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    Design of a hands-on course in networked control systems  Open access

     Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza, Jordi; Mares Marti, Pere; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez, J.; Torres Guerrero, Gina
    Date: 2012-01-17
    Report

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    This report presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are ap- plied exercises to be implemented in a NCS setup. The report containts four parts: a) a report that describes the experimental setup, proposing several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience, b) a tentative program ex- ample for master students, c) a user manual to help setting up the hardware and software from a Live CD, and d) a quick guide to start working with the programming environment.

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    Designing a practical course in networked control systems  Open access

     Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza, Jordi; Mares Marti, Pere; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez, J.; Torres, Gina; Perelló, Miquel
    Jornadas de Tiempo Real
    p. 1-8
    Presentation's date: 2012-02-02
    Presentation of work at congresses

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    This paper presents a hands-on course in networked control systems (NCS) to be integrated in the education of embedded control systems engineers. The course activities have a strong practical component and most of them are applied exercises to be implemented in a NCS setup. The paper describes the experimental setup and then proposes several activities that can be shaped into a course program according to the needs and diverse background of the targeted audience.

  • Desarrollo integral de las competencias genéricas mediante mapas competenciales  Open access

     Sanchez Carracedo, Fermin; Ageno Pulido, Alicia; Belanche Muñoz, Luis Antonio; Cabre Garcia, Jose Maria; Cobo Valeri, Erik; Farre Cirera, Rafael; Garcia Almiñana, Jordi; Lopez Alvarez, David; Mares Marti, Pere; Martin Escofet, Carme; Soler Cervera, Antonia
    Jornadas de Enseñanza Universitaria de la Informática
    p. 185-192
    Presentation's date: 2012-07
    Presentation of work at congresses

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    Los planes de estudio del EEES deben diseñarse a partir de las competencias de la titulación, tanto específicas como genéricas. La universidad española tiene una amplia experiencia en trabajar y evaluar las competencias específicas, pero las competencias genéricas suponen un nuevo reto que es preciso abordar. En este trabajo se hace una propuesta sobre cómo trabajar y evaluar, de forma global, las competencias genéricas en una titulación de Grado. La propuesta se está implantando en los estudios de Grado en Ingeniería Informática de la Facultat d’Informàtica de Barcelona. En lugar de establecer diversos niveles de competencia y asignar cada uno de estos niveles a distintas asignaturas, como suele hacerse con las competencias específicas usando la taxonomía de Bloom, se propone definir cada competencia genérica en términos de dimensiones. Cada una de las dimensiones (aspectos de la competencia) se define en términos de objetivos a tres niveles, y son los objetivos de un determinado nivel de cada dimensión lo que se encarga a las asignaturas. De esta forma, una misma asignatura puede trabajar distintas dimensiones de una competencia genérica, cada una de ellas a un nivel diferente. Diferentes competencias pueden compartir un subconjunto de dimensiones. Evitar repetir el trabajo de estas dimensiones en diferentes asignaturas cuando no es estrictamente necesario permite optimizar el trabajo realizado y favorece que los estudiantes adquieran las competencias genéricas definidas por la titulación.

    SUMMARY -- In the context of the European Higher Education Area (EHEA), curriculum design needs to be based on the particular degree programme competencies, including both domain-specific and generic competencies. Although Spanish universities already have a wide experience in developing and assessing domain-specific competencies, generic competencies pose a new challenge that we need to face. The present work proposes a model to globally develop and assess generic competencies in the Bachelor’s Degree in Informatics Engineering at Barcelona School of Informatics. A common procedure to develop domain-specific competencies consists in setting different competency levels (based on Bloom’s taxonomy) and then assigning them to the corresponding subjects or courses in the programme. Instead, in order to develop generic competencies into a comprehensive integrated experience, we propose a definition of each competency in terms of dimensions (or competency aspects), which are further defined according to three-level objectives. These objectives are integrated into the subjects that are considered suitable for this purpose. Thus, one subject may integrate dimensions belonging to different competencies at different levels, which contributes to an integral educational experience. In the process of designing our global map of competency dimensions, we have found that some competencies may share some subset of those dimensions, which calls for workload optimization. This global map allows us to refine the process of assigning competency objectives to subjects, and although recurrent practice may be appropriate in the development of competencies in general, we can avoid redundancy when necessary. Thus, this procedure helps us to integrate objectives into the corresponding subjects most effectively, helping students develop the generic competencies defined in the degree programme.

  • Hands-on course in networked control systems

     Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Mares Marti, Pere; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez, J.; Torres Guerrero, Gina; Perello, M.
    Mediterranean Conference on Control & Automation
    p. 1468-1473
    DOI: 10.1109/MED.2012.6265846
    Presentation's date: 2012
    Presentation of work at congresses

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    In many industrial robotic applications there is a need to track periodic reference signals and/or reject periodic disturbances. This paper presents a novel repetitive control design for systems with constant time-delays in both forward and feedback control channels. An additional delay is introduced together with plant delays to construct an internal model for periodic signals, and a simple proportional control is utilized to stabilize the closed-loop system. Sufficient stability conditions of the closed-loop system and the robustness analysis under modeling uncertainties are studied. Experimental results are included to evaluate the validity and effectiveness of the proposed method.

  • Lab Proposal for Integrated Real-Time and Control

     Fuertes Armengol, José Mª; Villa Millaruelo, Ricardo; Ayza Graells, Jordi; Mares Marti, Pere; Marti Colom, Pau; Velasco Garcia, Manuel; Yepez Castillo, Jose Gregorio; Camacho, Antonio
    Jornadas de Tiempo Real
    p. 1-9
    Presentation's date: 2011-02-04
    Presentation of work at congresses

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  • Automatic instrument localization in laparoscopic surgery

     Climent Vilaro, Juan; Mares Marti, Pere
    Date of publication: 2010
    Book chapter

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  • Synchronizing sampling and actuation in the absence of global time in networked control systems

     Marti Colom, Pau; Camacho Santiago, Antonio; Velasco Garcia, Manuel; Mares Marti, Pere; Fuertes Armengol, José Mª
    IEEE International Conference on Emerging Technologies and Factory Automation
    p. 1-8
    DOI: 10.1109/ETFA.2010.5641310
    Presentation's date: 2010-10-15
    Presentation of work at congresses

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    The successful operation of Networked Control Sys- tems (NCS) requires employing appropriate approaches for dealing with network induced time delays, i.e. time intervals elapsed from consecutive sampling and actua- tion operations. Effective approaches often require to im- pose periodic execution for the sampling and/or actuation operations, enforcing synchronized constant time delays. And considering that sampling and actuation is performed in different nodes, global time between nodes achieved by clock synchronization is the standard assumption or strat- egy that enables such synchronized operations. This pa- per presents a technique that permits to implement these synchronized operations in NCS in the absence of global time. Experimental results corroborate the effectiveness of the presented approach.

  • ESTUDIO Y DESARROLLO DE ESTRATEGIAS DE COOPERACIÓN MULTIROBOT CON ARQUITECTURAS REDUNDANTES

     Aranda López, Juan; Frigola Bourlon, Manel; Mares Marti, Pere; Giralt Ludevid, Xavier; Casamitjana Morales, Miquel; Triginer Cahelles, Joaquin; Casals Gelpi, Alicia
    Competitive project

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  • SISTEMA DE VISION POR COMPUTADOR PARA EL CRIBADO AUTOMATICO DE CITOLOGIAS CERVICO-VAGINALS BASADO EN SOFTCOMPUTING

     Sobrevilla Frison, Pilar; Montseny Masip, Eduard; Tiñena Salvaña, Francesc; Grau Gotés, Mª Ángela; Trias Pairo, Juan; Grau Sanchez, Miguel; Xambó Descamps, Sebastian; Mares Marti, Pere; Gordillo Castillo, Nelly; Romaní Also, Santiago
    Competitive project

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  • Parallel coprocessor for ultrafast line drawing

     Mares Marti, Pere; Aranda López, Juan; Martinez Velasco, Antonio Benito
    Lecture notes in computer science
    Vol. LNCS 3732, p. 1168-1169
    Date of publication: 2006-01
    Journal article

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  • Parallel Co-processor for Ultra fast Line drawing

     Mares Marti, Pere
    Workshop on state of art in scientific computinfg
    Presentation's date: 2004-06-23
    Presentation of work at congresses

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  • Visual system to help blind people to cross the street

     Aranda López, Juan; Mares Marti, Pere
    Computers Helping People with Special Needs
    p. 454-461
    Presentation of work at congresses

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  • Visual system to help blind people to cross the street

     Aranda López, Juan; Mares Marti, Pere
    Lecture notes in computer science
    num. 3118, p. 454-461
    Date of publication: 2004-07
    Journal article

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  • Automatic instrument localization in laparoscopic surgery

     Climent Vilaro, Juan; Mares Marti, Pere
    Electronic letters on computer vision and image analysis
    Vol. 4, num. 1, p. 21-31
    Date of publication: 2004-07
    Journal article

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  • Parallel Co-processor for Ultra fast line drawing

     Mares Marti, Pere; Aranda López, Juan; Martinez Velasco, Antonio Benito
    Workshop on state of art in scientific computinfg
    p. 217
    Presentation of work at congresses

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  • Aportació a la detecció de simetries en imatges amb projecció ortogràfica  Open access

     Mares Marti, Pere
    Date of publication: 2003-03
    Book

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    El mètode de detecció de simetria local de reflexió que es presenta, pretén ser una aportació més a la recerca en visió per computador i la robòtica. Com és sabut haches camps d'aplicació impliquen considerar el temps de processament com un paràmetre bàsic. Així doncs, en aquesta tesi no ens conformem en obtenir un algorisme eficient de detecció de simetria si no que es planteja millorar el temps de processame nt a partir de l'obtenció de metodologies i algorismes que tinguin la qualitat de permetre una fácil implantació del processament en paral· lel així com de la implementació de processadors específics.El mètode de detecció de simetria es basa en les contribucions a la simetria de les parelles de segments rectilinis de la imatge. Aquesta aproximació permet una reducció considerable de la complexitat, de la mateixa manera que altres autors utilitzen reduccions basades en diferents agrupacions de punts de contorn, com ara segments d'arcs, b-splines etc. El mètode, així concebut, serà aplicable en imatges on les línies rectes siguin predominats com és el cas de construccions artificials i entorns estructurats.Tot i que l'anterior restricció és important, és adequada per al tipus d'aplicacions que hem exposat anteriorment i ens permet obtenir un mètode de detecció contributiu, a partir de l'acumulació de contribucions locals a la simetria de les parelles de segments rectilinis de la imatge. Es tracta doncs d'un mètode basat en un anàlisi local que mostra els avantatges d'aquesta aproximació mentre que pel fet de tractar-se d'un mètode contributiu millora els dos principals inconvenients de l'aproximació local, és a dir, la sensibilitat al soroll i la inestabilitat, la qual cosa representa una aportació a la superació del dilema "anàlisi local versus anàlisi global".El mètode es composa de quatre etapes:- Obtenció de la llista de segments rectilinis de la imatge- Obtenció dels segments de contribució a la simetria- Càlcul del mapa d'acumulació dels segments de contribució- Extracció d'eixos locals de simetriaUna característica que distingeix el mètode és que proporciona l'abast de la simetria, és a dir, la llargada dels eixos de simetria, precisant-ne els punts inicial i final. Per altra banda la característica contributiva del mètode proposat, ha permès detectar els eixos de simetria local amb una ponderació associada segons la seva importància. D'aquesta forma s'evita el processat d'alt nivell posterior per tal de determinar els eixos més significatius, necessari en la majoria de mètodes basat en l'aproximació local. Respecta la millora del temps de processat i donada la complexitat i extensió del problema de la detecció de simetria, s'ha fet un primer esforç en una de les etapes del mètode de més cost de computació. Concretament s'ha accelerat un procés que forma part del càlcul del mapa d'acumulació esmentat anteriorment, consistent en l'obtenció dels píxels que aproximen, en el pla discret, un segment rectilini especificat per els seus punts inicial i finals. Aquesta millora s'ha obtingut mitjançant un algorisme paral· lel que presenta com avantatges més rellevants: la simplicitat, eficiència i que permet un directa implementació d'un processador dedicat. Per l'altra banda, amb el mateix objectiu de millorar el temps de processament i en base a l'algorisme anterior, s'ha dissenyat un processador paral· lel dedicat que té la capacitat d'obtenir i emmagatzemar simultàniament, en una matriu de registres, el conjunt de píxels que aproximen, en el pla discret, un segment rectilini caracteritzat per els seus punts inicial i final. Una característica molt remarcable del processador és que obté i registra els píxels anteriors en un únic període de rellotge.Finalment per tal de conèixer el paràmetres referents a la seva viabilitat i prestacions, s'ha obtingut, mitjançant la simulació, una versió reduïda amb tecnologia d'alta escala d'integració VLSI en un únic circuit. El disseny obtingut ha mostrat la capacitat de processar17,2 Mega Segments/seg, en el pitjor del casos, mentre que en les condicions més favorables es capaç de processar 57,3 Mega segments/segon.

    The method of reflection local symmetry detection presented aims to be a new approach to the research in vision computer and robotics. As we know them, these fields of application imply to consider the processing time as a basic parameter. In this way, in this thesis we shall obtain an efficient algorithm for symmetry detection and, moreover, we will try to improve the processing time with methodologies and algorithms that will be able to embed easily in parallel architectures and the implementation of specific processors.The symmetry detection method is based in symmetry contributions from the straight segments in the image. This approximation permits a considerable reduction in the complexity in the same way that other authors use reductions based in different grouping of contour points, such as arcs, b-splines, etc. The method conceived like this will be applicable in images where straight lines are predominant like in the case of artificial buildings and structured environments.Although the above restriction is important, it is suitable for all kinds of applications that we have exposed previously and it allows us to obtain a contributive detection method from the accumulation of local contribution of symmetry in pairs of straight segments in the image. Thus, it is a method based in the local analysis that shows the advantages of this approach while it improves the two main disadvantages of local approximation because it is a contributive method. These drawbacks are the sensibility to noise and instability which represent a novel approach to the overcoming of the "local analysis versus global analysis" dilemma.Four steps compose the method: - To obtain the straight segments list in the image- To obtain the symmetry contribution segments- To calculate an accumulation map of contribution segments- To extract the local symmetry axes.A distinctive feature is that the method yields the symmetry range, that is, the length of symmetry axes, with precise position of initial and final points.On the other hand, the contributive feature of the proposed method has allowed us to detect the local symmetry axes with an associated weight to their importance. That avoids the posterior high level processing in order to determine the more significative axes needed in most of the approaches based in local approximation. With respect to the improvement of processing time, and given the complexity and extension of the symmetry detection problem, an initial effort has been made in one of the stages of higher computational cost in the method. Specifically, a process in the calculation of the accumulation map has been accelerated, consistently in the achieving of pixels that form, in the discrete plane, a straight segment specified for its initial and final points. This improvement has been obtained with a parallel algorithm that presents more relevant advantages: simplicity, efficiency and it allows a direct implementation with a dedicated processor.Furthermore, with the same objective of processing time improvement and in basis to the above algorithm, a dedicated parallel processor has been designed with the capability to obtain and store simultaneously, in an array of registers, the set of pixels that approximate, in the discrete plane, a straight segment characterised by its initial and final points. A very remarkable feature of the processor is to obtain and store those pixels in a unique clock period.Finally, in order to know the parameters concerning its viability and performance, a simulated reduced version with VLSI (very large scale integration) technology in a unique circuit has been achieved. The obtained design has shown the capability of processing 17.2 million segments per second in the worst case, while in the most favourable conditions it is able to process up to 57.3 million segments per second.

  • Sistema de Seguimiento en Tiempo Real para Intervenciones Quirúrgicas Asistidas

     Climent Vilaro, Juan; Mares Marti, Pere
    Revista IEEE América Latina
    Vol. 1, num. 1, p. 1-7
    Date of publication: 2003-10
    Journal article

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  • Surgely Tools Detection Using Local Symmetry

     Mares Marti, Pere
    International Conference in Image and Signal Processing
    Presentation's date: 2003-06-26
    Presentation of work at congresses

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  • Surgely Tools Detection Using Local Symmetry

     Climent Vilaro, Juan; Mares Marti, Pere
    International Conference in Image and Signal Processing
    p. 169-176
    Presentation of work at congresses

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  • Edge orientation-Based Fuzzy Hough Transform (EOFHT)

     Montseny Masip, Eduard; Sobrevilla Frison, Pilar; Mares Marti, Pere
    3er Internacional Conference on Fuzzy Logia and Technology
    p. 683-688
    Presentation of work at congresses

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  • APORTACIÒ A LA DETECCIÓ DE SIMETRIES EN D'IMATGES AMB PROJECCIÓ ORTOGRÀFICA

     Mares Marti, Pere
    Department of Automatic Control, Universitat Politècnica de Catalunya
    Theses

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  • DPI2002-04286-C02-02 Monitorización, Supervisión y Registro Inteligente de las Señales de Estado de un Quirófano

     Fernández Ruzafa, Jose; Casals Gelpi, Alicia; Mares Marti, Pere; Frigola Bourlon, Manel
    Competitive project

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  • Detection Image Segmentation Using Region Merging

     Mares Marti, Pere; Martinez Velasco, Antonio Benito
    International Conference on Image and Signal Processing
    p. 90-95
    Presentation of work at congresses

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  • Robot Navigation by Visual Local Symmetry Reflection Axes

     Mares Marti, Pere; Grau Saldes, Antoni; Martinez Velasco, Antonio Benito
    8th IEEE International Conference on Emerging Technologies and Factory Automation
    p. 547-550
    Presentation of work at congresses

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  • Feature Extration based on Wavelet Decomposition for Texture Segmentation

     Grau Saldes, Antoni; Climent Vilaro, Juan; Mares Marti, Pere
    International Conference on Image and Signal Processing
    p. 1026-1030
    Presentation of work at congresses

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  • Fault Detection in Textured Pattern by Local Symmetry Reflection Axes

     Mares Marti, Pere; Grau Saldes, Antoni
    IEEE Conference on Quality Control by Artificial Vision
    p. 423-427
    Presentation of work at congresses

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  • JSCA: Implementacion de un sistema SCADA mediante JAVA

     Mares Marti, Pere; Grau Saldes, Antoni; Diaz, J A
    Jornadas de Automática
    p. 100-104
    Presentation of work at congresses

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  • Expereiencies de Millora de la Qualitat Docent 1997

     Hernandez Palacin, Juan Carlos; Planas Dangla, Rita Maria; Mares Marti, Pere; Català Mallofré, Andreu; Argekaguet, Rosa; Comasolivas Font, Ramon; Cuguero Escofet, Josep; Escobet Canal, Antoni; Escobet Canal, Teresa; Guasch Petit, Antonio; Morcego Seix, Bernardo; Xavier, Parra; Ramon, Perez
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  • Experiències de millora de la qualitat docent 1997

     Guasch Petit, Antonio; Morcego Seix, Bernardo; Comasolivas Font, Ramon; Cuguero Escofet, Josep; Escobet Canal, Antoni; Escobet Canal, Teresa; Hernandez Palacin, Juan Carlos; Pérez Magrané, Ramon; Planas Dangla, Rita Maria; Puig Garcia, Jaime; Quevedo Casin, Joseba-jokin; Sarrate Estruch, Ramon; Mares Marti, Pere; Català Mallofré, Andreu; Argelaguet Isanta, Maria Rosa
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  • Memory Architecture for PAralel Lime Drawing Based on an incremental algorithm

     Mares Marti, Pere; Martinez Velasco, Antonio Benito
    EUROMICRO 2000. 6th CONFERENCE
    p. 266-273
    Presentation of work at congresses

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  • Memory Architecture for PAralel Lime Drawing Based on an incremental algorithm

     Mares Marti, Pere
    EUROMICRO 2000. 6th CONFERENCE
    Presentation's date: 2000-09-05
    Presentation of work at congresses

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  • Laboratori virtual de control industrial

     Grau Saldes, Antoni; Mares Marti, Pere; Saiz, M A
    Jornadas de Automática
    p. 465-470
    Presentation of work at congresses

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  • Mètode de Detecció d'eixos locals de simetria de reflexió

     Mares Marti, Pere
    2n SEMINARI DE TREBALL EN AUTOMÀTICA, ROBÒTICA I PERCEPCIÓ STAR'99
    Presentation's date: 1999-10-04
    Presentation of work at congresses

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  • Session Chair "Automation"

     Mares Marti, Pere
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 1999-10-18
    Presentation of work at congresses

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  • Mètode de Detecció d'eixos locals de simetria de reflexió

     Mares Marti, Pere
    2n SEMINARI DE TREBALL EN AUTOMÀTICA, ROBÒTICA I PERCEPCIÓ STAR'99
    p. 85-89
    Presentation of work at congresses

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  • Cuina adaptada per a persones amb disminucions físiques

     Fernández Ruzafa, Jose; Casals Gelpi, Alicia; Mares Marti, Pere; Amat Girbau, Josep
    Competitive project

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  • TAP98-1525-E. INTEGRACION DE UN ROBOT A UNA COCINA ADAPTADA

     Casals Gelpi, Alicia; Fernández Ruzafa, Jose; Mares Marti, Pere
    Competitive project

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  • Experiencies en docencia de computadors industrials

     Mares Marti, Pere
    Jornades de docencia ESAII-FIB
    Presentation's date: 1998-07-12
    Presentation of work at congresses

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  • Ensenyament Universitari de Control

     Mares Marti, Pere
    Jornades de docencia del d'ESAII
    Presentation's date: 1998-12-21
    Presentation of work at congresses

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  • Experiencies en docent sobre control industrial

     Mares Marti, Pere
    Jornades de docencia ESAII-FIB
    Presentation's date: 1998-07-12
    Presentation of work at congresses

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  • Evaluación de técnicas de Control para el Guiado de Robots Móviles Autónomos

     Martinez Velasco, Antonio Benito; Planas Dangla, Rita Maria; Mares Marti, Pere
    V CONGRESO DE LA AER-ATP
    p. 170-171
    Presentation of work at congresses

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  • Reflexive Symmetries Axis Detection

     Mares Marti, Pere; Martinez Velasco, Antonio Benito
    Simposium Nacional de Reconocimiento de Formas y Análisis de Imágenes
    p. 11-123
    Presentation's date: 1997-04-23
    Presentation of work at congresses

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  • Evaluación de técnicas de Control para el Guiado de Robots Moviles Autonomos

     Mares Marti, Pere
    V CONGRESO DE LA AER-ATP
    Presentation's date: 1997-09-17
    Presentation of work at congresses

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  • RECULL SOBRE LA DETECCIÓ DE SIMETRIES

     Mares Marti, Pere
    1r Seminari de treball en Automàtica, Robòtica i Percepció - STARP96
    Presentation's date: 1996-02-21
    Presentation of work at congresses

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  • Recull sobre la detecció de simetries

     Mares Marti, Pere; Martinez Velasco, Antonio Benito
    1r Seminari de treball en Automàtica, Robòtica i Percepció - STARP96
    p. 221-229
    Presentation of work at congresses

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  • CONTROL INFORMATITZAT PEL FUNCIONAMENT DE TÚNELS

     Mares Marti, Pere
    ASPECTES TÈCNICS DE TÚNELS DE COMMUNICACIÓ VIÀRIA
    Presentation's date: 1996-04-25
    Presentation of work at congresses

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  • Vision Based Mobile Robot Dynamic Flow Estimation in Multi-Robot Environment

     Planas Dangla, Rita Maria; Martínez, A B; Fuertes Armengol, José Mª; Mares Marti, Pere
    7th. International Conference on Advanced Robotics (ICAR'95)
    p. 847-852
    Presentation of work at congresses

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  • MODELIZACION TOPOGRAFICA DE ENTORNOS UTILIZANDO VISION POR COMPUTADOR

     Mares Marti, Pere
    Jornadas de Automática
    Presentation's date: 1995-09-27
    Presentation of work at congresses

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