Juan-Luis Posadas-Yagüe

Juan-Luis Posadas-Yagüe
Universitat Politècnica de València | UPV · Department of Computer Engineering

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83
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394
Citations

Publications

Publications (83)
Conference Paper
Actualmente, las plataformas para robots que implementan ROS son ampliamente usadas en investigación. Éstas han probado ofrecer una solución fiable para reutilizar algoritmos. No obstante, estos cuentan con ciertos inconvenientes. Aunque la arquitectura ROS ha sido diseñada con la posibilidad de trabajar de forma distribuida, este diseño presenta a...
Article
Full-text available
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 present...
Chapter
Currently, the proliferation of interconnected smart devices is related to smart urban management. These devices can process sensor data in order to obtain significant information. This information can be provided to the upper layers but also can be used by the devices to take some smart actions. This article shows the change from the classic hiera...
Chapter
The main objective of the thesis is to specify, design, characterize, and validate a distributed intelligent control architecture. This architecture has as main requirements the support for the heterogeneity of sensors and actuators and the inclusion within the industry 4.0 paradigm. In addition, it must provide a level of intelligence appropriate...
Article
Full-text available
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. Thi...
Conference Paper
The energy management in urban and interurban lighting is currently, mainly, based on a centralised or clustered model. The control is mainly based on the level of brightness needed to circulate, without taking into account the presence or not of pedestrians or vehicles. This thesis proposes to review the solutions implemented and to use the Indust...
Chapter
En los entornos de movilidad, calles o carreteras, los cruces y las rotondas pueden generar problemas de atascos. Poder optimizar el tráfico entrante y saliente de un cruce o rotonda es uno de los campos de investigación de los sistemas de control inteligente. Para optimizar el tráfico se debe disponer de dispositivos capaces de detectar los vehícu...
Chapter
In recent years there has been a substantial increase in the number of outdoor lighting installations, the energy management of this has not been greatly improved and electricity consumption has skyrocketed. Most of it does not come from renewable energies with all the negative effects that this entails. With all this, public lighting can represent...
Chapter
Object recognition is a necessary task for many areas of technology, such as robot navigation or the intelligent reconstruction of environments in order a robot can interact with these objects. This article presents an architecture that integrates distributed heterogeneous information to recognise objects. The architecture uses devices that can pro...
Article
Full-text available
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 architectu...
Preprint
Full-text available
Objects recognition is a necessary task in smart city environments. This recognition can be used in processes such as the reconstruction of the environment map or the intelligent navigation of vehicles. This paper proposes an architecture that integrates heterogeneous distributed information to recognize objects in intelligent environments. The arc...
Chapter
In complex distributed systems, the integration phase implies a lot of actions due to it is necessary to know how a component interacts with others. Usually, in the system design phase, modules are defined in a hierarchy in order to be easily integrated based on direct dependencies between the modules. That implies a sequential process of integrati...
Chapter
Full-text available
Currently, drones are one of the most complex control systems. This control covers from the control of the stability of the drone, to the automatic control of the navigation in complex environments. In the case of indoor drones, technological challenges are specific. This paper presents an intelligent control architecture for indoor drones where se...
Chapter
This chapter provides an analysis of the indoor drones’ characteristics and differences from the existing RPAS with a special focus on the features that indoor drones must have. The authors offer a review of the drone’s characteristics in order to propose a vision about the main functionalities that a drone can perform. The work provides a vision a...
Conference Paper
In complex distributed systems, the integration phase implies a lot of actions due to it is necessary to know how a component interacts with others. Usually, in the system design phase, modules are defined in a hierarchy in order to be easily integrated based on direct dependencies between the modules. That implies a sequential process of integrati...
Conference Paper
Currently, drones are one of the most complex control systems. This control covers from the control of the stability of the drone, to the automatic control of the navigation in complex environments. In the case of indoor drones, technological challenges are specific. This paper presents an intelligent control architecture for indoor drones where se...
Chapter
This paper presents a Virtual Environment Mapping (VEM) module assembled in an indoor drone in order to be used by creative industries. This module is in charge of allowing users to capture the environment where the final recording will take place. Having a virtual representation of the environment allows both the photography director and the direc...
Conference Paper
In the current context of distributed systems, the communications have moved from a model based on connected nodes, to a model that must connect processes, or including connect data. There are many paradigms, mechanisms and architectures to give support to these distributed systems. Most of these mechanisms are extensions or evolutions of distribut...
Article
Nowadays ROS (Robot Operating System) based platforms have been widely used in state of art robot researches because of providing reliable mechanisms for fast robot development and algorithm reuse. Among them, modular robots are presented as a Distributed Control System (DCS), in which the data supply and the flow rates must be ensured to guarantee...
Article
Mobile robots need to manage a lot of sensors and actuators using micro-controllers. To do complexes tasks, a highly computation central unit is also needed. In many cases, a robot is a intelligent distributed system formed with a central unit, which manages and distributes several specific tasks to some micro-controller embedded systems onboard. N...
Article
Full-text available
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 facilit...
Article
Full-text available
Resumen En este artículo se describe una estrategia de control distribuida, utilizando elementos empotrados, mediante un middleware de control denominado núcleo de control, en el que se implementan controladores digitales de altas prestaciones, diseñados de forma modular, en sistemas con capacidad de cómputo limitada. Se presenta una metodología ta...
Article
Full-text available
This paper presents the extension of a meta-model (MAM5) and a framework based on the model (JaCalIVE) for developing intelligent virtual environments. The goal of this extension is to develop augmented mirror worlds that represent a real and virtual world coupled, so that the virtual world not only reflects the real one, but also complements it. A...
Chapter
This article proposes an application of a social emotional model, which allows to extract, analyze, 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 facilit...
Chapter
Nowadays robots are evolving from using a central computer unit with high computation capability to a distributed system configuration. Most cases present a robot formed with a central unit, which manages and distributes several specific tasks to some embedded systems on-board. Now these embedded systems are also evolving to more complex systems th...
Conference Paper
In Distributed Control Systems (DCS) the distribution of sensor data needs to be optimized in order to reduce the client process redundancy, i.e.: same sensor data processing in different clients. This paper presents an implementation of Embedded Networked Sensors as Smart Resources that allows to access to high-level information abstracting the us...
Article
This paper presents the architecture of a mobile-based distributed system which aims to minimize the social impact of abandoned or lost animals. To reach this purpose the distributed system has two main goals: to obtain the best pets’ quality information and to optimize the reporting process that allows their rescue. The distributed system is based...
Article
Full-text available
The inclusion of embedded sensors into a networked system provides useful information for many applications. A Distributed Control System (DCS) is one of the clearest examples where processing and communications are constrained by the client's requirements and the capacity of the system. An embedded sensor with advanced processing and communication...
Conference Paper
The evolution of the definition of industry into the Smart factories has provide a big improvements in terms of production efficiency and promoted new ways to implement interfaces between humans and machines. A factory plan, which is achieved by means of a set of missions, implies a set of control missions. In this work is introduced how to achieve...
Article
Current opinion on undergraduate studies has led to a reformulation of teaching methodologies to base them not just on learning, but also on skills and competencies. In this approach, the teaching/learning process should accomplish both knowledge assimilation and skill development. Previous works demonstrated that a strategy that uses continuous ev...
Article
Full-text available
This paper is part of a study of intelligent architectures for distributed control and communications systems. The study focuses on optimizing control systems by evaluating the performance of middleware through quality of service (QoS) parameters and the optimization of control using Quality of Control (QoC) parameters. The main aim of this work is...
Article
This article introduces some optimization mechanisms focused on environment management, object recognition, and environment interaction. Although the generality of the presented system, this work will be focused on its application on home assistance humanoid robots. For this purpose, a generic environment formalization procedure for semantic scener...
Article
The student-centered learning is being promoted worldwide in higher education, from 2005, in North-American universities [1], in 2010 in the European Union, but also in Asian countries like Japan [2]. This paradigm is characterized by applying innovative methods of teaching that involve students as active participants in their own learning. In thi...
Article
This paper introduces how mobile robots can perform navigation tasks by implementing a system based on the control kernel middleware (CKM), and how can take benefit of this. Smart resources are also included into the topology of the system, improving the processing and distribution of the computational load required by the system tasks. The CKM and...
Article
Full-text available
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 differe...
Article
Full-text available
This paper introduces how a mobile robot can perform nav-igation tasks by taking the advantages of implementing a control kernel middleware (CKM) based system. Smart resources are also included into the topology of the system for improving the distribution of computa-tional load of the needed tasks. The CKM and the smart resources are both highly r...
Article
Full-text available
Currently, 3D sensors can be considered an evolution of cameras by providing the image with its depth information. These sensors have a generic function and the programmer has to process the received information in order to be adapted and used in a specific environment. In robots navigation, the 3D in-formation can be useful for basic behaviours su...
Article
Full-text available
This article presents the experimental work developed to test the viability and to measure the efficiency of the intelligent control distributed architectures. To do this, a simulated navigation scenario of Braitenberg vehicles has been developed. To control the vehicles, system uses a distributed control architecture that provides support to QoS a...
Conference Paper
Full-text available
El actual marco de los estudios de Grado ha supuesto una reformulación de las metodologías docentes basadas en el aprendizaje y la adquisición de competencias. En este escenario, la evaluación debiera valorar tanto la asimilación de conocimientos como el desarrollo de competencias que la instrucción persigue. En trabajos previos ha quedado patente...
Conference Paper
Full-text available
El actual marco para los estudios de Grado han su-puesto una reformulación de las metodologías docen-tes basadas en el aprendizaje y la adquisición de competencias. En este escenario, la evaluación debie-ra valorar tanto la asimilación de conocimientos como el desarrollo de competencias que la instruc-ción persigue. En trabajos previos ha quedado p...
Chapter
Full-text available
This paper presents the work in progress of a mobile-based distributed system which aims to minimize the social impact of abandoned or lost animals. System is based on the use of smart mobile devices to provide message warnings of animals localized. Messages are stored in a database to be processed. In order to enter data such as photography, audio...
Chapter
Full-text available
This paper presents a proposal to extend the event management subsystem of the Distribution Data Service standard (DDS). The proposal allows user to optimize the use of DDS in networked control systems (NCS). DDS offers a simple event management system based on message filtering. The aim of the proposal is to improve the event management with three...
Conference Paper
Full-text available
Messaging systems are widely used in distributed systems to hide the details of the communications mechanism to the multi agents systems. However, the Quality of Service is treated in different way depending on the messaging system used. This article presents a review and further analysis of the quality of service treatment in the mainly messaging...
Conference Paper
Multi Agent Systems (MAS) are one of the most suitable frameworks for the implementation of intelligent distributed control system. Agents provide suitable flexibility to give support to implied heterogeneity in cyber-physical systems. Quality of Service (QoS) and Quality of Control (QoC) parameters are commonly utilized to evaluate the efficiency...
Conference Paper
Full-text available
This paper describes an agent’s movement protocol. Additionally, a distributed architecture to implement such protocol is presented. The architecture allows the agents to move in accordance with their requirements. The protocol is based on division and fusion of the agents in their basic components called Logical Sensors. The movement of the agents...
Conference Paper
Quality of service policies in communications is one of the current trends in distributed systems based on middleware technology. To implement the QoS policies it is necessary to define some common parameters. The aim of the QoS policies is to optimize the user defined QoS parameters. This article describes how to obtain the common QoS parameters u...
Conference Paper
In a Multi-Agent system, middleware is one of the components used to isolate control and communications. The use of standards in the implementation of an intelligent distributed system is always advantageous. This paper presents a middleware that provides support to a multi-agent system. Middleware is based on the standard Data Distribution Service...
Article
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. Currentl...
Conference Paper
Full-text available
This paper presents an implementation of a middleware architecture to control distributed systems. The main objective is providing a QoS level between the communications layer and the control layer. This architecture is based on the use of a hierarchical communications structure called "logical namespace tree" and a structured set of control proces...
Article
Full-text available
forma local como remota a través de Internet, ya sea desde cualquier cliente Web mediante el uso de un servidor Web o a través de dispositivos móviles mediante el uso de web services. La incorporación de nuevos dispositivos al sistema se configura de forma automática en la base de datos con la metainformación disponible en los mensajes XML. Toda la...
Article
Full-text available
Along the process of mobile robot navigation, maps are used to represent the environment. The information, that robot needs about the environment usually depends on the navigation algorithms that robot uses. In this article, a communication system, organized in a hierarchical mode is presented. The communication system is based on the distributed b...
Article
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 o...
Conference Paper
Full-text available
Currently, containers are used in the transport of products because of the point-to-point service they offer. By using specialized cranes, operation in maritime transport and land transport can be achieved quickly. To optimize the operation costs, the whole management of terminal is computerized proportionally with the complexity of the problem. Th...
Article
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 TTP (Time Triggered Protocol) and ETP (Event Triggered Protocol), a reasonable choice for distributed real-time systems, as a reactive mobile robot. This...
Article
Mobile robotics development provides an excellent opportunity to experiment with various architectural solutions for distributed real-time systems. This is because of the increasing complexity of sensor and actuator hardware, and the interaction between intelligent features and real-time constraints. Currently, hybrid control structures seem to be...
Article
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. Thi...
Article
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 an...
Article
In this paper, a communication system called SC (for Sistema de Comunicaciones) suitable for real time systems with distributed sensory architecture, is described. This system has been implemented into the robot YAIR, an autonomous robot with intelligent sensors that produce different measures about the environment and the robot position within it....
Article
Full-text available
Resumen: El presente trabajo pretende ilustrar una metodología para la enseñanza del procesador segmentado a alumnos de primer curso de los estudios de Informática, basada en el uso de herramientas de desarrollo de presentaciones animadas. Se describen un conjunto de animaciones didácticas que presentan de forma sencilla y visual el concepto y func...
Article
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...
Article
Full-text available
Resumen: En este artículo se propone una arquitectura para el control de robots móviles inteligentes basada en el paradigma Híbrido reactivo/deliberativo. Dicha arquitectura es multi-nivel y distribuida, sus principales componentes son agentes software móviles que interactúan con el medio a través de un sistema de comunicaciones basado en una estru...
Article
Full-text available
Resumen El artículo se enmarca dentro del área de la domótica y el hogar digital. Se presenta un proyecto cuyo objetivo principal consiste en el desarrollo e implantación de la infraestructura software necesaria para el control y acceso remoto de los distintos dispositivos que integran un hogar digital. Dicha infraestructura, denominada arquitectur...
Article
Full-text available
Resumen Este artículo presenta un Sistema de Comunicaciones para su utilización en sistemas distribuidos de fusión sensorial. En el artículo se describe la implantación de dicho sistema sobre YAIR [1,2,3] una plataforma móvil constituida por transductores inteligentes que proporcionan información sobre el entorno y la situación del robot respecto a...
Article
Full-text available
Resumen En el futuro, las horas asignadas a una materia deberán representar el total de horas que el alumno ha de invertir para alcanzar los objetivos de conocimiento, habilidades y competencias de la misma. Esto significa redefinir el crédito en términos europeos (ECTS, European Credit Transfer System). A fin de evitar una sobrecarga de trabajo, s...
Article
Full-text available
Resumen Actualmente son muchas las PYMES españolas que necesitan profesionales con una formación fundamentalmente técnica. Esta necesidad social quedó reflejada en la reforma del Sistema Educativo Español (LOGSE) mediante la incorporación de los Ciclos Formativos de Grado Medio y de Grado Superior. Por otra parte, el avance de la tecnología y la es...
Article
Full-text available
Palabras Clave : Terminales de contenedores, sistemas distribuidos industriales, automatización de sistemas industriales. 1 INTRODUCCIÓN Una terminal marítima de contenedores es la conexión entre el transporte marítimo y el transporte por tierra de los contenedores. Para llevar a cabo este proceso, es necesario almacenar en la planta temporalmente...