Persona: Moreno Salinas, David
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Moreno Salinas
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David
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Publicación Modelling of a surface marine vehicle with kernel ridge regression confidence machine(Elsevier, 2018-12-27) Moreno Salinas, David; Moreno, Raul; Pereira, Augusto; Aranda Almansa, Joaquín; Cruz, Jesus M. de laThis paper describes the use of Kernel Ridge Regression (KRR) and Kernel Ridge Regression Confidence Machine (KRRCM) for black box identification of a surface marine vehicle. Data for training and test have been obtained from several manoeuvres typically used for marine system identification. Thus, a 20/20 degrees Zig-Zag, a 10/10 degrees Zig-Zag, and different evolution circles have been employed for the computation and validation of the model. Results show that the application of conformal prediction provides an accurate model that reproduces with large accuracy the actual behaviour of the ship with confidence margins that ensure that the model response is within these margins, making it a suitable tool for system identification.Publicación Optimal control law of an AUV using a single thruster(Comité Español de Autonomática (CEA-IFAC), 2023) Cerrada Collado, Cristina; Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, JoaquínEn este artículo se plantea el problema de optimización de una ley de control para minimizar el error cuadrático integral al conducir un AUV (Autonomous Underwater Vehicle, vehículo autónomo submarino) actuado con un único motor desde un punto de partida hasta una zona de recuperación deseada. Así mismo se muestran dos posibles soluciones de control y se discute su implementación en el vehículo. Para la optimización de la ley de control se utilizarán los algoritmos genéticos y se proponen dos soluciones: En la primera se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea una acción de control óptima en función de la orientación del vehículo a partir de una ley de control representada mediante una serie de Fourier. El correcto funcionamiento de las soluciones propuestas se demuestra mediante una serie de simulaciones que consideran distintas condiciones y situaciones posibles.Publicación Optimisation of spectrum use by Mode S surveillance systems through coordinated DAP extraction(IEEE Xplore, 2024-10-17) Ceballos Gutierrez, Javier; Aranda Escolástico, Ernesto; Moreno Salinas, David; https://orcid.org/0000-0001-6440-6120The cooperative surveillance systems used for air traffic management rely completely on air–ground transactions carried out in the 1030/1090 MHz frequency bands to fulfill their surveillance mission. However, these spectrum bands are currently subject to an excessive number of transactions that make difficult the access to the channels and often exceed the reply capabilities of aircraft transponders, which may impact air traffic capacity or even create safety risks. Several mitigation strategies have been studied in recent years to decrease the occupancy of the 1030/1090 MHz bands. Nevertheless, none of the proposed strategies have yet addressed the possibility of decreasing transactions related to downlinked aircraft parameters (DAP) extracted from transponder registers of aircraft. This work proposes and tests a methodology to coordinate the DAP extractions performed by several Mode S systems in order to avoid a high number of unnecessary transactions in the spectrum channels, while keeping the same level of information available at the endpoint of the surveillance chain.Publicación Full Real-Time Positioning and Attitude System Based on GNSS-RTK Technology(MDPI, 2020-11-20) Olivart i Llop, J. M.; Moreno Salinas, David; Sánchez Moreno, JoséAn accurate positioning and attitude computation of vehicles, robots, or even persons is of the utmost importance and critical for the success of many operations in multiple commercial, industrial, and research areas. However, most of these positioning and attitude systems rely on inertial measurement units that must be periodically recalibrated and have a high cost. In the present work, the design of a real-time positioning and attitude system using three positioning sensors based on the GNSS-RTK technology is presented. This kind of system does not need recalibration, and it allows one to define the attitude of a solid by only computing the position of the system in the global reference system and the three angles that the relative positions of the GNSS antennas define with respect to the principal axes of the solid. The position and attitude can be computed in real time for both static and dynamic scenarios. The only limitation of the system is that the antennas need to be in open air to work at full performance and accuracy. All the design phases are covered in the prototype construction: requirement definition, hardware selection, software design, assembly, and validation. The feasibility and performance of the system were tested in both static and dynamic real scenarios.Publicación Multiple autonomous surface vehicle motion planning for cooperative range-based underwater target localization(Elsevier, 2018-12-03) Crasta, N.; Moreno Salinas, David; Pascoal, A.M.; Aranda Almansa, JoaquínRange-based target localization is an important class of problems that arise in an increasing number of scientific and commercial missions at sea. Underwater target localization refers to the task of estimating the positions of fixed or moving underwater targets by using range measurements between the targets and one or more autonomous surface vehicles (ASVs), called trackers, undergoing trajectories that are known in real time. In this context, the trackers must execute sufficiently exciting maneuvers so as to maximize the range-based information available for multiple target localization. In this paper, adopting an estimation theoretical setting, we first propose a general methodology for tracker motion planning that results from maximizing the determinant of an appropriately defined Fisher information matrix (FIM) subject to inter-vehicle collision avoidance and vehicle maneuvering constraints. Then, for the single-target single-tracker problem (which is the dual problem of the classical single-beacon navigation problem), we provide a family of analytical solutions for the optimal tracker trajectories and complement the results with a practical experiment using a tracker when the target undergoes trajectories that are straight lines, pieces of arcs, or a combination thereof. In the methodology adopted for system implementation the tracker runs three key algorithms simultaneously, over a sliding time window: (i) tracker motion planning, (ii) tracker motion control, and (iii) target motion estimation based on range data acquired on-line. In order to simplify the types of trajectories that the tracker must undergo in the single target localization problem, we extend the above set-up to the case where the tracker works in cooperation with another vehicle, called companion, that can also measure ranges to the target and share this info with the tracker. The latter may have access to the position of the companion or, in some cases, only to the range between the two vehicles. We consider three different operating scenarios where the motion of the tracker is chosen so as to increase the accuracy with which the position of the target can be estimated. The scenarios reflect the situations where the motion of the companion vehicle satisfies one of three conditions: (i) the motion is not defined a priori and can also be optimized, (ii) the motion is fixed a priori and is known to the tracker (scenario in which the tracker benefits from the extra information acquired by the companion vehicle, which tracks a desired trajectory in the context of a separate, independent mission), and (iii) the motion is not known a priori and must be learned in the course of the mission. Simulation results illustrate the methodology adopted for cooperative target localization.Publicación Modeling personality language use with small semantic vector subspaces(Elsevier, 2024-12-14) Jorge Botana, Guillermo de; Olmos, Ricardo; Martínez Huertas, José Ángel; Moreno Salinas, David; Martínez Mingo, AlejandroPublicación A cost-effective design for a mid-range microcontroller-based lock-in amplifier(Elsevier, 2025-03) Horcas, Ignacio; Moreno Salinas, David; Sánchez Moreno, JoséLock-in amplifiers are instruments widely used in physics and engineering laboratories, whose invention goes back to the 1940s. Due to the late electronic developments, the former analog implementations have been replaced with digital versions, mainly based on FPGAs (field-programmable gate arrays). The present work, exploiting the last advances in the microcontrollers field, consists in the development of a functional prototype of a low-cost lock-in amplifier based on a microcontroller with similar specifications to mid-range commercial amplifiers. The performance of the prototype has been tested and compared with commercial devices, showing a similar performance in common use cases at a much reduced cost.Publicación 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 Fault-Tolerant Control for AUVs Using a Single Thruster(IEEE, 2022-02) Chaos García, Dictino; Moreno Salinas, David; Aranda Almansa, JoaquínThe present paper presents a fault-tolerant control for an AUV in the presence of a critical failure in the actuators that may require an emergency operation to recover it or to drive it to a safe point. In this context, the control scheme proposed deals with a single thruster in operational conditions to command the vehicle towards a desired direction and reach a safe target point. In addition, the AUV is commanded with only two control actions on the available thruster, driving the vehicle through the desired direction following a spiral-like path and keeping it within the neighbourhood of the target point. The fault-tolerant control proposed is simple and robust enough to be applied to multiple kinds of AUVs without the need of accurate parameter design. The stability and well performance of the control scheme proposed is analytically demonstrated, and simulation examples illustrate the key results derived.Publicación Design and Development of an SVM-Powered Underwater Acoustic Modem(MDPI, 2024-05-05) Guerrero Chilaber, Gabriel S.; Moreno Salinas, David; Sánchez Moreno, José; https://orcid.org/0009-0009-9959-0250Underwater acoustic communication is fraught with challenges, including signal distortion, noise, and interferences unique to aquatic environments. This study aimed to advance the field by developing a novel underwater modem system that utilizes machine learning for signal classification, enhancing the reliability and clarity of underwater transmissions. This research introduced a system architecture incorporating a Lattice Semiconductors FPGA for signal modulation and a half-pipe waveguide to emulate the underwater environment. For signal classification, support vector machines (SVMs) were leveraged with the continuous wavelet transform (CWT) employed for feature extraction from acoustic signals. Comparative analysis with traditional signal processing techniques highlighted the efficacy of the CWT in this context. The experiments and tests carried out with the system demonstrated superior performance in classifying modulated signals under simulated underwater conditions, with the SVM providing a robust classification despite the presence of noise. The use of the CWT for feature extraction significantly enhanced the model’s accuracy, eliminating the need for further dimensionality reduction. Therefore, the integration of machine learning with advanced signal processing techniques presents a promising research line for overcoming the complexities of underwater acoustic communication. The findings underscore the potential of data mining methodologies to improve signal clarity and transmission reliability in aquatic environments.