Papers by Sergio Colmenero García
Biofilms adhesion is one of the more important cost<br> of industries plants on wide world,... more Biofilms adhesion is one of the more important cost<br> of industries plants on wide world, which use to water for cooling<br> heat exchangers or are in contact with water. This study evaluated<br> the effect of Electromagnetic Fields on biofilms in tubular heat<br> exchangers using seawater cooling. The results showed an up to 40%<br> reduction of the biofilm thickness compared to the untreated control<br> tubes. The presence of organic matter was reduced by 75%, the<br> inorganic mater was reduced by 87%, and 53% of the dissolved solids<br> were eliminated. The biofilm thermal conductivity in the treated tube<br> was reduced by 53% as compared to the control tube. The hardness<br> in the effluent during the experimental period was decreased by 18%<br> in the treated tubes compared with control tubes. Our results show<br> that the electromagnetic fields treatment has a great potential in the<br> process o...
Intermediate System to Intermediate System (IS-IS) provides efficient and reliable flooding of in... more Intermediate System to Intermediate System (IS-IS) provides efficient and reliable flooding of information to its peers; however, the current flooding scopes are limited to either area scope or domain scope. There are existing use cases where support of other flooding scopes is desirable. This document defines new Protocol Data Units (PDUs) that provide support for new flooding scopes as well as additional space for advertising information targeted for the currently supported flooding scopes. This document also defines extended Type-Length-Values (TLVs) and sub-TLVs that are encoded using 16-bit fields for Type and Length. The protocol extensions defined in this document are not backwards compatible with existing implementations and so must be deployed with care. Status of This Memo This is an Internet Standards Track document. This document is a product of the Internet Engineering Task Force (IETF). It represents the consensus of the IETF community. It has received public review an...
2019 IEEE/ACM 2nd International Workshop on Robotics Software Engineering (RoSE), 2019
Robot applications are being increasingly used in real life to help humans performing dangerous, ... more Robot applications are being increasingly used in real life to help humans performing dangerous, heavy, and/or monotonous tasks. They usually rely on planners that given a robot or a team of robots compute plans that specify how the robot(s) can fulfill their missions. Current robot applications ask for planners that make automated planning possible even when only partial knowledge about the environment in which the robots are deployed is available. To tackle such challenges we developed MAPmAKER, which provides a decentralized planning solution and is able to work in partially known environments. Decentralization is realized by decomposing the robotic team into subteams based on their missions, and then by running a classical planning algorithm. Partial knowledge is handled by calling several times a classical planning algorithm.
Enclaves de riesgo: gobierno neoliberal, desigualdad y control social
La ciudad no es un espacio liso y uniforme. Tiene zonas iluminadas, aptas para la libre circulaci... more La ciudad no es un espacio liso y uniforme. Tiene zonas iluminadas, aptas para la libre circulación, y zonas de penumbra, de movilidades complejas y clandestinas; lugares de prosperidad económica y otros que acumulan pobrezas; enclaves seguros y enclaves de riesgo. Son los daños colaterales de un modelo neoliberal que reduce derechos no tanto para aumentar los beneficios de unos pocos, como para fomentar la rivalidad y la competencia en tanto palanca de deseo; que privatiza no solo los recursos públicos, sino toda vida en común en pro del principio de escasez y su correlato, la responsabilidad individual; que no persigue tanto eliminar las disfuncionalidades como detectarlas y mantenerlas a raya, contenidas dentro de una desigualdad sostenible. El neoliberalismo desvía la tensión y la ansiedad generada por la ruina de la «seguridad de los derechos» hacia el «derecho a la seguridad», de forma que la población misma exija más monitoreo, más policía, más castigo. ¿Pero acaso no es en esta co-producción por abajo del dispositivo securitario donde se encuentra su superación? Inventando nuevas formas colectivas de enfrentar la exclusión y la soledad se conjurarán nuestros miedos. Este volumen, editado por el Observatorio Metropolitano de Madrid, incluye textos de Loïc Wacquant, Stavros Stavrides y Laurent Bonelli, así como de José Ángel Brandáriz, Ignacio González, las Brigadas Vecinales de Observación de Derechos Humanos, el Grupo de Estudios y Seguimiento de la Burorrepresión y el Grupo de investigación de periferias del propio Observatorio Metropolitano de Madrid.
Sensors, 2021
In this work, the use of a calibration satellite (L2-CalSat) flying in formation with a Cosmic Mi... more In this work, the use of a calibration satellite (L2-CalSat) flying in formation with a Cosmic Microwave Background (CMB) polarization mission in an orbit located at the second Lagrange point, is proposed. The new generation of CMB telescopes are expected to reach unprecedented levels of sensitivity to allow a very precise measurement of the B-mode of polarization, the curl-like polarization component expected from gravitational waves coming from Starobinski inflationary models. Due to the CMB polarized signal weakness, the instruments must be subjected to very precise calibration processes before and after launching. Celestial sources are often used as external references for calibration after launch, but these sources are not perfectly characterized. As a baseline option, L2-CalSat is based on the CubeSat standard and serves as a perfectly known source of a reference signal to reduce polarization measurements uncertainty. A preliminary design of L2-CalSat is described and, accordi...
Proceedings of the ACM/IEEE 42nd International Conference on Software Engineering: Companion Proceedings, 2020
Service robots, a type of robots that perform useful tasks for humans, are foreseen to be broadly... more Service robots, a type of robots that perform useful tasks for humans, are foreseen to be broadly used in the near future in both social and industrial scenarios. Those robots will be required to operate in dynamic environments, collaborating among them or with users. Specifying the list of requested tasks to be achieved by a robotic team is far from being trivial. Therefore, mission specification languages and tools need to be expressive enough to allow the specification of complex missions (e.g., detailing recovery actions), while being reachable by domain experts who might not be knowledgeable of programming languages. To support domain experts, we developed PROMISE, a Domain-Specific Language that allows mission specification for multiple robots in a user-friendly, yet rigorous manner. PROMISE is built as an Eclipse plugin that provides a textual and a graphical interface for mission specification. Our tool is in turn integrated into a software framework, which provides functionalities as: (1) automatic generation from specification, (2) sending of missions to the robotic team; and (3) interpretation and management of missions during execution time. PROMISE and its framework implementation have been validated through simulation and real-world experiments with four different robotic models.
Proceedings of the 12th ACM SIGPLAN International Conference on Software Language Engineering, 2019
Mobile robots are increasingly used in our everyday life to autonomously realize missions. A vari... more Mobile robots are increasingly used in our everyday life to autonomously realize missions. A variety of languages has been proposed to support roboticists in the systematic development of robotic applications, ranging from logical languages with well-defined semantics to domain-specific languages with user-friendly syntax. The characteristics of both of them have distinct advantages, however, developing a language that combines those advantages remains an elusive task. We present PROMISE, a novel language that enables domain experts to specify missions on a high level of abstraction for teams of autonomous robots in a user-friendly way, while having well-defined semantics. Our ambition is to permit users to specify high-level goals instead of a series of specific actions the robots should perform. The language contains a set of atomic tasks that can be executed by robots and a set of operators that allow the composition of these tasks in complex missions. The language is supported by a standalone tool that permits mission specification through a textual and a graphical interface and that can be integrated within a variety of frameworks. We integrated PROMISE with a software platform providing functionalities such as motion control and planning. We conducted experiments to evaluate the correctness of the specification and execution of complex robotic missions with both simulators and real robots. We also conducted two user studies to assess the simplicity of PROMISE. The results show that PROMISE effectively supports users to specify missions for robots in a user-friendly manner.
Proceedings of the 28th ACM Joint Meeting on European Software Engineering Conference and Symposium on the Foundations of Software Engineering, 2020
Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldw... more Robots that support humans by performing useful tasks (a.k.a., service robots) are booming worldwide. In contrast to industrial robots, the development of service robots comes with severe software engineering challenges, since they require high levels of robustness and autonomy to operate in highly heterogeneous environments. As a domain with critical safety implications, service robotics faces a need for sound software development practices. In this paper, we present the first large-scale empirical study to assess the state of the art and practice of robotics software engineering. We conducted 18 semi-structured interviews with industrial practitioners working in 15 companies from 9 different countries and a survey with 156 respondents from 26 countries from the robotics domain. Our results provide a comprehensive picture of (i) the practices applied by robotics industrial and academic practitioners, including processes, paradigms, languages, tools, frameworks, and reuse practices, (ii) the distinguishing characteristics of robotics software engineering, and (iii) recurrent challenges usually faced, together with adopted solutions. The paper concludes by discussing observations, derived hypotheses, and proposed actions for researchers and practitioners. CCS CONCEPTS • Computer systems organization → Robotics; • Software and its engineering;
Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de septiembre de 2018, Mar 6, 2020
The present work aims to integrate the study of structural dynamics and control techniques in the... more The present work aims to integrate the study of structural dynamics and control techniques in the field of engineering, through the design and application of a teleoperated vibrating table for on-line experimentation. To this end, a series of teaching experiences with the table have been proposed, which have been positively evaluated by the students.
Sistemas y Telemática, 2017
Nowadays, mobile robots platforms are being used in different education contexts. The state of th... more Nowadays, mobile robots platforms are being used in different education contexts. The state of the art shows that 197 papers have been published in this area knowledge over ten years. Latin America faces a problem regarding the enrolled students in engineering programs. The SPADIES program (Colombia) affirms that the lack of motivation and interaction with real artifacts relating theory and practice is an important aspect for dropout. In this work, a platform composed by a set of programmable mobile robots, and a WEB-responsive software tool for programming at different levels of knowledge were implemented. The set of mobile robots were implemented with proximity, trajectory, light, inertial, and vision sensors; also, tools such as Bluetooth and LEDs-ring are included; and, a mechanical support for an erasable marker. The WEB-responsive tool supports graphical programming for novice, Python programming for middle, and ANSI-C for advanced level learners.
Inverse Heat Conduction and Heat Exchangers, 2019
We describe the formulation of forward and inverse problems in heat transfer and illustrate sever... more We describe the formulation of forward and inverse problems in heat transfer and illustrate several techniques applicable to their solution.
Athenea Digital. Revista de pensamiento e investigación social, 2016
En este artículo indagamos en el aterrizaje de las doctrinas criminológicas de corte neoliberal s... more En este artículo indagamos en el aterrizaje de las doctrinas criminológicas de corte neoliberal sobre los discursos y las prácticas de gestión policial en Madrid. Para ello, profundizamos en los que consideramos los pilares de esta gestión securitaria: en primer lugar en el procedimiento economicista que impone el cálculo de costes y beneficios, en segundo lugar en la lógica de diferenciación de sujetos y espacios, en tercer lugar en la relevancia que se otorga a las herramientas técnicas para abordar tanto la inseguridad objetiva como la subjetiva, y en último lugar, en el concepto de "prevención" que, atravesando a las anteriores, trata de superar una visión represiva y de gestionar eficazmente los riesgos para el orden social. Este análisis constituye la base sobre la que se apoya nuestra tesis: a través de la prevención banal de la (in)seguridad se lleva a cabo una forma distribuida de gobierno sobre lo social.
E Mail Educativo, Jun 4, 2008
RFC 7118 specifies a WebSocket subprotocol as a reliable real-time transport mechanism between Se... more RFC 7118 specifies a WebSocket subprotocol as a reliable real-time transport mechanism between Session Initiation Protocol (SIP) entities to enable usage of SIP in web-oriented deployments. This document updates the SIP Common Log Format (CLF), defined in RFC 6873, with a new "Transport Flag" for such SIP WebSocket transport. Status of This Memo This document is not an Internet Standards Track specification; it is published for informational purposes. This document is a product of the Internet Engineering Task Force (IETF). It represents the consensus of the IETF community. It has received public review and has been approved for publication by the Internet Engineering Steering Group (IESG). Not all documents approved by the IESG are a candidate for any level of Internet Standard; see Section 2 of RFC 5741. Information about the current status of this document, any errata, and how to provide feedback on it may be obtained at http://www.rfc-editor.org/info/rfc7355. Salgueiro, et al.
This paper introduces an extension of the p-median problem and its application to clustering, in ... more This paper introduces an extension of the p-median problem and its application to clustering, in which the distance/dissimilarity function between units is calculated as the distance sum on the q most important variables. These variables are to be chosen from a set of m elements, so a new combinatorial feature has been added to the problem, that we call the p-median model with distance selection. This problem has its origin in cluster analysis, often applied to sociological surveys, where it is common practice for a researcher to select the q statistical variables they predict will be the most important in discriminating the statistical units before applying the clustering algorithm. Here we show how this selection can be formulated as a non-linear mixed integer optimization mode and we show how this model can be linearized in several different ways. These linearizations are compared in a computational study and the results outline that the radius formulation of the p-median is the most efficient model for solving this problem.
In this work, a new variant of the Capacitated Vehicle Routing Problem (CVRP) is presented where ... more In this work, a new variant of the Capacitated Vehicle Routing Problem (CVRP) is presented where the vehicles cannot perform any route leg longer than a given length L (although the routes can be longer). Thus, once a route leg length is close to L, the vehicle must go to a stop node to end the leg or return to the depot. We introduce this condition in a variation of the CVRP, the Split Delivery Vehicle Routing Problem, where multiple visits to a customer by different vehicles are allowed. We present two formulations for this problem which we call Split Delivery Vehicle Routing Problem with Stop Nodes: a vehicle flow formulation and a commodity flow formulation. Because of the complexity of this problem, a heuristic approach is developed. We compare its performance with and without the stop nodes
TOP, 2012
The table placement problem consists in deciding how to seat the participants attending a social ... more The table placement problem consists in deciding how to seat the participants attending a social lunch or dinner so that the total social benefit of the event is maximum. Four different approaches are presented: a linear model, a bin-packingbased-approach, a quadratic assignment problem, and a greedy heuristic. The different formulations are computationally compared over a set of artificial instances and on the real data for the EURO Winter Institute 2007 Gala dinner.
INFORMS Journal on Computing, 2011
By means of a model based on a set covering formulation, it is shown how the p-median problem can... more By means of a model based on a set covering formulation, it is shown how the p-median problem can be solved with just a column generation approach that is embedded in a branch-and-bound framework based on dynamic reliability branching. This method is more than competitive in terms of computational times and size of the instances that have been optimally solved. In particular, problems of a size larger than the largest ones considered in the literature up to now are solved exactly in this paper.
Fertility and Sterility, 1999
Cushing's syndrome (CS) is unusual in pregnant patients and difficult to diagnose because of the ... more Cushing's syndrome (CS) is unusual in pregnant patients and difficult to diagnose because of the changes in cortisol metabolism normal in pregnancy. It is associated with increased maternal and fetal morbidity, including high rates of miscarriage or premature delivery, requiring careful endocrine and obstetric management. Since first reported, only 76 cases have been described, of which only 40% were the pituitary type (Cushing's disease [CD]) compared with 70%-80% in nonpregnant patients (1-3). We report a case of CD in a woman bearing twins in particularly adverse circumstances.
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Papers by Sergio Colmenero García