Persona: Sánchez Moreno, José
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jsanchez@dia.uned.es
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0000-0002-6702-3771
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Sánchez Moreno
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José
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Publicación Composición fotográfica mediante el uso de un dron(Comité Español de Automática, 2024-07-15) Sánchez García, Juan Miguel; Sánchez Moreno, José; Moreno Salinas, DavidLa composición fotográfica, conocida como mosaicos, es crucial en aplicaciones donde no es posible capturar toda la extensión de grandes superficies en una sola toma. Por ende, se requiere fotografiar secciones más pequeñas para luego componerlas y lograr una reproducción lo más precisa posible de la realidad. En este trabajo se presenta el resultado de aplicar los principios de las distintas etapas necesarias para crear un mosaico, complementado con el uso de un dron para la captura de las imágenes. La creación del mosaico implica técnicas avanzadas de procesamiento de imágenes que facilitan la detección de características, la transformación geométrica y la alineación de píxeles. Sin embargo, la experimentación con diferentes algoritmos ha revelado que no siempre es viable encontrar una transformación geométrica que produzca un mosaico de calidad, especialmente cuando las características de la fotografía no son óptimas, lo cual puede ser atribuible, en parte, a la resolución de los dispositivos fotográficos utilizados.Publicación Desarrollo de laboratorios virtuales, interactivos y remotos utilizando Easy Java Simulations y modelos Simulink(XII Latin-American Congress on Automatic Control , CD-ROM del Congreso, Salvador de Bahía (Brasil), october 2006, 2006-01-01) Esquembre Martínez, Francisco; Dormido Bencomo, Sebastián; Vargas Oyarzún, Héctor; Canto Díez, María Antonia; Sánchez Moreno, José; Dormido Canto, Raquel; Duro Carralero, Natividad; Farias, GonzaloPublicación A hybrid temporal-magnitude based sampling for Event-Based Control(Institute of Electrical and Electronics Engineers, 2025-03-25) Miguel Escrig, Oscar; Sánchez Moreno, José; Romero Pérez, Julio Ariel; Dormido Bencomo, SebastiánIn the current industrial environment, which is shifting towards an event-based control prone paradigm, sampling strategies in use must be revisited. Both temporal and magnitude dependent sampling strategies have been demonstrated to be suitable for control systems, reporting benefits in different categories. However, these sampling strategies also present some drawbacks, discussed in this contribution. Aiming to address some of these drawbacks, a new sampling strategy is proposed gathering characteristics of both predecessors.Publicación Asymmetric delayed relay feedback identification based on the n-shifting approach(Taylor and Francis Group, 2021-08-20) Sánchez Moreno, José; Dormido Bencomo, Sebastián; Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; https://orcid.org/0000-0002-2405-8771; https://orcid.org/0000-0002-2472-2038; https://orcid.org/0000-0003-3397-2239The paper presents an improvement of the n-shifting technique to identify the frequency response of an industrial process using a fully asymmetric and delaying relay. The n-shifting approach allows the calculation of n + 1 points of G(s) by an asymmetric relay experiment. This set of n points is composed of G(0), G(jωosc), . . . , G(jnωosc), being ωoscthe oscillation frequency, and where G(jωosc) is in most cases located in the third quadrant of the Nyquist map. By delaying the relay output and repeating a similar experiment it can be generated n additional points of G(s) where the first point is G(jω’ osc) with 0 < ω’osc < ωosc. In this way, it is possible to depict the full output spectrum of G(s) from zero to very high frequencies by a short relay experiment. An example of identification and tuning of a PID controller with data from the n-shifting are presented to show the validity of the approach.Publicación Distributed reconfiguration of distance-based formations with virtual surface constraints(IEEE, 2024) Guinaldo Losada, María; Sánchez Moreno, José; S. Zaragoza; Mañas Álvarez, Francisco JoséThis paper proposes a method to recover from the failure or loss of a subset of agents in a distance-based formation problem, where the system is initially deployed forming a virtual shield embedded in the 3D space. First, a distributed algorithm is proposed to restore the topology, which is a Delaunay triangulation. After that, the nodes execute a distance-based distributed control law that considers adaptive target distances. These values are computed in parallel by the nodes, which try to reach an agreement with some constraints, given by the desired shield shape. The updating policy is based on events. The results are illustrated through simulation examples.Publicación Development of a Web-Based Control Laboratory for Automation Technicians: The Three-Tank System(IEEE TRANSACTIONS ON EDUCATION, 2007-01-01) Vargas Oyarzún, Héctor; Dormido Bencomo, Sebastián; Dormido Canto, Raquel; Duro Carralero, Natividad; Sánchez Moreno, José; Dormido Canto, Sebastián; Farias, GonzaloPublicación Low-Cost Portable System for Measurement and Representation of 3D Kinematic Parameters in Sport Monitoring: Discus Throwing as a Case Study(MDPI, 2022-12-02) Navarro Iribarne, Juan Francisco; Moreno Salinas, David; Sánchez Moreno, José; https://orcid.org/0000-0001-6994-3064Monitoring of sports practice has become an almost essential tool in high-level professional training. The knowledge of the exact movements performed by an athlete provides a great advantage over conventional training, since the best performance can be theoretically known in advance and the trainer will expect the real athlete’s movements to approximate it. Following this trend, this article deals with the design and development of a low-cost wearable biofeedback system for the measurement and representation of kinematic parameters in 3D. To capture the athlete’s movements, an inertial measurement unit (IMU) is used, whose data are processed in an microcontroller-based architecture. The kinematic parameters of the athlete’s movement are sent via Bluetooth to a smart phone, where they are displayed graphically. Experimental examples show the effectiveness of the device developed and illustrate the key results derived.Publicación Error dependent sampling to reduce transient events in event-based control(Institute of Electrical and Electronics Engineers, 2025-03-25) Miguel Escrig, Oscar; Romero Pérez, Julio Ariel; Sánchez Moreno, José; Dormido Bencomo, SebastiánOne of the objectives of event-based control is the reduction of generated events to perform an appropriate process control. Among the event generation techniques used to this end, those quantifying the error signal can be found more frequently for its simplicity of implementation. However, they entail a drawback in the form of trade-off between event generation and performance. Aiming to reduce the number of events, specifically in the transient response, without degrading the performance, an error dependent sampling scheme is studied in this work.Publicación Protección de objetivos móviles mediante un enjambre de drones(Servicio de Publicaciones de la Universidade da Coruña (A Coruña) y el Comité Español de Automática (Barcelona), 2025-09-01) Zaragoza, Salvador; Guinaldo Losada, María; Sánchez Moreno, JoséSe propone una solución C-UAS (Counter-Unmanned Air Systems) alternativa y complementaria a las existentes: el uso de un enjambre de drones defensores. Estos drones adoptan una formación de escudo semiesférico para negar el acceso a UAS hostiles al objetivo protegido. La clave de esta estrategia radica en el diseño de una ley de control distribuida que permite que los drones defensores puedan seguir trayectorias, mantener la posición y orientarse en el espacio preservando en todo momento la forma del escudo en función de la ubicación y velocidad del enjambre hostil y el objetivo a defender. Además, la estrategia propuesta es escalable y adaptable a diferentes tamaños de áreas protegidas, desde pequeñas instalaciones hasta grandes regiones geográficas.Publicación Identification of multiple frequency response points using gain-changing nonlinear feedback experiments(Elsevier, 2025-12-09) Romero Pérez, Julio Ariel; Miguel-Escrig, Oscar; Sánchez Moreno, José; Dormido Canto, Sebastián; Agencia Estatal de Investigación (España)Relay feedback experiments are well known for providing valuable information about system dynamics, which can be used for automatic PID controller tuning. The estimation of frequency response points from data obtained in such experiments is typically based on describing function theory, which assumes purely sinusoidal closed-loop responses and neglects higher-order harmonics. However, this assumption is often violated in low-order systems with poor filtering characteristics, resulting in reduced estimation accuracy. To address this issue, several alternatives, such as the saturation relay and pre-load relay, have been proposed in the literature, offering improved estimation performance. In this work, it is introduced a gain-changing nonlinear scheme for frequency points identification that enhances the accuracy of existing approaches. The experiments follow a similar structure to standard relay feedback tests, thus preserving their well-known advantages while significantly reducing estimation errors. Furthermore, by incorporating calculated time delays and dynamically adjusting the gain-changing parameters, the method generates multiple closed-loop oscillation conditions to identify several frequency response points, all while keeping the output amplitude within safe operational limits. Simulation results demonstrate a substantial improvement in estimation accuracy compared to both traditional and enhanced relay-based methods, offering a precise and practical solution for frequency response identification in industrial process control.
