinoline, pH 3.6 and 50 μL of 1-undecanol as the extractant. A limit of detection of the instrument of 0.20 μg L−1, a limit of detection of the procedure of 17 μg kg−1 and an enhancement factor of 246 were obtained employing the developed procedure. Three certified reference materials were used to check the accuracy and no significant differences were found at the 95% confidence level between certified and determined values. The developed procedure was also successfully applied to the determination of Mo in three different varieties of sugar cane leaves samples.The authors express their gratitude to the Coordenação de Aperfeiçoamento de Pessoal de Nível Superior CAPES (Grant CAPES-DGU 243/11) for the research fellowship provided to J.A.V.A.B. J.A.N. is thankful to Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq, Brazil) for financial support. The authors are grateful to the Government of Spain (CTQ2011-23968 and PHB2010-0018-PC) and the Regional Government of Valencia (Spain) (ACOMP/2013/072) for the financial support, Agilent Technologies Inc. for the loan of the ICP-OES spectrometer and OneNeb® (Division of Ingeniatrics Tecnologías S.L.) for the FBMN prototype provided

A systematic approach to developing safe tele-operated robots

Tele–operated service robots are used for extending human capabilities in hazardous and/or inaccessible environments. Their use is undergoing an exponential increase in our society, reason why it is of vital importance that their design, installation and operation follow the strictest possible process, so that the risk of accident could be minimised. However, there is no such process or methodology that guides the full process from identification, evaluation, proposal of solutions and reuse of safety requirements, although a hard work is being done, specially by the standardisation committees. It’s also very difficult to even find in the literature examples of safety requirements identification and use. This paper presents the engineering process we have followed to obtain the safety requirements in one of the robots of the EFTCoR1 project and the way this requirements have affected the architecture of the system, with a practical example: a crane robot for ship hull blasting.Financiado parcialmente por los programas programs CICYT, ANCLA (TIC2003-07804-C05-02), y parte de DYNAMICA (DYNamic and Aspect-Oriented Modeling for Integrated Component-based Architectures

Towards the definition of a pattern sequence for real-time applications using a model-driven engineering approach

Real-Time (RT) systems exhibit specific characteristics that make them particularly sensitive to architectural decissions. Design patterns help integrating the desired timing behaviour with the rest of the elements of the application architecture. This paper reports a pattern story that shows how a component-based design has been implemented using periodic concurrent tasks with RT requirements. This work has been done in the context of the development of robotic applications using a Model-Driven Software Development (MDSD) approach. In this context the model-to-code transformations are designed taking into account both the system requirements and the patterns that satisfy them. MDSD provides the conceptual technology for implementing a pattern-guided transition from component-based models to object-oriented implementations. The results of applying the described story of patterns are shown by an application that initializes, configures and schedules the execution of platform-specific components.This work has been partially supported by the Spanish CICYT Project EXPLORE (ref. TIN2009-08572), and the Fundación Séneca Regional Project COMPAS-R (ref. 11994/PI/09)

StateML + : From Graphical State Machine Models to Thread-Safe Ada Code

This paper presents the StateML+ tool aimed at designing state-machines and automatically generating thread-safe and multi-tasking modular Ada code from them, following a Model-Driven Engineering approach. The StateML+ meta-model is an extension of a previous version, and now it offers improved modeling capabilities, which include regions and macro-state definition. In this paper, a case study regarding the design of a robotic system will be used to demonstrate the benefits of the proposed approach.This research has been funded by the Spanish CICYT project MEDWSA (TIN2006-15175-C05-02) and the Regional Government of Murcia Seneca Program (02998-PI-05)

A reference control architecture for service robots implemented on a climbing vehicle

Teleoperated robots are used to perform hazardous tasks that human operators cannot carry out. The purpose of this paper is to present a new architecture (ACROSET) for the development of these systems that takes into account the current advances in robotic architectures while adopting the component-oriented approach. The architecture is currently being used, tested and improved in the development of an heterogeneous family of robots in the context of the EFTCoR project. It is also presented the Ada’95 implementation of ACROSET for a climbing robot.This work has been partially supported by European Union (GROWTH G3RD-CT- 00794) and the Spanish Government programs CICYT (TIC2003-07804-C05-02) and Seneca (PB/5/FS/02)