University of Alcalá

About: University of Alcalá is a education organization based out in Alcalá de Henares, Spain. It is known for research contribution in the topics: Population & Receptor. The organization has 10795 authors who have published 20718 publications receiving 410089 citations. The organization is also known as: University of Alcala & University of Alcala de Henares.

Event-Triggered Adaptive Neural Fault-Tolerant Control of Underactuated MSVs With Input Saturation

Abstract: This paper investigates the tracking control problem of marine surface vessels (MSVs) in the presence of uncertain dynamics and external disturbances. The facts that actuators are subject to undesirable faults and input saturation are taken into account. Benefiting from the smoothness of the Gaussian error function, a novel saturation function is introduced to replace each nonsmooth actuator saturation nonlinearity. Applying the hand position approach, the original motion dynamics of underactuated MSVs are transformed into a standard integral cascade form so that the vector design method can be used to solve the control problem for underactuated MSVs. By combining the neural network technique and virtual parameter learning algorithm with the vector design method, and introducing an event triggering mechanism, a novel event-triggered indirect neuroadaptive fault-tolerant control scheme is proposed, which has several notable characteristics compared with most existing strategies: 1) it is not only robust and adaptive to uncertain dynamics and external disturbances but is also tolerant to undesirable actuator faults and saturation; 2) it reduces the acting frequency of actuators, thereby decreasing the mechanical wear of the MSV actuators, via the event-triggered control (ETC) technique; 3) it guarantees stable tracking without the a priori knowledge of the dynamics of the MSVs, external disturbances or actuator faults; and 4) it only involves two parameter adaptations--a virtual parameter and a lower bound on the uncertain gains of the actuators--and is thus more affordable to implement. On the basis of the Lyapunov theorem, it is verified that all signals in the tracking control system of the underactuated MSVs are bounded. Finally, the effectiveness of the proposed control scheme is demonstrated by simulations and comparative results.

Drawing Lessons from the Boom of Temporary Jobs in Spain

Abstract: During the last two decades many EU countries have reformed the set of legal rules that regulate dismissals. And, in contrast with other institutional reforms of the labor market, there seems to be a common strategy of maintaining strict employment protection legislation for workers under the typical "full time" permanent employment contract, but liberalizing "atypical" temporary/part-time employment contracts for new entrants in the labor market. As a result, the incidence of temporary employment has noticeably increased across the EU, being Spain the paramount case in this regard. In this paper we aim at two goals. First, we take stock of the available Spanish evidence regarding the consequences of a dual labor market - in which one-third of employees are under very flexible employment contracts with low severance payments, and two-thirds are under permanent employment contracts with very high employment protection - and the lessons which can be drawn for other countries. Secondly, we address the puzzle of why temporary employment in Spain, despite recent labor market reforms which have reduced firing costs under the permanent contract and restricted the use of temporary contracts, remains so high.

Plant diversity, biogeography and environment in Iberia: Patterns and possible causal factors

Abstract: We associated patterns of plant diversity with pos- sible causal factors by considering 93 local regions in the Iberian Peninsula and Balearic Islands with respect to biogeo- graphy, environmental favourability, and environmental hetero- geneity, and their relationship with measured species diversity at four different scales: mean local species richness standard- ized at a grain of 100 m2, total species richness in a community type within a region (regional community richness), mean compositional similarity, and mosaic diversity. Local regions in biogeographic transition zones to the North African and Atlantic floras had higher regional commu- nity richness and greater mosaic diversity than did non-transi- tional regions, whereas no differences existed in mean local species richness or mean compositional similarity. Mean local species richness was positively related to environmental fa- vourability as measured by actual evapotranspiration, but negatively related to total precipitation and temporal heteroge- neity in precipitation. Mean local species richness was great- est in annual grassland and dwarf shrubland communities, and on calcareous bedrock types. Regional community richness was similarly related to actual evapotranspiration and total precipitation, but in addition was positively related to spatial heterogeneity in topography and soil water holding capacity. Mean compositional similarity decreased with increasing spa- tial heterogeneity and temperature seasonality. Mosaic diver- sity, a measure of complexity, increased with increasing local and regional richness. We hypothesize that these relationships can be explained by four ecological and evolutionary classes of causal factors: numbers of individuals, intermediate environments, limits to adaptation, and niche variation. These factors operate at various scales and manifest themselves in various ways. For example, at the site level, apparently processes that increase the number of individuals increase mean local species richness, but at the level of the entire region no such effects were found.

Fault Detection Filter and Controller Co-Design for Unmanned Surface Vehicles Under DoS Attacks

Abstract: This paper addresses the co-design problem of a fault detection filter and controller for a networked-based unmanned surface vehicle (USV) system subject to communication delays, external disturbance, faults, and aperiodic denial-of-service (DoS) jamming attacks. First, an event-triggering communication scheme is proposed to enhance the efficiency of network resource utilization while counteracting the impact of aperiodic DoS attacks on the USV control system performance. Second, an event-based switched USV control system is presented to account for the simultaneous presence of communication delays, disturbance, faults, and DoS jamming attacks. Third, by using the piecewise Lyapunov functional (PLF) approach, criteria for exponential stability analysis and co-design of a desired observer-based fault detection filter and an event-triggered controller are derived and expressed in terms of linear matrix inequalities (LMIs). Finally, the simulation results verify the effectiveness of the proposed co-design method. The results show that this method not only ensures the safe and stable operation of the USV but also reduces the amount of data transmissions.