Actas y comunicaciones de congresos

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Circuit Testing Based on Fuzzy Sampling with BDD Bases
(University of Hawaiʻi at Mānoa, 2023) Pinilla, Elena; Fernández Amoros, David José; Heradio Gil, Rubén
Fuzzy testing of integrated circuits is an established technique. Current approaches generate an approximately uniform random sample from a translation of the circuit to Boolean logic. These approaches have serious scalability issues, which become more pressing with the ever-increasing size of circuits. We propose using a base of binary decision diagrams to sample the translations as a soft computing approach. Uniformity is guaranteed by design and scalability is greatly improved. We test our approach against five other state-of-the-art tools and find our tool to outperform all of them, both in terms of performance and scalability.
Distributed targeted distance-based formation control for mechanical systems
(IEEE Xplore, 2020-07-20) Aranda Escolástico, Ernesto; Colombo, Leonardo; Guinaldo Losada, María
This paper studies the problem of distributed targeted distance-based formation control for mechanical systems. The problem consists on finding a distributed control law such that if each agent observes a convex set as a targeted set, and also the relative position of their nearest neighbors, then the agents must achieve the desired formation in these sets while its velocities are driven to zero. We study the problem for agents with a time-delay communication in the measurements of the relative positions and where the motion of each agent is determined by a Lagrangian function. Simulation are given to validate the theoretical result.
Fuzzy logic vs analytic controllers on a non-linear system
(World Scientific, 2014) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián; Santos, Matilde
In this paper, an intelligent control of the rotary inverted pendulum by fuzzy logic is presented. Specifically, the design consists of a Takagi-Sugeno fuzzy model to approximate the non-linear system to a succession of points where a linear system is described. A feedback gain is obtained that allows the stabilization of the inverted pendulum in a higher attractor than in the case of analytic Full State Feedback controller or Linear Quadratic Regulator.
A novel approach for periodic event-triggering based on general quadratic functions
(IEEE, 2015) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián
This paper is concerned with periodic event-triggered control, which avoids the continuous monitoring of the state of the system while reducing the number of control updates. A new form of quadratic event-triggering condition is proposed to enlarge the inter-event times. The asymptotic stability criteria is analyzed by means of Lyapunov-Krasovskii functionals and the stability condition is expressed in terms of linear matrix inequalities. Simulation and experimental results are given to show the effectiveness of the proposed method.
An Object-Oriented Library for Process Control Simulations in MATLAB
(ELSEVIER, 2017) Rodríguez, Carlos; Guinaldo Losada, María; Aranda Escolástico, Ernesto; Guzmán, José L.
This paper presents a library of MATLAB classes developed to provide a framework to allow performing easy and scalable process control simulations. The proposed object-oriented tool features the basic components of a control loop including: processes, controllers, sensors, actuators and connection links. The simulator can be configured to carry out simulations with continuous and/or discrete elements, and/or include event-triggered capabilities in a straightforward manner. The benefits of the proposed library are shown with the rapid development and simulation of a quadruple-tank system that is controlled by means of a PI controller.
Periodic Event-Triggered Swing-Up Control of the Inverted Pendulum
(Springer, 2016) Aranda Escolástico, Ernesto; Gordillo, F.; Guinaldo Losada, María; Dormido Canto, Sebastián; Garrido, Paulo; Soares, Filomena; Moreira, António Paulo
In this paper, a novel strategy for swinging up an inverted pendulum is proposed. The strategy combines an energy-based control law with an event triggering condition to minimize transmissions, protect actuators and save energy. In addition, the strategy is periodic event-triggered, which provides two main advantages: An analytical way to determine a priori the sampling period to guarantee the appropriate behavior and an easy implementation in real prototypes.
Pragmatic Random Sampling of the Linux Kernel: Enhancing the Randomness and Correctness of the conf Tool
(Association for Computing Machinery, New York, 2024-09-02) Fernández Amoros, David José; Heradio Gil, Rubén; Horcas Aguilera, Jose Miguel; Galindo, José A.; Benavides, David; Fuentes, Lidia; https://orcid.org/0000-0003-3758-0195; https://orcid.org/0000-0002-5677-7156; https://orcid.org/0000-0002-8449-3273; https://orcid.org/0000-0001-9293-9784
The configuration space of some systems is so large that it cannot be computed. This is the case with the Linux Kernel, which provides almost 19,000 configurable options described across more than 1,600 files in the Kconfig language. As a result, many analyses of the Kernel rely on sampling its configuration space (e.g., debugging compilation errors, predicting configuration performance, finding the configuration that optimizes specific performance metrics, etc.). The Kernel can be sampled pragmatically, with its built-in tool conf, or idealistically, translating the Kconfig files into logic formulas. The pros of the idealistic approach are that it provides statistical guarantees for the sampled configurations, but the cons are that it sets out many challenging problems that have not been solved yet, such as scalability issues. This paper introduces a new version of conf called randconfig+, which incorporates a series of improvements that increase the randomness and correctness of pragmatic sampling and also help validate the Boolean translation required for the idealistic approach. randconfig+ has been tested on 20,000 configurations generated for 10 different Kernel versions from 2003 to the present day. The experimental results show that randconfig+ is compatible with all tested Kernel versions, guarantees the correctness of the generated configurations, and increases conf’s randomness for numeric and string options.
A Rule-Learning Approach for Detecting Faults in Highly Configurable Software Systems from Uniform Random Samples
(2022) Heradio Gil, Rubén; Fernández Amoros, David José; Ruiz Parrado, Victoria; Cobo, Manuel J.; https://orcid.org/0000-0003-2993-7705; http://orcid.org/ 0000-0001-6575-803X
Software systems tend to become more and more configurable to satisfy the demands of their increasingly varied customers. Exhaustively testing the correctness of highly configurable software is infeasible in most cases because the space of possible configurations is typically colossal. This paper proposes addressing this challenge by (i) working with a representative sample of the configurations, i.e., a ``uniform'' random sample, and (ii) processing the results of testing the sample with a rule induction system that extracts the faults that cause the tests to fail. The paper (i) gives a concrete implementation of the approach, (ii) compares the performance of the rule learning algorithms AQ, CN2, LEM2, PART, and RIPPER, and (iii) provides empirical evidence supporting our procedure
Scalable Sampling of Highly-Configurable Systems: Generating Random Instances of the Linux Kernel
(Association for Computing Machinery (ACM), 2023-01-05) Mayr Dorn, Christoph; Egyed, Alexander; Fernández Amoros, David José; Heradio Gil, Rubén
Software systems are becoming increasingly configurable. A paradigmatic example is the Linux kernel, which can be adjusted for a tremendous variety of hardware devices, from mobile phones to supercomputers, thanks to the thousands of configurable features it supports. In principle, many relevant problems on configurable systems, such as completing a partial configuration to get the system instance that consumes the least energy or optimizes any other quality attribute, could be solved through exhaustive analysis of all configurations. However, configuration spaces are typically colossal and cannot be entirely computed in practice. Alternatively, configuration samples can be analyzed to approximate the answers. Generating those samples is not trivial since features usually have inter-dependencies that constrain the configuration space. Therefore, getting a single valid configuration by chance is extremely unlikely. As a result, advanced samplers are being proposed to generate random samples at a reasonable computational cost. However, to date, no sampler can deal with highly configurable complex systems, such as the Linux kernel. This paper proposes a new sampler that does scale for those systems, based on an original theoretical approach called extensible logic groups. The sampler is compared against five other approaches. Results show our tool to be the fastest and most scalable one.
Stability of output event-based control systems through quadratic trigger functions
(IEEE, 2015-10) Aranda Escolástico, Ernesto; Guinaldo Losada, María; Dormido Canto, Sebastián
The design of event-based controllers for systems with unknown states is investigated in this paper. The case of general quadratic triggering conditions that depend on the estimated state given by a Luenberger observer is studied. Novel frameworks are proposed for continuous and periodic event-based control providing criteria for asymptotic stability with the form of Linear Matrix Inequalities (LMIs). The frameworks are tested in simulation through a challenging system, such as the double rotary inverted pendulum.
Supporting the Statistical Analysis of Variability Models
(Institute of Electrical and Electronics Engineers (IEEE), 2019-08-26) Mayr Dorn, Christoph; Egyed, Alexander; Heradio Gil, Rubén; Fernández Amoros, David José
Variability models are broadly used to specify the configurable features of highly customizable software. In practice, they can be large, defining thousands of features with their dependencies and conflicts. In such cases, visualization techniques and automated analysis support are crucial for understanding the models. This paper contributes to this line of research by presenting a novel, probabilistic foundation for statistical reasoning about variability models. Our approach not only provides a new way to visualize, describe and interpret variability models, but it also supports the improvement of additional state-of-the-art methods for software product lines; for instance, providing exact computations where only approximations were available before, and increasing the sensitivity of existing analysis operations for variability models. We demonstrate the benefits of our approach using real case studies with up to 17,365 features, and written in two different languages (KConfig and feature models).
Underwater coverage with a mobile robot of limited control authority
(IEEE, 2018) Aranda Escolástico, Ernesto; Cortes, Jorge; Guinaldo Losada, María; Dormido Canto, Sebastián; https://orcid.org/0000-0001-9582-5184
This work considers the coverage of underwater areas with a mobile robot with constrained control and communication capabilities. While underwater, the robot can control its depth but it is subject to flow in the other directions. While on the surface, it can move (essentially) freely. The aim of the work is the coverage of the areas with the minimum waste of resources. For that, we propose a two-part algorithm, where one part is a genetic algorithm and the other part is an algorithm based on Netwton's method. Numerical simulations are provided to illustrate the efficiency of the algorithm.
A vision-based strategy to segment and localize ancient symbols written in stone
(Springer, 2017-12-21) Duque Domingo, Jaime; Herrera Caro, Pedro Javier; Cerrada Somolinos, Carlos; Cerrada Somolinos, José Antonio; https://orcid.org/0000-0001-6649-5550; https://orcid.org/0000-0001-8679-6617; https://orcid.org/0000-0002-8591-6581; https://orcid.org/0000-0001-5492-5293
This work proposes an automatic method to detect ancient symbols written in stone. The proposed method takes into account well-known techniques used in computer vision to identify the contour of the symbols in the image. The two-stage method consists of segmentation and localization processes. Segmentation process includes a pre-processing step, edge detection and thresholding. Localization process is based on two conditions that take into account several parameters, like the distance between points, and the orientation and the continuity of the edges. This proposal has been applied to localize Egyptian cartouches (borders enclosing the name of a king) and stonemason’s marks from images obtained under varying lighting conditions (controlled and natural lighting). The proposed method is compared favorably against other methods based on chain coding, neural networks and statistical correlation. The promising results give new possibilities to identify and recognize complex symbols and ancient texts.

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