Artículos (Ingeniería de Sistemas y Automática)
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Artículo Geometry-aware dual-LiDAR pose estimation of power lines for UAV physical interaction(Institute of Electrical and Electronics Engineers (IEEE), 2026-10) Gutiérrez Rodríguez, Iván; Tapia López, Raúl; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Union (UE)Inspection and maintenance of power lines are costly and hazardous operations that traditionally require human workers or helicopters. Uncrewed aerial vehicles (UAVs) offer safer and more flexible alternatives, but autonomous physical interaction with cables remains challenging due to the need for reliable relative pose estimation. This paper presents a dual-LiDAR perception system that estimates the relative position and orientation of power lines for UAV interaction tasks. The method uses two lightweight 2D LiDARs with parallel scan planes to detect cable intersections, associate observations across sensors in multi-cable scenarios, and estimate cable pose through an Extended Kalman Filter that explicitly models local cable geometry and sensor noise. The proposed system is invariant to illumination conditions and, unlike approaches that rely on sensing the electromagnetic field of the conductor, can operate on both energized and de-energized lines. The approach is implemented onboard embedded hardware and validated through indoor and outdoor experiments, including autonomous perching maneuvers and the deployment of a dual-arm manipulator on real power lines. The results demonstrate centimeter-level position accuracy and degree-level orientation accuracy, supporting the feasibility of UAV physical interaction with power-line infrastructure.Artículo A fuzzy-supervised adaptive PLL–FLL fusion for robust grid synchronisation in voltage source converters(Wiley, 2026-10) Astereki, Amir Arsalan; Rouzbehi, Kumars; Escaño González, Juan Manuel; Luna, Álvaro; Monadi, Mehdi; Ingeniería de Sistemas y AutomáticaOne of the vital components inside grid-tied voltage source converters (VSCs) is the synchronisation unit, typically implemented as a phase-locked loop (PLL). Conventional PLLs provide excellent steady-state phase tracking, but under dynamic and distorted grid conditions, they become a critical weakness, leading to transient instability. Frequency-locked loops (FLLs) exhibit complementary behaviour: they are more robust in highly dynamic environments and effectively manage large frequency deviations, but they lack the fine steady-state accuracy of PLLs. This paper proposes a novel approach in the form of a Mamdani fuzzy inference system (FIS) to adaptively fuse a PLL and an FLL and generate a robust synchronisation angle for grid-tied VSCs. The FIS acquires rate-of-change-of-frequency (RoCoF) information from both loops and computes an adaptive weighting factor that blends their phase estimates in a two-degree-of-freedom feedback structure. A detailed small-signal analysis shows how the FIS-based fusion improves gain and phase margins and enhances disturbance rejection while maintaining a suitable bandwidth. Extensive simulations under worst-case operating conditions, compliant with EN 50160 demonstrate that the proposed method provides a superior trade-off between steady-state accuracy and dynamic robustness for both phase and frequency tracking when compared to conventional single-loop architectures.Artículo Carbon-aware dispatch and resilient scheduling of data centers with spatiotemporal load shifting on illustrative renewable-powered microgrids with temporal offset(Wiley, 2026-08) Hemmati, Reza; Bornapour, Seyyed Mohammad; Rouzbehi, Kumars; Ingeniería de Sistemas y AutomáticaThis study presents a novel framework for carbon-aware dispatch and spatiotemporal load shifting in data centers, powered by renewable energy, using illustrative microgrids with temporal offset. Each microgrid relies solely on solar and wind generation and incorporates large-scale battery storage systems to balance supply and demand. Data center workloads are divided into fixed (i.e., latency-sensitive) and flexible (i.e., delay-tolerant) portions, with flexible loads capable of being temporally shifted within the same data center or spatially shifted to another microgrid. This approach enables the optimal utilization of renewable energy in a manner that is both carbon-reduction and energy-positive, meaning that total carbon reductions exceed emissions and the net energy exported to the grid exceeds the energy drawn. Operational scheduling considers regional carbon intensity and electricity prices, allowing energy injection into the upstream grid during high-carbon, high-price periods. The objective function accounts for electricity costs, battery degradation, a carbon-aware electricity-pricing signal, and data-transfer costs between data centers. A resilient scheduling framework for data center continuity is proposed, in which the data center load and battery are jointly coordinated so that, even under extreme outages of all resources, the battery can temporarily supply the data center demand. Simulation results reveal that the data centers efficiently exploit spatiotemporal load shifting to transfer processing loads from periods of high-carbon intensity, high electricity prices, or low-renewable availability to other intervals or to the other data center. The profits are highly sensitive to technical and economic parameters: increasing carbon-intensity-dependent electricity prices boost profit, whereas reductions in data center capacity, increased data-transfer costs, or decreased renewable generation reduce profits. It is demonstrated that the undersized or oversized batteries can lead to suboptimal economic performance; properly sized batteries ensure cost-effective operation while maintaining flexibility for carbon-aware dispatch and load shifting. Finally, the framework ensures service continuity during extreme outages by employing deep battery discharge and redirecting loads to the other data center.Artículo A framework for multi-level decision support in manufacturing: A hierarchical and distributed approach(Elsevier, 2026-12) Gálvez del Postigo Gallego, Lucía; Real Torres, Alejandro del; Acevedo Galicia, Luis Enrique; Andreaina, Doru Stefan; Ingeniería de Sistemas y Automática; European Union (UE)Manufacturing systems are increasingly exposed to high levels of complexity arising from volatile demand, tighter resource constraints, and the need to balance multiple, at times conflicting, performance objectives. Although Decision Support Systems (DSS) have been widely adopted to assist manufacturing decision-making, their implementation in industrial contexts remains largely fragmented. Existing DSS solutions provide limited guidance on structuring and integrating decision support across multiple decision levels, despite the growing digital maturity of manufacturing ecosystems. This paper proposes a hierarchical, distributed decision-support framework to address this gap. The main contribution of the paper lies in formalising a generic and modular coordination architecture for integrating diverse DSSs through vertical coordination, horizontal coordination, and structured feedback mechanisms. The framework enables the coordinated interaction of multiple DSSs across strategic, tactical, and operational decision levels while preserving local autonomy. It explicitly incorporates mechanisms for vertical and horizontal information exchange and structured feedback, supporting coherent and consistent decision-making in dynamic manufacturing environments. The applicability of the proposed framework is evaluated through a simulation-based manufacturing use case inspired by an automotive assembly environment, where a high-level production planning DSS coordinates three low-level DSSs for production scheduling, inventory replenishment, and maintenance planning. A Monte Carlo evaluation over five operating scenarios compares the proposed full framework against a siloed baseline and two partial coordination configurations. The results show that the full framework consistently improves system-level performance, increasing service levels while reducing final backlog, stockout-related disruptions, total operating cost, and constraint violations. In the most demanding combined-stress scenario, the framework does not eliminate disruption effects but achieves the best overall response, reducing final backlog and operating cost while avoiding stockout days observed in the siloed baseline. These findings indicate that hierarchical and distributed DSS coordination can improve the robustness, consistency, and operational feasibility of manufacturing decision-making under uncertain conditions.Artículo eFFT-C++: an open-source implementation of the event-based fast fourier transform(Ubiquity Press, 2026-04) Tapia López, Raúl; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)Event-based vision has recently emerged as a powerful paradigm for capturing visual information with high temporal precision and minimal redundancy. Unlike traditional frame-based cameras, event cameras asynchronously detect per-pixel brightness changes with microsecond resolution. This bio-inspired sensing approach offers substantial advantages for dynamic scenes, low-latency perception, and energy-efficient computation, making it highly relevant to applications in robotics, vision, and neuromorphic computing. A fundamental tool in analyzing visual and temporal signals is the Fast Fourier Transform (FFT), which efficiently computes the spectral representation and forms the foundation of modern signal processing, communication, and control systems. However, extending Fourier analysis to asynchronous, event-driven data poses unique computational and theoretical challenges. This paper presents an open-source implementation of the event-based Fourier Transform (eFFT), a novel algorithm for efficiently computing the exact 2D discrete Fourier transform of the spatial information in asynchronous events generated by an event camera. The proposed eFFT-C++ translates the theoretical method into a modular and optimized C++17 library, implemented as a header-only package with Eigen3 dependencies. It supports both event-by-event and packet-based processing modes, reusing intermediate computations to minimize overhead while allowing the current 2D spectrum to be queried after each update. Benchmarks against FFTW3 demonstrate exactness and efficiency, with per-event update times in the order of microsecond for common frame sizes. The library enables reproducible research, provides validated code to accompany the original eFFT publication, and offers a foundation for extending event-based frequency analysis to robotics, computer vision, and neuromorphic computing in applications where rapidly updating spectra is useful, such as denoising and filtering, pattern analysis, or tracking.Artículo U-Plan: an integrated framework for the coordination and real-time supervision of heterogeneous unmanned aerial systems(Multidisciplinary Digital Publishing Institute (MDPI), 2026-06) Kouchaki, Ehsan; de Frutos Carro, Miguel Ángel; Martínez de Dios, José Ramiro; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)Despite the large amount of successful existing methods and frameworks for planning sets of multiple unmanned aerial systems (UASs), there is still a lack of coordination frameworks that are capable of coping with real-world operational conditions. This paper presents U-Plan, an integrated management framework for the coordination of multi-UAS missions. U-Plan is designed to plan, schedule, monitor, and replan a heterogeneous set of UASs to complete point of interest (PoI) visiting missions while ensuring that all the generated trajectories are safe, feasible, and compliant with the required PoIs’ arrival times, UAS kinematics and energy constraints, and the existing 3D no-fly zones (NFZs). U-Plan is designed as a practical tool for strongly dynamic missions and is built upon three core components: (1) an NFZ-aware route computation method that explicitly accounts for NFZs prior to vehicle routing problem (VRP) optimization, resulting in shorter NFZ-safe routes; (2) a trajectory smoothing module that ensures the generation of kinematically feasible trajectories for fixed-wing UASs; and (3) a mission supervision module for real-time monitoring and replanning in case of changes in the UAS, mission, wind speed, or airspace restrictions. To validate the proposed architecture, we conducted rigorous experiments utilizing the VECTOR-SIL autopilot and Visionair Ground Control Station to realistically replicate the behavior of certified fixed-wing autopilots under various weather conditions using the exact same hardware and flight control software that runs onboard the physical drones. The validation shows U-Plan’s capacity to efficiently satisfy complex mission requirements with strong scalability. Due to its high computational efficiency, U-Plan enables online mission replanning, allowing UAS fleets to seamlessly adapt to changes that are typical of real-world operational scenarios.Artículo Energy-dissipating integration circuit for high-impedance solid-state fault current limiters to improve interruption speed in HVDC systems(Elsevier, 2026-09) Firouzi, M.; Mobayen, S.; Rouzbehi, Kumars; Gharehpetian, Gevork B.; Ingeniería de Sistemas y AutomáticaExpansion and development of high voltage direct current (HVDC) systems increases the DC fault current levels. The application of DC fault current limiters (FCLs) offers an effective solution to mitigate the breaking burden and the interruption requirements of DC Circuit Breakers (DCCBs) by limiting DC fault currents in HVDC systems. This paper introduces a novel modified high-impedance solid-state FCL (MHI-SSFCL) topology to be used in HVDC systems. The key novelty of the proposed MHI-SSFCL is an energy-dissipating circuit strategically placed in parallel with the coupling inductors. This integrated path provides a dedicated freewheeling path to dissipate the magnetic energy stored in the inductors. This core innovation yields two main contributions: (1) Significant reduction in the energy dissipation required from the DCCB Metal-Oxide Arrester (MOA), and (2) reduction the breaking speed, thereby reducing the interruption requirements for the DCCB. The operational principles and parameter design of the MHI-SSFCL are analytically presented. Simulation results in a three-terminal HVDC system, modeled in PSCAD/EMTDC, demonstrate that the proposed FCL significantly outperforms the conventional HI-SSFCL, reducing the MOA energy dissipation and the required breaking time. Also, these performance advantages are validated through experimental results from a scaled laboratory prototype.Artículo Revisiting stationary and synchronous reference frame controllers for voltage source power converters: HVDC grid applications(Multidisciplinary Digital Publishing Institute (MDPI), 2026-06) Astereki, Amir Arsalan; Rouzbehi, Kumars; Laali, Sara; Monadi, Mehdi; Ingeniería de Sistemas y AutomáticaVoltage source converters (VSCs), together with their inner current and outer power/voltage control loops, are fundamental building blocks in the modern, converter-dominated power systems, particularly within high-voltage DC (HVDC) frameworks. Selecting effective control methods for VSCs is essential to ensure the stability, power quality, and dynamic performance of HVDC grids. This paper seeks to advance the current body of research by delivering an in-depth, consistent, unified framework and systematic examination of VSC control architectures within HVDC networks. It thoroughly explores various control strategies for VSCs interfacing with HVDC grids, such as grid-following and grid-forming strategies, with particular emphasis on both stationary (𝛼𝛽) and synchronous (dq) reference frames. Moreover, the paper provides a comprehensive analysis of the theoretical underpinnings and decoupled control strategies, like the feedforward decoupling of the d- and q-axis currents in the dq frame and the inherently decoupled structure of the αβ frame. Additionally, advanced filtering techniques, including Moving Average Filter (MAF), Cascaded Delayed Signal Cancellation (DSC), and LCL filters, are analyzed. In addition, harmonic mitigation strategies, like parallel/multiple resonant (PR) terms in the αβ frame and cascaded notch filters in the dq frame, are presented. Furthermore, precise power control approaches and synchronization methods are discussed in detail. Also, this paper presents a detailed comparison of the performance characteristics of phase-locked loop (PLL) and frequency-locked loop (FLL) in response to grid frequency variations. Moreover, this paper proposes circuit representations and VSC models in both synchronous and stationary reference frames. The simulation results corroborate the theoretical insights discussed in the paper under various operational conditions, including initial responses, grid disturbances, three-phase-to-ground temporary fault scenarios, harmonic distortions, and load imbalances, in terms of overshoot, settling time, active- and reactive-power fluctuation reduction, voltage unbalance factor, total harmonic distortion, and post-fault convergence time, all evaluated in accordance with the limits defined in EN-50160. This comprehensive comparison of the presented control strategies facilitates researchers in identifying the most appropriate controller depending on their specific application requirements.Artículo A basal trajectory-based framework for handling circadian variations of insulin sensitivity(Institute of Electrical and Electronics Engineers (IEEE), 2026-09) Abuin, Pablo; Sánchez, Ignacio; Ferramosca, Antonio; Toffanin, Chiara; Magni, Lalo; González, Alejandro H.; Ingeniería de Sistemas y Automática; Ministerio de Economía y Finanzas. ItaliaType 1 diabetes (T1Ds) is a chronic disease characterized by the absence of insulin production, causing high blood glucose (BG) levels. Although exogenous insulin therapy helps control glucose, its effectiveness is limited by patientspecific variability, particularly the circadian rhythm of insulin sensitivity. This work investigates periodic glycemic trajectories (basal trajectories) as stabilizable targets for model predictive control (MPC). Two stable control formulations are proposed: one using basal trajectories as terminal constraints, and another introducing auxiliary trajectories to expand the domain of attraction. Preclinical in silico tests under varying insulin sensitivity patterns demonstrate the benefits of explicitly incorporating circadian variability into the controller designArtículo Generalized Model Predictive Control Algorithm for a Five-Phase Induction Motor(Multidisciplinary Digital Publishing Institute (MDPI), 2026) Gallego Len, Antonio Javier; Martínez Heredia, Juana María; Velarde, Pablo; Ingeniería de Sistemas y Automática; Ingeniería Electrónica; Ministerio de Ciencia, Innovación y Universidades (MICIU). EspañaThis paper proposes a Generalized Predictive Control (GPC) approach for the inner currentcontrol loop of a multiphase induction motor drive. The method is based on a CARIMA model, which inherently provides integral action, allowing steady-state error rejection without the need for state or disturbance observers. In contrast to state-space Model Predictive Control (MPC), the proposed formulation enables the straightforward inclusion of system delays and yields an analytical solution when constraints are not considered, reducing computational complexity. Additionally, it is shown that the GPC is able to cope with modelling errors due to different dynamics at different operating points. The effectiveness of the approach is evaluated on a five-phase induction machine, showing competitive performance and improved robustness against modelling uncertainties.Artículo Lessons learned from the RAICAM doctoral network research sprints and field demonstrations(Elsevier, 2026) Kenan, A.; Sadeghi Kordkheili, Sahar; García Cárdenas, Juan José; Guidali, Valentina; Melone, Alessandro; Tian, Changda; Ollero Baturone, Aníbal; González Morgado, Antonio; Arrue Ullés, Begoña Chiquinquira; Westerlund, T.; Ingeniería de Sistemas y Automática; European Commission (EC); UK Research and Innovation (UKRI). United KingdomDoctoral Networks (DNs) aim to address systemic challenges in doctoral education, such as fostering interdisciplinarity, enabling international and intersectoral collaboration, enhancing employability, and promoting responsible innovation. While cohort-based training helps mitigate student isolation through workshops and summer schools, traditional DNs often struggle to fully realize their collaborative potential, often relying on predefined supervisor relationships or the initiative of individual researchers. In contrast, the Marie Skłodowska-Curie Actions (MSCA) Robotics and AI for Critical Asset Monitoring (RAICAM) DN was designed to maximize doctoral candidate (DC) collaboration and networking through a cohort-wide research challenge, requiring them to balance independent research with contributions to a shared, mission-driven objective. This study examines how structured training, including digital communities, application-focused research sprints, training schools, a robotics hackathon and a final demonstration enhances system integration and collaboration within the network. DCs located across seven European countries worked in virtual teams, refining systems through structured workflows, weekly meetings, and shared workspaces before training schools. Through continuous online collaboration and targeted sprints, RAICAM facilitated interdisciplinary integration. Two research sprints, conducted in Italy and France, and a robotics hackathon held in Austria, enabled teams to develop and test solutions for real-world challenges through an impact-driven plan that considers a given problem from an end-to-end perspective that requires and foster interdisciplinary collaboration. The results highlight the effectiveness of structured training in enhancing collaboration and adaptability, while identifying key areas for improvement. This study translates lessons from RAICAM into practical guidelines for future doctoral networks, demonstrating how structured training empowers students to drive interdisciplinary research independently.Artículo PASTEL: An Aerial Multi-LiDAR Dataset for Research in SLAM Tuning and Robustness(Institute of Electrical and Electronics Engineers (IEEE), 2025-08) Milijas, R.; Martínez de Dios, José Ramiro; Bogdan, Stjepan; Ingeniería de Sistemas y Automática; European Commission (EC); Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)LiDAR-based SLAM algorithms are critically dependent on the configuration of the environment and the LiDAR characteristics. Existing LiDAR-based datasets are not devised for research in SLAM parameter tuning due to limited diversity in types of environments and difficulties in comparing results from LiDARs with different characteristics. This paper presents PASTEL, a dataset for research in LiDAR-based SLAM tuning performance and robustness for low-altitude navigation of uncrewed aerial vehicles. PASTEL provides high diversity in the main factors that affect LiDAR-based SLAM tuning: type of environment, 3D LiDAR characteristics, and aerial robot velocity. The aerial robot mounts three different 3D LiDAR models (with different resolutions, fields of view, and accuracies) that are recorded in parallel. PASTEL includes 17 sequences recorded in flights with two velocity profiles at distinct types of environments: wide-open spaces with distant obstacles, horizontally confined spaces with open sky, confined GNSS-denied spaces, and also includes sequences where the aerial robot transitions between two or more of these distinct environments. The dataset includes measurements from the 3 LiDARS and Inertial Measurement Units (IMUs), as well as the ground-truth robot trajectories and ground-truth maps. PASTEL, available at https://sites.google.com/view/pastel-lidar-slam-dataset and at https://zenodo.org/records/14796964, has been validated in terms of trajectory and map accuracies with well-known SLAM methods.Artículo On Feedback Design for Systems with an Agent in the Loop(Institute of Electrical and Electronics Engineers (IEEE), 2025-07) Maestre Torreblanca, José María; López Rodríguez, F.; Chanfreut, Paula; Hatanaka, T.; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; Japan Society for the Promotion of Science (JSPS)Systems with agents in the loop introduce new challenges in feedback design due to the dynamic and spatial constraints imposed by the agents’ movement and actuation capabilities. In this letter, we develop a structured framework for designing feedback matrices in such systems while ensuring stability and optimal performance. We formalize the problem by incorporating controllability constraints arising from the agents’ limited ability to actuate at specific locations over time. Our approach leverages a periodic resampling of the system dynamics, allowing for the use of standard feedback design techniques while accounting for the time-varying nature of agent-actuated control. Furthermore, the computation of invariant sets that guarantee constraint satisfaction throughout the execution of the agents’ paths is also addressed. The developed methods are validated on a benchmark system where mobile agents actuate on interconnected subsystems.Artículo Multi-Aerial Robotic System for Power Line Inspection and Maintenance: Comparative Analysis from the AERIAL-CORE Final Experiments(Institute of Electrical and Electronics Engineers (IEEE), 2025-07) Ollero Baturone, Aníbal; Suárez Fernández-Miranda, Alejandro; Papaioannidis, C.; Pitas, I.; Marredo, J. M.; Hoang, Viet Duong; Caballero Gómez, Álvaro; Martínez de Dios, José Ramiro; Arrue Ullés, Begoña Chiquinquira; Viguria, Antidio; Ingeniería de Sistemas y Automática; European Union (UE). H2020This article shows how different types of novel aerial robots with new functionalities can cooperate in the inspection and maintenance (I&M) of power lines, one of the largest and most essential civil infrastructures in any country. This study relies on the results from the AERIAL-CORE research and innovation project. The article describes an I&M validation scenario and evaluation metrics for three linked operation domains: 1) long-range inspection for the detection of possible damages on power lines in a poststorm scenario; 2) aerial manipulation for the installation of devices on power lines; and 3) aerial co-working to help human operators in their activities at height. It presents the demonstration of ten different aerial robots in a real scenario with 10 km of power lines. The platforms include morphing-wing and vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs), multirotors, and aerial manipulators. These platforms, custom-developed or commercially available, are evaluated in the three application domains, describing the new functionalities implemented for each case. The article ends with guidelines, design principles, and lessons learned for future developments derived from the final demonstration of the project.INDEX TERMS Aerial robotic co-working, aerial robotic manipulation, aerial robotics, inspection and maintenance (I&M), morphing, multi-UAVs, power lines, unmanned aerial vehicles (UAVs).Artículo Long-Duration Inspection of GNSS-Denied Environments with a Tethered UAV-UGV Marsupial System(Multidisciplinary Digital Publishing Institute (MDPI), 2025-11) Martínez Rozas, Simón Ernesto; Alejo, David; Carpio, José Javier; Caballero, Fernando; Merino, Luis; Ingeniería de Sistemas y Automática; Ministerio de Ciencia e Innovación (MICIN). España; Agencia Estatal de Investigación. España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)Unmanned Aerial Vehicles (UAVs) have become essential tools in inspection and emergency response operations due to their high maneuverability and ability to access hard-to-reach areas. However, their limited battery life significantly restricts their use in long-duration missions. This paper presents a tethered marsupial robotic system composed of a UAV and an Unmanned Ground Vehicle (UGV), specifically designed for autonomous, long-duration inspection tasks in Global Navigation Satellite System (GNSS)-denied environments. The system extends the UAV’s operational time by supplying power through a tether connected to high-capacity battery packs carried by the UGV. Our work details the hardware architecture based on off-the-shelf components to ensure replicability and describes our full-stack software framework used by the system, which is composed of open-source components and built upon the Robot Operating System (ROS). The proposed software architecture enables precise localization using a Direct LiDAR Localization (DLL) method and ensures safe path planning and coordinated trajectory tracking for the integrated UGV–tether–UAV system. We validate the system through three sets of field experiments involving (i) three manual flight endurance tests to estimate the operational duration, (ii) three experiments for validating the localization and the trajectory tracking systems, and (iii) three executions of an inspection mission to demonstrate autonomous inspection capabilities. The results of the experiments confirm the robustness and autonomy of the system in GNSS-denied environments. Finally, all experimental data have been made publicly available to support reproducibility and to serve as a common open dataset for benchmarking.Artículo Experimental aerodynamic analysis of finite flapping wings with chordwise flexibility(AIP Publishing, 2025-09) Sánchez Laulhe, Ernesto; Fernández Feria, Ramón; Hernández, Mario; Ollero Baturone, Aníbal; Ingeniería de Sistemas y Automática; European Research Council (ERC); Ministerio de Ciencia, Innovación y Universidades (MICIU). España; Agencia Estatal de Investigación. EspañaClassic two-dimensional aerodynamic results for a heaving and pitching airfoil are normally used for finite flapping wings, taking a reference amplitude at 1/3 of the wingspan from the wingtip. However, for the wings of actual flapping wing robots, flexibility also plays a significant role due to their light weight. For that reason, an analysis of the chordwise stiffness is provided with an experimental testbench, performing low-amplitude pitching motions in the absence of incoming airflow; this allows to obtain the resonance frequency of the structure, enabling the development of an analogy with the theoretical formulation for a deformable heaving airfoil. The beam stiffness term of the airfoil is substituted by that one derived from the resonance frequency. This analogy, which includes the effect of wing inertia through the mass ratio computed from the total mass of the wing, is compared with actual flapping wing experimental results in the wind tunnel. Experiments are performed with two wings of different stiffness characteristics to adequately validate the analysis. Results show excellent agreement with the proposed formulation with similar trends for the evolution of forces at different frequencies and airspeeds. As expected from previous results, the analogy fails when the stiffness term becomes too small (S < 1). Results show how the amplitude of the lift oscillations decreases with flexibility, whereas the effects on the average thrust force depend on the reduced frequency, with a critical value around k~0.6 beyond which the thrust increases with flexibility.Artículo Effect of Weighting Factors in Energy Efficiency of Predictive Control of Multi-Phase Drives(Multidisciplinary Digital Publishing Institute (MDPI), 2025-11) Marsal, Esteban; Arahal, Manuel R.; Garrido Satué, Manuel; Rouzbehi, Kumars; Ingeniería de Sistemas y AutomáticaPredictive current control of variable speed drives by direct command of inverter states allows fast control. Its application to multiphase system constitutes a flexible solution that tackles several objectives by means of a cost function with several terms. Weighting factors are used to give relative importance of each term. They have a remarkable effect on figures of merit. In particular, secondary plane content and average switching frequency are usually considered as figures of merit. However, weighting factor effect on global energy efficiency has not been studied before because losses have different sources (commutations, Joule effect, etc.) that do not have a clear link with weighting factors and because trade-offs might appear. The present work uses an experimental setup with a five-phase induction machine connected to a mechanical load. By measuring the power balance, it is possible to show the effect of weighting factor tuning on losses. By tuning 𝜆𝑥𝑦, efficiency increases by up to 25%. In parallel, optimizing 𝜆𝑛𝑐 reduces the average switching frequency by 9% and 18% across the evaluated configurations. This enables the selection of the most adequate values of the weighting factors. The results show that for each speed and load combination, the drive exhibits improved efficiency for some tuning.Artículo ars548_ros: An ARS 548 RDI radar driver for ROS(Elsevier, 2025-05) Fernández Calatayud, Fernando; Coto, Lucía; Alejo, David; Carpio, José Javier; Caballero, Fernando; Merino, Luis; Ingeniería de Sistemas y Automática; Ministerio de Ciencia, Innovación y Universidades (MICIU). España; European Commission (EC). Fondo Europeo de Desarrollo Regional (FEDER)The ARS 548 RDI Radar is a premium model of the fifth generation of 77 GHz long-range radar sensors with new RF antenna arrays, which offer digital beamforming. This radar measures independently the distance, speed, and angle of objects without any reflectors in one measurement cycle based on Pulse Compression with New Frequency Modulation. Unfortunately, to the best of our knowledge, there are no open-source drivers available for Linux systems to enable users to analyze the data acquired by the sensor. In this paper, we present a driver that can interpret the data from the ARS 548 RDI sensor and make it available over the Robot Operating System versions 1 and 2 (ROS and ROS2). Thus, these data can be stored, represented, and analyzed using the powerful tools offered by ROS. Besides, our driver offers advanced object features provided by the sensor, such as relative estimated velocity and acceleration of each object, its orientation and angular velocity. We focus on the configuration of the sensor and the use of our driver including its filtering and representation tools. Besides, we offer a video tutorial to help in its configuration process. Finally, a dataset acquired with this sensor and an Ouster OS1-32 LiDAR sensor, to have baseline measurements, is available so that the user can check the correctness of our driver.Artículo LungDepo: modelling the regional particle deposition in the human lung via the Enalos Cloud platform(Royal Society of Chemistry, 2026-08) Mintis, Dimitris G.; Varsou, Dimitra Danai; Kolokathis, Panagiotis D.; Tsoumanis, Andreas; Melagraki, Georgia; Seif, Johannes P.; Real Torres, Alejandro del; Lynch, Iseult; Afantitis, Antreas; Ingeniería de Sistemas y Automática; European Union (UE). H2020This work presents the development of LungDepo, a freely accessible online web application hosted on the Enalos Cloud platform (https://enaloscloud.novamechanics.com/proplanet/lungdeposition or https://enaloscloud.novamechanics.com/insight/lungdeposition/), which enables users to simulate particle deposition in the human lung across the head airway, the tracheobronchial and the alveolar (pulmonary) regions based on the aerodynamic diameter of inhaled particles. The LungDepo web-based tool offers two modelling approaches: the International Commission on Radiological Protection (ICRP) model and the multiple path particle dosimetry (MPPD) model, to simulate regional particle deposition and assess inhalation toxicity risk. In addition to modeling the fractional regional particle deposition based on the two implemented models, LungDepo offers the computation of the regional deposited mass (mg) and the computation of the regional lung surface area covered by deposited particles (m2) providing statistical analyses of the relative contributions of coarse (2.5–10.0 micron), fine (<2.5 micron) and ultrafine (<0.1 micron) particles. The web-based tool includes predefined modelling scenarios for various particle-bound substances or co-pollutants such as polycylic aromatic hydrocarbons (PAHs) or per- and polyfluoroalkyl substances (PFAS) and micro-sized engineered materials, along with provision for the inclusion of user-defined particle size distributions. The integration of an application programming interface (API) and the development of an intuitive graphical user interface (GUI) facilitate data exchange and integration with external environmental and regulatory toxicity models by simplifying complex tasks and broadening the tool's applicability for diverse users in environmental research, monitoring, and regulatory activities.Artículo Region-Based Algorithm for Switching Frequency Reduction in Predictive Control of Converter Supplied Electric Drives(Multidisciplinary Digital Publishing Institute (MDPI), 2026) Arahal, Manuel R.; Garrido Satué, Manuel; Colodro Ruiz, Francisco; Pérez Vega-Leal, Alfredo; Ingeniería de Sistemas y Automática; Ingeniería ElectrónicaSwitching losses make up for a notable portion of all losses in converter-supplied electric drives. Control algorithms such as Finite State Model Predictive Control (FSMPC) have tackled this issue in different ways; in particular incorporating a switching penalty to the cost function. This, however, results in an optimization problem with increased computational load, restricting the attainable sampling frequency for a given computing hardware. Recently, fast algorithms have been developed that reduce the computational load. However they cannot incorporate the switching penalty term. This paper explores a way around this problem for the particular case of stator current control of a five-phase induction motor. The proposal achieves fast computation even if a term for switching frequency reduction is present in the cost function. Experimental results show how stator current tracking performance is affected in both the torque producing plane and the harmonic subspace.