A ROBUST TERMINAL SLIDING COMPOSITE ADAPTIVE CONTROL SCHEME FOR RIGID ROBOTS

In this article is presented a robust adaptive control scheme for mechanical manipulators with finite error convergence time. The design combines, on the one hand, a composite adaptive controller that implements a feedback linearization control law that compensates the modelled dynamics, and, on the other hand, a terminal sliding mode control law that overcomes the uncertainties usually present in the real systems. Then, to avoid the chattering phenomenon inherent to the sliding schemes, the control law is also smoothed out. It is proved that the resulting closed loop system is stable and that the trajectory-tracking error converges to zero in finite time. Moreover, an upper bound of this error convergence time is calculated. Finally, the design is evaluated by means of simulations.     

The operational semantics of user-defined relationships in object oriented database systems

In semantic data models, abstract relationship (e.g. generalization, aggregation, etc.) semantics are defined, specifying how insertion, deletion and modification operations made at a higher level of abstraction can affect the objects abstracted over and vice versa. These semantics, also known as structural constraints, are expressed through so-called update rules. This perspective has been somewhat lost in most object-oriented systems, where user-defined relationships are supported as simple pointers and their semantics are embedded, distributed and replicated within the operations accessing these pointers. This paper inherits and extends the treatment of relationships found in semantic data models to behavioural object-oriented models by presenting an approach to uniformly capture the update rules for user-defined relationships. The stress is not on supporting relationships as first-class objects, but on describing their update rules (or operational semantics) through a set of constructors namely, reaction, anticipation, delegation and exception. The approach has been borne out by an implementation in an active object-oriented database system.     

A General Approach to Midpoint Theory and Aggregation of Quasimetrics

Many fields in applied sciences, like Artificial Intelligence and Computer Science, use aggregation methods to provide new generalized metrics from a collection of old ones. Thus, the problem of merging by means of a function a collection of generalized metrics into a single one has been recently studied in depth. Moreover, the mipoint sets for a generalized metric involving fuzzy sets have shown a great potential in medical diagnosis and decision making since it models the concept of “compromise” or “middle way” between two positions. Joining these facts, the aim of this paper is to provide a general framework for the study of midpoint sets for quasimetrics via aggregation theory. In particular, we determine the properties that an aggregation function must satisfy to characterize the midpoint set for a quasimetric generated by means of the fusion of a collection of quasimetrics in terms of the midpoint sets for each of the quasimetrics that are merged. In fact, this study generalizes the results for metrics in this context that are retrieved as a particular case of the exposed theory. Finally, some particular results for generalized metrics defined for fuzzy sets are proved.     

An empirical study of control logic specifications for programmable logic controllers

This paper presents an empirical study of control logic specifications used to document industrial control logic code in manufacturing applications. More than one hundred input/output related property specifications from ten different reusable function blocks were investigated. The main purpose of the study was to provide understanding of how the specifications are expressed by industrial practitioners, in order to develop new tools and methods for specifying control logic software, as well as for evaluating existing ones. In this paper, the studied specifications are used to evaluate linear temporal logic in general and the specification language ST-LTL, tailored for functions blocks, in particular. The study shows that most specifications are expressed as implications, that should always be fulfilled, between input and output conditions. Many of these implications are complex since the input and output conditions may be mixed and involve sequences, timer issues and non-boolean variables. Using ST-LTL it was possible to represent all implications of this study. The few non-implication specifications could be specified in ST-LTL as well after being altered to suit the specification language. The paper demonstrates some advantages of ST-LTL compared to standard linear temporal logic and discusses possible improvements such as support for automatic rewrite of complex specifications.     

DynaMICs: Comprehensive Support for Run-Time Monitoring

Software engineering strives to enable the economic construction of software systems that behave reliably, predictably, and safely. In other engineering disciplines, safety is assured in part by detailed monitoring of processes. In software, we may achieve some level of confidence in the operation of programs by monitoring their execution. DynaMICs is a software tool that facilitates the collection and use of constraints for software systems. In addition, it supports traceability by mapping constraints to system artifacts. Constraint specifications are stored separately from code; constraint-monitoring code is automatically generated from the specifications and inserted into the program at appropriate places; and constraints are verified at execution time. These constraint checks are triggered by changes made to variable values. We describe the architecture of DynaMICs, discuss alternative verification techniques, and outline research directions for the DynaMICs project.     

Automatic bearing fault diagnosis based on one-class ν-SVM

Rolling-element bearings are among the most used elements in industrial machinery, thus an early detection of a defect in these components is necessary to avoid major machine failures. Vibration analysis is a widely used condition monitoring technique for high-speed rotating machinery. Using the information contained in the vibration signals, an automatic method for bearing fault detection and diagnosis is presented in this work. Initially, a one-class ν-SVM is used to discriminate between normal and faulty conditions. In order to build a model of normal operation regime, only data extracted under normal conditions is used. Band-pass filters and Hilbert Transform are then used sequentially to obtain the envelope spectrum of the original raw signal that will finally be used to identify the location of the problem. In order to check the performance of the method, two different data sets are used: (a) real data from a laboratory test-to-failure experiment and (b) data obtained from a fault-seeded bearing test. The results showed that the method was able not only to detect the failure in an incipient stage but also to identify the location of the defect and qualitatively assess its evolution over time.     

Multi-agent location system in wireless networks

In this paper we propose a flexible Multi-Agent Architecture together with a methodology for indoor location which allows us to locate any mobile station (MS) such as a Laptop, Smartphone, Tablet or a robotic system in an indoor environment using wireless technology. Our technology is complementary to the GPS location finder as it allows us to locate a mobile system in a specific room on a specific floor using the Wi-Fi networks.The idea is that any MS will have an agent known at a Fuzzy Location Software Agent (FLSA) with a minimum capacity processing at its disposal which collects the power received at different Access Points distributed around the floor and establish its location on a plan of the floor of the building. In order to do so it will have to communicate with the Fuzzy Location Manager Software Agent (FLMSA). The FLMSAs are local agents that form part of the management infrastructure of the Wi-Fi network of the Organization.The FLMSA implements a location estimation methodology divided into three phases (measurement, calibration and estimation) for locating mobile stations (MS). Our solution is a fingerprint-based positioning system that overcomes the problem of the relative effect of doors and walls on signal strength and is independent of the network device manufacturer.In the measurement phase, our system collects received signal strength indicator (RSSI) measurements from multiple access points. In the calibration phase, our system uses these measurements in a normalization process to create a radio map, a database of RSS patterns. Unlike traditional radio map-based methods, our methodology normalizes RSS measurements collected at different locations on a floor. In the third phase, we use Fuzzy Controllers to locate an MS on the plan of the floor of a building.Experimental results demonstrate the accuracy of the proposed method. From these results it is clear that the system is highly likely to be able to locate an MS in a room or adjacent room.     

Developing control logic using aspect-oriented programming and sequence planning

A fundamental functionality of a Programmable Logic Controller (PLC) is to control and execute a set of operations. But a large part of the program code is more involved in supporting the user with concerns like alarm, HMI, communication, safety and manual control. Code related to these supporting concerns is often tangled with operation execution code, the core concerns, which makes it hard to reuse.This paper describes a method to reuse code and functionality when developing PLC programs and code libraries. The method proposes that core concerns are planned with a software tool called Sequence Planner, and the supporting concerns are integrated into the core concerns with a tool based on aspect-oriented programming.     

COACH: COllaborative certificate stAtus CHecking mechanism for VANETs

Vehicular Ad Hoc Networks (VANETs) require mechanisms to authenticate messages, identify valid vehicles, and remove misbehaving vehicles. A public key infrastructure (PKI) can be used to provide these functionalities using digital certificates. However, if a vehicle is no longer trusted, its certificates have to be revoked and this status information has to be made available to other vehicles as soon as possible. In this paper, we propose a collaborative certificate status checking mechanism called COACH to efficiently distribute certificate revocation information in VANETs. In COACH, we embed a hash tree in each standard Certificate Revocation List (CRL). This dual structure is called extended-CRL. A node possessing an extended-CRL can respond to certificate status requests without having to send the complete CRL. Instead, the node can send a short response (less than 1 kB) that fits in a single UDP message. Obviously, the substructures included in the short responses are authenticated. This means that any node possessing an extended-CRL can produce short responses that can be authenticated (including Road Side Units or intermediate vehicles). We also propose an extension to the COACH mechanism called EvCOACH that is more efficient than COACH in scenarios with relatively low revocation rates per CRL validity period. To build EvCOACH, we embed an additional hash chain in the extended-CRL. Finally, by conducting a detailed performance evaluation, COACH and EvCOACH are proved to be reliable, efficient, and scalable.