Papers by Juan-Luis Posadas-Yagüe
Computer Applications in Engineering Education, 2015
Computer-assisted method based on continuous feedback to improve the academic achievements of fir... more Computer-assisted method based on continuous feedback to improve the academic achievements of first-year students on Computer Engineering. Computer Applications in Engineering Education. 23(4):610-620.
This thesis deals with hybrid architectures that control intelligent mobile robots, and the commu... more This thesis deals with hybrid architectures that control intelligent mobile robots, and the communications systems that are necessary to design and implement hybrid architectures. The main objective of this work is to define a modular and portable structure that enables the quick development of robot control systems.
IFAC Proceedings Volumes, 2004
In this paper is presented an architecture to control mobile intelligent robots based on the hybr... more In this paper is presented an architecture to control mobile intelligent robots based on the hybrid reactive/deliberative paradigm. This architecture is multi-level and distributed, and their main components are mobile software agents that interact through a distributed blackboard communications system. These agents can run on processors on board or on fixed workstations depending on its real time constraints.
IFAC Proceedings Volumes, 2000
This paper describes a communication system called SC (Sistema de Comunicaciones) that is suitabl... more This paper describes a communication system called SC (Sistema de Comunicaciones) that is suitable for real-time systems with distributed sensory architecture. This system has been implemented in the YAIR robot, an autonomous robot with intelligent sensors that produces different measurements about the environment and its position within it. To guarantee good response times, the sensory modules are connected using the CAN bus. The robot's main controller executes a control algorithm that can be decomposed into smaller parts using a communications server. Thus, the execution can be shared between different processors connected through an Ethernet network.
IFAC Proceedings Volumes, 2001
This paper describes an architecture for mobile robots that is suitable for teleoperation. The ar... more This paper describes an architecture for mobile robots that is suitable for teleoperation. The architecture is hybrid and has three levels: a reactive level, a deliberative level and an interface level. Reactive level is distributed and it is made up of sensor nodes and controllers. On the other hand, deliberative level establishes the knowledge and the reasoning capability to the robot. This deliberative level uses reactive level (sensor and actuator values) through the interface level. Interface level is made up of a communication system that allows local and remote access to the robot from any deliberative node. The architecture has been implemented as a case study in the YAIR robot, enabling its teleoperation from a remote node using Windows CE.
IFAC Proceedings Volumes, 2001
Containers are currently used in the transport of products because of the point-to-point service ... more Containers are currently used in the transport of products because of the point-to-point service they offer. By using specialised cranes, operations in maritime transport and land transport can be achieve quickly. To optimise operation costs, the whole management of the terminal is computerised proportionally with the complexity of the problem. This paper studies the problem from the point of view of the integration of different technologies supporting communication, data management, control, and human interface. This integration of heterogeneous intelligent components is made possible by means of a communication system that is the base of an object oriented distributed system. Using this system, "operation agents" that gain access to information in a high level and transparent way can be developed.
IFAC Proceedings Volumes, 2003
The paper focuses on the behaviour of distributed control loops affected by the jitter derived fr... more The paper focuses on the behaviour of distributed control loops affected by the jitter derived from the communication latencies of CAN. The work uses a hybrid communication protocol between a pure TIP (Time Triggered Protocol) and ETP (Event Triggered Protocol), a reasonable choice for distributed real-time systems, as a reactive mobile robot. This hybrid protocol shares the time-slots to reduce the jitter effects. This guarantees fixed transmissions latencies for periodic messages, allowing also sporadic messages transmission, as is the case of alarms, or in long data blocks, by means of using shared TIP slots. The protocol assigns private time slots for realtime messages, and shared time slots for non real-time messages. Also, the protocol uses only a simple and static table. The implementation is validated by means of a quantitative comparison, using the data obtained from a simulation of a typical distributed control system consisting of an industrial process and a remote controller forming a closed control loop that uses CAN as its communication channel. In the simulation, the effect of the jitter introduced into the control loop is measured for the above mentioned communication protocols, and the obtained results from this simulation are also discussed.
IFAC Proceedings Volumes, 1997
In this paper, a new architecture for vehicle guidance based on behavioural composition is propos... more In this paper, a new architecture for vehicle guidance based on behavioural composition is proposed. The behaviour selection is distributed and based on the concept of motivation. The operation under real time constraints is obtained avoiding the deliberative cycle sense-plan-act and taking into account a behavioural description of basic tasks. The system is based on a blackboard architecture where objects and processes are located. The motivation processes allow us to modify the expected behavior of the system changing the action priorities. The described architecture is part of the YAIR project developed in the department. the project is focused on developing an embedded hardware and software architecture for autonomous robots.
ADCAIJ: Advances in Distributed Computing and Artificial Intelligence Journal, 2016
This article proposes an application of a social emotional model, which allows to extract, analys... more This article proposes an application of a social emotional model, which allows to extract, analyse, represent and manage the social emotion of a group of entities. Specifically, the application is based on how music can influence in a positive or negative way over emotional states. The proposed approach employs the JaCalIVE framework, which facilitates the development of this kind of environments. A physical device called smart resource offers to agents processed sensor data as a service. So that, agents obtain real data from a smart resource. MAS uses the smart resource as an artifact by means of a specific communications protocol. The framework includes a design method and a physical simulator. In this way, the social emotional model allows the creation of simulations over JaCalIVE, in which the emotional states are used in the decision-making of the agents.
IFAC Proceedings Volumes, 2002
Engineering Applications of Artificial Intelligence, 2002
... Finally, the final term of the equation comes from the following set definition (5)B=(b 1 ,..... more ... Finally, the final term of the equation comes from the following set definition (5)B=(b 1 ,...,b p ) b i =S jg ;j LP(m);g F(j);b i b i+1 ,where LP(m) is the set of all messages with lower priority ... Communications between subtasks running in the YAIR reactive level use shared memory. ...
La gestión de prácticas en un laboratorio, con un número elevado de alumnos, implica tener que co... more La gestión de prácticas en un laboratorio, con un número elevado de alumnos, implica tener que controlar muchos aspectos acerca del funcionamiento y la organización del entorno en el que se realizan. Para una correcta gestión de grupos en una asignatura, y una eficiente atención de los alumnos por parte del profesor, se ha hecho necesario el seguimiento, por parte de los profesores responsables de cinco grupos de prácticas, de diversos aspectos de las prácticas que puedan ser relevantes para el aprendizaje del alumno. En el seguimiento de las prácticas se observaron, entre otros aspectos, la relación entre el tamaño de grupo y la eficiencia en la atención que puede proporcionar el profesor o la relación entre la cantidad de alumnos y la correcta finalización de la actividad. En este artículo se expone el sistema de observación del desarrollo de cinco grupos de prácticas de Estructura y Tecnología de Computadores así como los análisis de los resultados de las mismas durante un cuatrimestre.
Engineering Applications of Artificial Intelligence, 2008
Mobile robots are physical agents that move and interact continuously while embedded in a dynamic... more Mobile robots are physical agents that move and interact continuously while embedded in a dynamic environment. Communications can be one of the most difficult parts of building robot architecture because of the increasing complexity of sensor and actuator hardware, and the interaction between intelligent features and real-time constraints. Currently, hybrid architectures offer the most widespread solutions for controlling intelligent mobile robots. This paper deals with the communications framework necessary to design and implement these architectures. The main goal of this work 1 is to design a modular and portable architecture that allows the development of robot control systems. A multi-level and distributed architecture based on the reactive/deliberative paradigm is presented. Its main components are mobile software agents that interact through a distributed blackboard communications framework. These agents can be run on onboard processors, as well as on fixed workstations depending on their real-time restrictions. The presented control architecture has been tested in a real mobile robot and results demonstrate the effectiveness of distributing software agents to guarantee hard real-time execution.
Embedded control systems usually are characterized by its limitations in terms of computational p... more Embedded control systems usually are characterized by its limitations in terms of computational power and memory. Although this systems must deal with perpection and actuation signal adaptation and calculate control actions ensuring its reliability and providing a certain degree of fault tolerance. The allocation of these tasks between some different embedded nodes conforming a distributed control system allows to solve many of these issues. For that reason is proposed the application of smart devices aims to perform the data processing tasks related with the perception and actuation and offer a simple interface to be configured by other nodes in order to share processed information and raise QoS based alarms. In this work is introduced the procedure of implementing a smart device as a sensor as an embedded node in a distributed control system. In order to analyze its benefits an application based on a RGBD sensor implemented as an smart device is proposed. the adaptation of the provided high level information to a low level actuator signal. Nevertheless, this article will be focussed on the implementation of smart devices as sensors and its characterization as vision sensor due to the range of its possible applications [FER-NANDES, J. 2013] , focusing in this concrete case to support robot navigation [CHIEN-HUI, L. 2014] [GRZEJSZCZAK, T. 2012]. It will be also remarked the importance of being adapted to the system requirements [LEE, C.S. 2013]. In order to provide this adaptation capability some Jimenez-Garcia, J.L. et al
The Journal of Supercomputing, 2023
The combination of artificial intelligence and the Internet of Things (AIoT) is enabling the next... more The combination of artificial intelligence and the Internet of Things (AIoT) is enabling the next economic revolution in which data and imme- diacy are at the key players. Agriculture is one of the sectors that can benefit most from the use of AIoT to optimise resources and reduce its environmental footprint. However, this convergence requires com- putational resources that enable the execution of AI workloads, and in the context of agriculture, ensuring autonomous operation and low energy consumption. In this work, we evaluate TinyML and edge com- puting platforms to predict the indoor temperature of an operational greenhouse in situ. In particular, the computational/energy trade-off of these platforms is assessed to analyse whether their use in this con- text is feasible. Two artificial neural networks (ANNs) are adapted to these platforms to predict the indoor temperature of the green- house. Our results show that the microcontroller-based devices can offer a competitive and energy-efficient computational alternative to more traditional edge computing approaches for lightweight ML workloads.
Revista Iberoamericana de Automática e Informática Industrial RIAI, 2023
La gestión de la movilidad de personas y vehículos es un aspecto de continuo estudio debido a la ... more La gestión de la movilidad de personas y vehículos es un aspecto de continuo estudio debido a la relevancia que tiene en la contribución a la polución. El control de los semáforos determina las colas que en los cruces se pueden formar. Habitualmente este control no está adaptado al tráfico existente en un momento concreto, dado que la adaptación implica conocer los peatones y vehículos que se encuentran circulando en cada momento. Para resolver este problema, en el artículo se propone el uso de unos dispositivos inteligentes modulares que permiten detectar los vehículos y cambiar los tiempos de acceso al cruce dependiendo de las circunstancias. Para validar el sistema se ha realizado una simulación generando cargas en MatLab y simulando el control con Simulink. Se ha simulado un ciclo de semáforo con tiempos fijos y se ha comparado con ciclos de tiempos variables en función de la carga de peatones y de vehículos. En el artículo se proponen los indicadores Op y Sat como método de medición de la optimización del algoritmo de control sobre el estado del cruce. Por medio de dichos indicadores se ha comprobado que en el mejor de los casos es posible optimizar en un 50 % el tiempo de espera de forma casi independiente de la carga de tráfico.
SENSORS, 2020
Object recognition, which can be used in processes such as reconstruction of the environment map ... more Object recognition, which can be used in processes such as reconstruction of the environment map or the intelligent navigation of vehicles, is a necessary task in smart city environments. In this paper, we propose an architecture that integrates heterogeneously distributed information to recognize objects in intelligent environments. The architecture is based on the IoT/Industry 4.0 model to interconnect the devices, which are called smart resources. Smart resources can process local sensor data and offer information to other devices as a service. These other devices can be located in the same operating range (the edge), in the same intranet (the fog), or on the Internet (the cloud). Smart resources must have an intelligent layer in order to be able to process the information. A system with two smart resources equipped with different image sensors is implemented to validate the architecture. Our experiments show that the integration of information increases the certainty in the recognition of objects by 2-4%. Consequently, in intelligent environments, it seems appropriate to provide the devices with not only intelligence, but also capabilities to collaborate closely with other devices.
IEEE Access, 2021
Intelligent control of public lighting is nowadays one of the most challenging issues in smart ci... more Intelligent control of public lighting is nowadays one of the most challenging issues in smart city deployment. Lighting optimization entails a compromise between comfort, safety, and power consumption, affecting both vehicles and pedestrians. Smart solutions must estimate their characteristics to trade-off users' needs and energy requirements. This paper proposes an intelligent street lighting control system and the Receiver Operating Characteristic (ROC) curve method to evaluate the best number of street lamps to achieve a balance between public road user comfort and system power consumption. The control system is based on the detection of users, mainly pedestrians, using presence sensors. From the detection of a pedestrian by two or more consecutive street lamps it is possible to determine their speed. Knowing the pedestrian speed, allows the system to anticipate and adjust the light intensity of the remaining street lamps, and provide a comfortable view of the street. Using the ROC curve, we evaluate the control algorithm in terms of the number of previous street lamps used. We have tested the system and the method in a model of pedestrians walking down a street. The obtained results show that ROC analysis used to control street lighting allows measuring the whole control system's efficiency by providing a concrete number of previous street lamps.
Design Automation for Embedded Systems, 2023
Detecting and characterising vehicles is one of the purposes of embedded systems used in intellig... more Detecting and characterising vehicles is one of the purposes of embedded systems used in intelligent environments. An analysis of a vehicle's characteristics can reveal inappropriate or dangerous behaviour. This detection makes it possible to sanction or notify emergency services to take early and practical actions. Vehicle detection and characterisation systems employ complex sensors such as video cameras, especially in urban environments. These sensors provide high precision and performance, although the price and computational requirements are proportional to their accuracy. These sensors offer high accuracy, but the price and computational requirements are directly proportional to their performance. This article introduces a system based on modular devices that is economical and has a low computational cost. These devices use ultrasonic sensors to detect the speed and length of vehicles. The measurement accuracy is improved through the collaboration of the device modules. The experiments were performed using multiple modules oriented to different angles. This module is coupled with another specifically designed to detect distance using previous modules' speed and length data. The collaboration between different modules reduces the speed relative error ranges from 1 to 5%, depending on the angle configuration used in the modules.
Electronics, 2022
In the current context of the Internet of Things, embedded devices can have some intelligence and... more In the current context of the Internet of Things, embedded devices can have some intelligence and distribute both data and processed information. This article presents the paradigm shift from a hierarchical pyramid to an inverted pyramid that is the basis for edge, fog, and cloud-based architectures. To support the new paradigm, the article presents a distributed modular architecture. The devices are made up of essential elements, called control nodes, which can communicate to enhance their functionality without sending raw data to the cloud. To validate the architecture, identical control nodes equipped with a distance sensor have been implemented. Each module can read the distance to each vehicle and process these data to provide the vehicle’s speed and length. In addition, the article describes how connecting two or more CNs, forming an intelligent device, can increase the accuracy of the parameters measured. Results show that it is possible to reduce the processing load up to 22% in the case of sharing processed information instead of raw data. In addition, when the control nodes collaborate at the edge level, the relative error obtained when measuring the speed and length of a vehicle is reduced by one percentage point.
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Papers by Juan-Luis Posadas-Yagüe