University Polit& and x00E8

Castrillo del Val, Spain

University Polit& and x00E8

Castrillo del Val, Spain
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Calabuig D.,Multimedia University | Martin-Sacristan D.,Multimedia University | Monserrat J.F.,Multimedia University | Botsov M.,Technische Universit& and x00E4 | Gozalvez D.,University Polit& and x00E8
IEEE Transactions on Intelligent Transportation Systems | Year: 2017

The efficient distribution of intelligent transport system (ITS) messages is fundamental for the deployment and acceptance of ITS applications by mobile network operators and the automotive industry. In particular, the distribution of road hazard warning (RHW) messages to distant vehicles requires special mechanisms. In this case, the combination of direct communication between vehicles and the wide area coverage provided by cellular networks might be crucial not only for reducing the data transmission costs but also for improving the timeliness of ITS information. Moreover, the application of clustering and cluster head selection mechanisms among vehicles can increase the efficiency of hybrid vehicular and cellular communication networks. This paper introduces a novel cluster head selection technique for the distribution of RHW messages, and proposes an implementation of another legacy technique that was originally intended for mobile ad-hoc networks (MANETs). This paper evaluates the performance of these techniques by the means of computer simulations in two scenarios with distinct congestion and propagation conditions. The simulation results show the potential benefit of hybrid networks compared with pure cellular transmissions, especially, if the novel cluster head selection technique is used. IEEE


Solanes J.E.,University Polit& and x00E8 | Munoz-Benavent P.,University Polit& and x00E8 | Girbes V.,University Polit& and x00E8 | Armesto L.,University Polit& and x00E8 | Tornero J.,University Polit& and x00E8
Robotica | Year: 2015

It is well known that the use of multi-rate control techniques have improved the performance of many systems in general, and robotic systems, in particular. The main contribution of this paper is the generalization of the Reference Filtering control strategy from a dual-rate point of view, improving its inherent properties by overcoming the problem of sensor latency. In the paper, we discuss and analyze the improvements introduced by the novel dual-rate reference filtering control strategy in terms of convergence time, reachability and robustness. More specifically, we discuss the capability to solve positioning tasks, when hardware limitations are present with large sampling rates. In addition, a comparison is made between the single-rate and the proposed dual-rate control strategies to prove the advantages of the latter approach. A complete set-up has been prepared for validation, including a six degree of freedom (DOF) industrial manipulator, a smart camera and embedded hardware used as a high level controller. Copyright © Cambridge University Press 2015

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