Ricardo Sanz

Universidad Politécnica de Madrid, Departamento de Automática, Faculty Member

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Professor in Automatic Control and Systems Engineering at UPM, specialised in cognitive architectures for technical systems. His work sits the frontier between control, computing and intelligence –automatic control, artificial intelligence, embedded systems, real-time distributed systems, software engineering, and cognitive systems.
Phone: +34 913363061 / +34 630981163
Address: José Gutierrez Abascal 2
28006 Madrid
Spain

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Papers by Ricardo Sanz

Fuzzy Logic and Data Quality in Real-Time Systems

Integrated Computer-Aided Engineering, 1995

This paper discusses the application of fuzzy logic to solve data validation problems. We show ho... more This paper discusses the application of fuzzy logic to solve data validation problems. We show how human expert knowledge is easily represented by means of fuzzy logic, a technique that allows one to manage lingUistic terms, and so imprecision and uncertainty. The way in which this technique may be integrated, not only in a real-time system, but with other techniques carrying out the same task, is also discussed. Finally, an industrial application of these ideas is presented.

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Introducción al control inteligente de procesos

Informática y automática: revista de la Asociación Española de Informática y Automática, 1991

Resumen El control de procesos complejos requiere en muchos casos de la intervención de personal ... more Resumen El control de procesos complejos requiere en muchos casos de la intervención de personal humano que realiza una supervisión de los sistemas de control. En este tipo de situaciones el control inteligente ofrece perspectivas interesantes, ya que es capaz de suministrar tecnologías que permiten realizar de forma automática algunas de las tareas realizadas por los humanos. En este artículo se presentan las principales técnicas, analizando sus prestaciones para la operación en tiempo real. De este modo se pretende ...

Homme: A Modelling Environment for Multiple Applications

International Journal of Modelling and Simulation, 2001

This article focuses on the modelling of complex industrial systems. Primarily, it establishes a ... more This article focuses on the modelling of complex industrial systems. Primarily, it establishes a new approach to the construction and maintenance of models using a modelling environment. The authors define the modelling environment concept and show the architecture, structure, and components of a new one called HOMME. The main components of the environment are the language, the structures that support the construction of the models, and the object-oriented database that allows the manipulation of complex models in order to retrieve the piece of information that is needed. An example of this is presented along with a description of the modelling environment, demonstrating the availability of a single model that can be used for multiple purposes or applications.

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Data-driven prognostics using a combination of constrained K-means clustering, fuzzy modeling and LOF-based score

Neurocomputing, 2017

Today, failure modes characterization and early detection is a key issue in complex assets. This ... more Today, failure modes characterization and early detection is a key issue in complex assets. This is due to the negative impact of corrective operations and the conservative strategies usually put in practice, focused on preventive maintenance. In this paper anomaly detection issue is addressed in new monitoring sensor data by characterizing and modeling operational behaviors. The learning framework is performed on the basis of a machine learning approach that combines constrained K-means clustering for outlier detection and fuzzy modeling of distances to normality. A final score is also calculated over time, considering the membership degree to resulting fuzzy sets and a local outlier factor. Proposed solution is deployed in a CBM+ platform for online monitoring of the assets. In order to show the validity of the approach, experiments have been conducted on real operational faults in an auxiliary marine diesel engine. Experimental results show a fully comprehensive yet accurate prognostics approach, improving detection capabilities and knowledge management. The performance achieved is quite high (precision, sensitivity and specificity above 93% and κ = 0. 93), even more so given that a very small percentage of real faults are present in data.

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Towards an upper ontology and methodology for robotics and automation

Proceedings of the 2012 ACM Conference on Ubiquitous Computing, 2012

Abstract In this article, we present the ongoing efforts within the newly formed IEEE-RAS Working... more Abstract In this article, we present the ongoing efforts within the newly formed IEEE-RAS Working Group named Ontologies for Robotics and Automation. We focus in particular on one of the four subgroups that compose this working group, called the Upper Ontology/Methodology (UpOM) subgroup. As the name indicates, the aim of this subgroup is to develop an upper ontology and a methodology for ontology building and evaluation. This methodology will be used to coordinate the distributed development of domain specific ...

Meaning generation and artificial wisdom

Integration of Knowledge Intensive Multi-Agent Systems, 2003. International Conference on, 2003

Abstract We propose an interpretation of wisdom in terms of meaning generation in social groups. ... more Abstract We propose an interpretation of wisdom in terms of meaning generation in social groups. Sapient agents are able to generate useful meanings for other agents beyond their own capability of generation of self-meanings. This makes sapient agents specially valuable entities in agent societies because they provide interagent reliable third-person meaning generation that provides some functional redundancy that contributes to enhance individual and social robustness and global performance.

Control of Complex Systems

The use of registered names, trademarks etc. in this publication does not imply, even in the abse... more The use of registered names, trademarks etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant laws and regulations and therefore free for general use. The publisher makes no representation, express or implied, with regard to the accuracy of the information contained in this book and cannot accept any legal responsibility or liability for any errors or omissions that may be made.

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Increasing Intelligence in Autonomous Wheelchairs

Journal of Intelligent and Robotic Systems, 1998

The ideas shown in this paper have been developed having in mind the main goal of designing a com... more The ideas shown in this paper have been developed having in mind the main goal of designing a completely autonomous wheelchair prototype. The state of the art of mobile robotics is compared with the new trends in the field. The idea of autonomy made us focus our research in extracting the best from conventional Intelligent Mobile Robots techniques, looking towards

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Emotion as Morphofunctionality

Artificial Life, 2013

We argue for a morphofunctional approach to emotion modeling that can also aid the design of adap... more We argue for a morphofunctional approach to emotion modeling that can also aid the design of adaptive embodied systems. By morphofunctionality we target the online change in both structure and function of a system, and relate it to the notion of physiology and emotion in animals. Besides the biological intuition that emotions serve the function of preparing the body, we investigate the control requirements that any morphofunctional autonomous system must face. We argue that changes in morphology modify the dynamics of the system, thus forming a variable structure system (VSS). We introduce some of the techniques of control theory to deal with VSSs and derive a twofold hypothesis: first, the loose coupling between two control systems, in charge of action and action readiness, respectively; second, the formation of patterned metacontrol. Emotional phenomena can be seen as emergent from this control setup.

From Brains to Systems: Brain-inspired Cognitive Systems 2010

Brain Inspired Cognitive Systems-BICS 2010 aims to bring together leading scientists and engineer... more Brain Inspired Cognitive Systems-BICS 2010 aims to bring together leading scientists and engineers who use analytic and synthetic methods both to understand the astonishing processing properties of biological systems and specifically of the brain, and to exploit such knowledge to advance engineering methods to build artificial systems with higher levels of cognitive competence. BICS is a meeting point of brain scientists and cognitive systems engineers where cross-domain ideas are fostered in the hope of getting emerging insights ...

ROBOMINER: Development of a Highly Configurable and Modular Scaled-Down Prototype of a Mining Robot

Machines

Historically, mining operations have faced numerous challenges, including safety hazards, ineffic... more Historically, mining operations have faced numerous challenges, including safety hazards, inefficiencies, and environmental concerns. However, recent advances in robotics, automation, and artificial intelligence have presented opportunities for the mining industry. The ROBOMINERS project, a Horizon 2020 European Union initiative, aims to revolutionize the mining ecosystem by implementing disruptive robotic concepts. One such concept is resilience, which involves enabling mining robots to reconfigure morphologically during operation. This article presents the development of a modular robotic system that focuses on modularity and self-assembly to provide insight into developing a highly adaptable and compact solution for future mining robots. The robotic system is composed of a set of highly configurable modular robotic platforms that can be reconfigured with other robotic modules or submodules to form more complex systems to perform different tasks. Several module configurations are ...

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ENGINEERING AN ONTOLOGY FOR AUTONOMOUS SYSTEMS - The OASys Ontology

Proceedings of the International Conference on Knowledge Engineering and Ontology Development, 2011

This paper describes the development of an ontology for autonomous systems, as the initial stage ... more This paper describes the development of an ontology for autonomous systems, as the initial stage of a research programme on autonomous systems' engineering within a model-based control approach. The ontology aims at providing a unified conceptual framework for the autonomous systems' stakeholders, from developers to software engineers. The modular ontology contains both generic and domain-specific concepts for autonomous systems description and engineering. The ontology serves as the basis in a methodology to obtain the autonomous system's conceptual models. The objective is to obtain and to use these models as main input for the autonomous system's model-based control system.

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Special issue on ontologies and standards for intelligent systems: editorial

The Knowledge Engineering Review

Day by day, new intelligent systems and autonomous machines are being developed to help and assis... more Day by day, new intelligent systems and autonomous machines are being developed to help and assist humans in a myriad of activities ranging from smart manufacturing to smart cities. Such new-generation intelligent systems need to work in teams and communicate with humans and other agents/robots to share information and coordinate activities. Furthermore, there is an increasing demand from government agencies and the private sector alike to use Unmanned Aerial Vehicles (UAVs), Unmanned Ground Vehicles (UGVs), Unmanned Surface Vehicles (USVs), and Autonomous Underwater Vehicles (AUVs) for tasks including search and rescue, surveillance, and monitoring. As these intelligent systems have to interact with humans in several scenarios involving multi-agent collaboration, data collection, and decision-making, it is urgent to discuss the technical as well as the ethical aspects in their design and function. Hence, ontology-based models for this Robotics and Automation (R&A) domain have the p...

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Model-based engineering of autonomous systems using ontologies and metamodels

2016 IEEE International Symposium on Systems Engineering (ISSE), 2016

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Intelligence, Control and the Artificial Mind

PerAdaMagazine, Feb 15, 2010

Artificial intelligence and cognitive science must look at the world of industrial process contro... more Artificial intelligence and cognitive science must look at the world of industrial process control to find the technological reifications of the concept of mind. 1 Motivation Artificial Intelligence (AI) seems to be at an impasse. The old vision of AI that started as the search for the computer-based technology of the artificial mind is not delivering. The excessive initial hype opened the door to ample criticisms after the failure to fulfill some bold predictions. In a sense, cognitive systems research has recently replaced AI as the forefront of this research programme. A new name for the same set of objectives just to elude the tagging as failure. But the problem of the AI research programme may not be in the methods but in the naïve conceptualizations that have driven and are still driving this research.

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Balanced Intelligent Process Control Systems

IFIP Advances in Information and Communication Technology, 1996

Intelligent process control systems are intrinsically balanced automation systems. Lack of knowle... more Intelligent process control systems are intrinsically balanced automation systems. Lack of knowledge about process behavior appears in model prediction deviations from plant real behavior. This makes impossible achieving full autonomy of process plants even with the best controllers. Artificial intelligence provides mechanisms for incorporating human knowledge in the process control system. But the levels of autonomy that can be reached are far from those obtained in manufacturing applications. This lead to truly man-machine control systems in which exist a balance not only at design stages but in real time operation. Our group has been building this kind of systems and environments following the idea of man-machine layered intelligent control. Some developments in this area are presented in this paper.

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Heterogeneous integration architecture for intelligent control systems

Intelligent Systems Engineering, 1994

Abstract Better automation is a key to the improvement of industrial competitiveness. However, in... more Abstract Better automation is a key to the improvement of industrial competitiveness. However, in most industrial plants, full automation is not possible because intelligent decisions play an essential part in guaranteeing the success of the production process. The currently favoured solution is to rely on human controllers for intelligent input, although instances of installations with AI-based control do exist. Our belief is that process control problems require the cooperative application of more than one AI technique to be ...

CORBA-based interoperation in substation automation systems

Proceedings of the 15th IFAC World Congress, 2002, 2002

Substation Automation Systems are distributed command and control systems that operate equipment ... more Substation Automation Systems are distributed command and control systems that operate equipment in electrical substations. Traditional automation systems were built as turnkey systems based on proprietary technology but recent developments in automation and networking have created a new wave of interoperability requirements. This paper addresses some of these topics and focus on recent standardization activities in the field, in particular in relation with the incorporation of object technology in this area. In particular, it describes a real implementation of the emerging standard IEC 61850 using CORBA networking in the European R+D project DOTS.

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Wrapping a mobile robot with RT-CORBA

Eighth International IFAC Symposium on Robot Control, 2006, 2006

Building complex controllers is a major challenge and it is widely accepted that object technolog... more Building complex controllers is a major challenge and it is widely accepted that object technology can help with the problem. This is of special relevance in the field of complex robot control, in particular when distribution is necessary. CORBA is a suitable technology for deployment and is well demonstrated in the experimental field and in commercial robots. In this paper we describe the implementation of a real-time object wrapper for a mobile robot using Real-time CORBA technology. This type of wrapping enables the implementation of networked robot control systems with increased degrees of predictability.

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What the Escherichia Coli Tells Neurons about Learning

Integral Biomathics, 2012

The Escherichia coli is a bacterium that comfortingly lives in the human gut and one of the best ... more The Escherichia coli is a bacterium that comfortingly lives in the human gut and one of the best known living organisms. The sensitivity of this cell to environmental changes is reflected in two kind of movements that can be observed in a swimming bacterium: "run" towards an attractant, for example food, and "tumbling", in which a new direction is chosen randomly for the next "run". This simple bimodal behavior of the E. coli constitutes in itself a paradigm of adaptation in which roboticists and cognitive psychologists have found inspiration. We present a new approach to synaptic plasticity in the nervous system by scrutinizing Escherichia coli's motility and the signaling pathways that mediate its adaptive behavior. The formidable knowledge achieved in the last decade on bacterial chemotaxis, serve as the basis for a theory of a simple form of learning called habituation, that is applicable to biological and other systems. In this paper we try to establish a new framework that helps to explain what signals mean to the organisms, how these signals are integrated in patterns of behavior, and how they are sustained by an internal model of the world. The concepts of adaptation, synaptic plasticity and learning will be revisited within a new perspective, providing a quantitative basis for the understanding of how brains cope with a changing environment.

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