Pau Martí Colom

Assistant Professor
Distributed Control Systems Group
Automatic Control Department
Universitat Politècnica de Catalunya

Pau Gargallo, 5
08028 Barcelona (Spain)
Phone: +34 93 401 1679
Fax: +34 93 401 70 45
pau.marti@upc.edu

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Background

1996-present	Assistant Professor Automatic Control Department, Technical University of Catalonia
2003-2004	Research Fellow Computer Science Department, University of California at Santa Cruz Supervisor: Prof. Scott A. Brandt
2002	PhD Automatic Control Department, Technical University of Catalonia Thesis Analysis and Design of Real-Time Control Systems with Varying Control Timing Constraints Supervisors: Prof. Josep M. Fuertes and Prof. Gerhard Fohler
2000	Advanced Real-time Systems Course Dept. of Computer Engineering, Mälardalen University, Västerås,Sweden
1996	Degree in Computer Science Technical University of Catalonia

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Teaching

Computer Control

Industrial Communications

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Research

Real-time distributed control systems, with emphasis on control, communications and real-time scheduling co-design (resource-constrained control systems)

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Research Projects

ArtistDesign - Design for Embedded Systems Network of Excellence, IST-2008-214373, 2008-20011.

C3DE - Control, Communications and Real-time Computing in Distributed Embedded Nodes, CICYT DPI2007-61527, 2007-2009.

ARTIST2 - Network of Excellence on Embedded Systems Design, IST-2004-004527, 2004-2008.

CRITICO - Integrated Co-design of Controllers and Real-Time Schedulers. Application to Distributed Control Systems, CICYT DPI2002-01621, 2002-2005.

ARTIST - Network of Excellence on Advanced Real-Time Systems, IST-2001-34820; 2001-2004.

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Publications

• Self-Triggered Networked Control Systems: an Experimental Case Study
  
In IEEE 2010 International Conference on Industrial Technology (ICIT2010), Valparaiso, Chile, March 2010.
Authors: Antonio Camacho, Pau Martí, Manel Velasco, Camilo Lozoya, Ricard Villà, Josep M. Fuertes, Eulàlia Griful

• Design of an Embedded Control Systems Laboratory Experiment
  
In IEEE Transactions on Industrial Electronics, accepted for publication, January 2010.
Authors: Pau Martí, Manel Velsco, Josep M. Fuertes, Antonio Camacho, Giorgio Buttazzo

• Experimental Evaluation of Slack Management in Real-Time Control Systems: Coordinated vs. Self-Triggered Approach
  
In Journal of Systems Architecture, Vol. 56, N. 1, January 2010.
Authors: Manel Velasco, Pau Martí, Josep M. Fuertes, Camilo Lozoya, Scott Brandt

• On Lyapunov Sampling for Event-driven Controllers
  
In 48th IEEE Conference on Decision and Control (CDC09), Shanghai, China, December 2009.
Authors: Manel Velasco, Pau Martí and Enrico Bini

• Preliminary Approach to Lyapunov Sampling in CAN-based Networked Control Systems
  
In 35th Annual Conference of the IEEE Industrial Electronics Society (IECON09), Porto, Portugal, November 2009.
Authors: José Yépez, Camilo Lozoya, Manel Velasco, Pau Martí and Josep M. Fuertes

• Schedulability Analysis for CAN-based Networked Control Systems with Dynamic Bandwidth Management
  
In 14th IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA09), Mallorca, Spain, September 2009.
Authors: Manel Velasco, Pau Martí, José Yépez, Ricard Villà and Josep M. Fuertes

• Equilibrium Sampling Interval Sequences for Event-driven Controllers
  
In European Control Conference 2009 (ECC09), Budapest, Hungary, August 2009.
Authors: Manel Velasco, Pau Martí and Enrico Bini

• Demo Abstract: Implementation of Self-triggered Controllers
  
In Demo Session of 15th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS09), San Francisco, CA, USA, April 2009.
Authors: Antonio Camacho, Pau Martí, Manel Velasco and Enrico Bini

• The Optimal Boundary and Regulator Design Problem for Event-Driven Controllers.
  
In 12th International Conference on Hybrid Systems: Computation and Control (HSCC09), San Francisco, CA, USA, April 2009.
Authors: Pau Martí, Manel Velasco and Enrico Bini

• Draco: Efficient Resource Management for Resource-Constrained Control Tasks.
  
In IEEE Transactions on Computers, Vol. 58, N. 1, Jan. 2009
Authors: Pau Martí, Caixue Lin, Scott Brandt, Manel Velasco and Josep M. Fuertes

• Control-driven Tasks: Modeling and Analysis.
  
In 29th IEEE Real-Time Systems Symposium (RTSS08), Barcelona, Spain, December, 2008.
Authors: Manel Velasco, Pau Martí and Enrico Bini
Matlab files

• Analysis and Design of Networked Control Loops with Synchronization at the Actuation Instants.
  
In 34th Annual Conference of the IEEE Industrial Electronics Society (IECON08), Orlando, Florida, US, November, 2008.
Authors: Camilo Lozoya, Pau Martí, Manel Velasco and Josep M. Fuertes

• The One-Shot Task Model for Robust Real-Time Embedded Control Systems.
  
In IEEE Transactions on Industrial Informatics, Vol. 4, No. 3, August, 2008.
Authors: Camilo Lozoya, Manel Velasco, and Pau Martí

• Control Performance Evaluation of Selected Methods of Feedback Scheduling of Real-time Control Tasks.
  
In 17th IFAC World Congress, Seoul, Korea, July, 2008.
Authors: Camilo Lozoya, Pau Martí, Manel Velasco and Josep M. Fuertes

• Performing Flexible Control on Low-Cost Microcontrollers Using a Minimal Real-Time Kernel.
  
In IEEE Transactions on Industrial Informatics, vol. 4, n.2, May 2008.
Authors: Ricardo Marau, Pedro Leite, Manel Velasco, Pau Martí, Luis Almeida, Paulo Pedreiras and Josep M. Fuertes

• On the Timing of Discrete Events in Event-Driven Control Systems.
  
In 11th International Conference on Hybrid Systems: Computation and Control (HSCC08), St. Louis, MO, USA, April 2008.
Authors: Manel Velasco, Pau Martí and Camilo Lozoya

• A 10-Year Taxonomy on Prior Work on Sampling Period Selection for Resource-Constrained Real-Time Control Systems.
  
In Work-in-progress Session, 19th Euromicro Conference on Real-Time Systems (ECRTS07), Pisa, Italy, July 2007.
Authors: Camilo Lozoya, Manel Velasco and Pau Martí

• Effective Real-Time Wireless Control of an Autonomous Guided Vehicle
  
In 2007 IEEE International Symposium on Industrial Electronics (ISIE07), Vigo, Spain, June 2007.
Authors: Camilo Lozoya, Pau Martí, Manel Velasco and Josep M. Fuertes.

• A Preliminary Approach to Feedback Control of Server-based Real-Time Systems. (Poster)
  
In Poster Session, Second IEEE International Workshop on Feedback Control Implementation and Design in Computing Systems and Networks(FeBID07), Munich, Germany, May 2007.
Authors: Manel Velasco and Pau Martí

• Toward Flexible Scheduling of Real-Time Control Tasks: Reviewing Basic Control Models.
  
In 10th International Conference on Hybrid Systems: Computation and Control (HSCC07), LNCS 4416, pp. 710–713, April 2007.
Authors: Pau Martí and Manel Velasco

• Quality-of-Control Management in Overloaded Real-Time Systems.
  
IEEE Transactions on Computers, vol. 56, No. 2, pp. 253-266, February 2007
Authors: Giorgio Buttazzo, Manel Velasco and Pau Martí

• A CAN Application Profile for Control Optimization in Networked Embedded Systems
  
In 32th Annual Conference of the IEEE Industrial Electronics Society (IECON06), Paris, France, November, 2006.
Authors: Manel Velasco, Pau Martí, Rosa Castañé, Josep Guardia and Josep M. Fuertes

• Resource Management for Control Tasks Based on the Transient Dynamics of Closed-Loop Systems
  
In Proceedings of the 18th Euromicro Conference on Real-Time Systems (ECRTS06), Dresden, Germany, July 2006.
Authors: Rosa Castañé, Pau Martí, Manel Velasco, Anton Cervin and Dan Henriksson

• CICLIC: A Tool to Generate Feasible Cyclic Schedules
  
In Proceedings of the 6th IEEE International Workshop on Factory Communication Systems (WFCS06), Torino, Italy, June 2006.
Authors: José Yépez, Josep Guardia, Manel Velasco, Jordi Ayza, Rosa Castañé, Pau Martí and Josep M. Fuertes

• Stability of Networked Control Systems with Bounded Sampling Rates and Time Delays
  
In 31th Annual Conference of the IEEE Industrial Electronics Society (IECON05), Raleigh, USA, November, 2005.
Authors: Manel Velasco, Pau Martí, Ricard Villà and Josep M. Fuertes

• Key Aspects for Co-designing Real-Time and Control Systems
  
In 1st International Workshop on Real-Time and Control (RTC05), satellite workshop of the 17th Euromicro Conference on Real-Time Systems, Palma de Mallorca, Spain, July 2005.
Authors: Manel Velasco, Pau Martí, Rosa Castañé, Ricard Villà and Josep M. Fuertes

• A Probabilistic Approach to the Stability Analysis of Real-Time Control Systems.
  
In 16th IFAC World Congress, Praha, Czech Republic, July, 2005.
Authors: Manel Velasco, Pau Martí, Ricard Villà Josep M. Fuertes and Miquel Monroig

• Bandwidth Management for Distributed Control of Highly Articulated Robots.
  
In IEEE International Conference on Robotics and Automation (ICRA05), Barcelona, Spain, April, 2005.
Authors: Manel Velasco, Pau Martí and Manel Frigola

• Adaptive Real-time Systems (contribution). (not available)
  
In Embedded Systems Design - The ARTIST Roadmap for Research and Development. Series: Lecture Notes in Computer Science, Vol. 3436, 2005, Springer. ISBN: 3-540-25107-3.
Editor(s):Bouyssounouse, Bruno; Sifakis, Joseph
Authors: Pau Martí

• Networked Control Systems Overview. (not available)
  
In The Industrial Information Technology Handbook, Ed. Richard Zurawski, ISA Corporation, South San Francisco, California, USA Series: Industrial Electronics Volume: 1, CRC Press, December 2004.
Authors: Pau Martí, Ricard Villà Josep M. Fuertes, and Gerhard Fohler

• Managing Quality-of-Control in Network-Based Control Systems by Controller and Message Scheduling Co-design.
  
In IEEE Transactions on Industrial Electronics, Volume 51, Number 6, December 2004.
Authors: Pau Martí, Jos Y ez, Manel Velasco, Ricard Villà and Josep M. Fuertes

• Optimal State Feedback Based Resource Allocation for Resource-Constrained Control Tasks.
  
In 25th IEEE Real-Time Systems Symposium (RTSS04), Lisbon, Portugal, December, 2004.
Authors: Pau Martí, Caixu Lin, Scott Brandt, Manel Velasco and Josep M. Fuertes

• A Control Approach to Bandwidth Management in Networked Control Systems.
  
In 30th Annual Conference of the IEEE Industrial Electronics Society (IECON04), Busan, Korea, November, 2004.
Authors: Manel Velasco, Josep M. Fuertes, Caixue Lin, Pau Martí and Scott Brandt

• Managing Quality-of-Control Performance Under Overload Conditions.
  
In 16th Euromicro Conference on Real-Time Systems (ECRTS04), Catania, Italy, July, 2004.
Authors: Giorgio Buttazzo, Manel Velasco, Pau Martí and Gerhard Fohler

• Improving Control Performance Using Discrete Quality of Service Levels in a Real-Time System.
  
In Work-in-Progress Session of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS04), Toronto, Canada, May, 2004.
Authors: Caixue Lin, Pau Martí, Scott A. Brandt, Scott Banachowski, Manel Velasco and Josep M. Fuertes

• The Self Triggered Task Model for Real-Time Control Systems.
  
In Work-in-Progress Session of the 24th IEEE Real-Time Systems Symposium (RTSS03), Cancun, Mexico, Decembre, 2003.
Authors: Manel Velasco, Pau Martí and Josep M. Fuertes

• The Large Error First (LEF) Scheduling Policy for Real-Time Control Systems.
  
In Work-in-Progress Session of the 24th IEEE Real-Time Systems Symposium (RTSS03), Cancun, Mexico, Decembre, 2003.
Authors: José Yépez, Pau Martí and Josep M. Fuertes

• Control Loop Scheduling Paradigm in Distributed Control Systems.
  
In 29th Annual Conference of the IEEE Industrial Electronics Society (IECON03), Roanoke, USA, November, 2003.
Authors: José Yépez, Pau Martí and Josep M. Fuertes

• Process data abstraction/accessibility via internet.
  
In 9th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA03). Lisbon. Portugal, September 2003.
Authors: Manel Velasco, Pau Martí and Josep M. Fuertes

• Modelling Self-triggered Tasks for Real-Time Control Systems.
  
In Co-design in Embedded Real-time Systems (CERTS03), satellite workshop of the 15th Euromicro Conference on Real-Time Systems, Porto, Portugal, July 2003.
Authors: Manel Velasco, Pau Martí and Josep M. Fuertes

• Improving Quality-of-Control using Flexible Timing Constraints: Metric and Scheduling Issues.
  
In 23rd IEEE Real-Time Systems Symposium (RTSS02), Austin (TX), USA, December, 2002.
Authors: Pau Martí, Gerhard Fohler, Josep M. Fuertes and Krithi Ramamritham

• Control Loop Performance Analysis over Networked Control Systems.
  
In 28th Annual Conference of the IEEE Industrial Electronics Society (IECON02), Sevilla, Spain, November, 2002.
Authors: José Yépez, Pau Martí and Josep M. Fuertes

• Peer-to-Peer Communication for Virtual Industrial Devices.
  
In 4th IEEE International Workshop on Factory Communications Systems (WFCS02). Västerås, Sweden. August 2002.
Authors: Manel Velasco, Pau Martí and Josep M. Fuertes

• A Control Performance Metric for Real-Time Timing Constraints.
  
In Work-in-progress Session, 14th Euromicro Conference on Real-Time Systems (ECRTS02), Vienna, Austria, June 2002.
Authors: Pau Martí, Josep M. Fuertes and Gerhard Fohler

• Jitter Compensation for Real-time Control Systems.
  
In 22nd IEEE Real-Time Systems Symposium (RTSS01), London, UK, December, 2001
Authors: Pau Martí, Gerhard Fohler, Krithi Ramamritham and Josep M. Fuertes

• Stability of On-line Compensated Real-Time Scheduled Control Tasks.
  
IFAC Conference on New Technologies for Computer Control (NTCC01), Hong Kong, November, 2001.
Authors: Pau Martí, Ricard Villà, Josep M. Fuertes and Gerhard Fohler

• An Integrated Approach to Real-time Distributed Control Systems Over Fieldbuses.
  
In 8th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA01). Antibes Juan-les-pins. France. October 2001.
Authors: Pau Martí, Josep M. Fuertes and Gerhard Fohler

• Object-Oriented Modeling for Remote Monitoring of Manufacturing Processes.
  
In 8th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA01). Antibes Juan-les-pins. France. October 2001.
Authors: Marga Marcos, Isidro Calvo, Darío Orive, Isabel Sarachaga, Josep M. Fuertes, Pau Martí, Ricard Villà and Stefan Buzoianu

• On Real-Time Control Tasks Schedulability.
  
In European Control Conference (ECC01), Porto, Portugal, September 2001, pp 2227-2232
Authors: P.Martí, J.M. Fuertes, R. Villà and G. Fohler

• Sampling Jitter Compensation in Real-Time Control Systems.
  
In Work-in-progress Session, 13th Euromicro Conference on Real-Time Systems (ECRTS01), Delft, The Netherlands , June 2001
Authors: P.Martí, J.M. Fuertes and G. Fohler

• Minimización de los efectos de la fluctuación del muestreo en los sistemas de control de tiempo real. (English version)
  
In IV JORNADAS DE TIEMPO REAL. Zaragoza. Spain. February 2001
Authors: P.Martí, J.M. Fuertes and G. Fohler

• Distributed Supervision and Control of Fieldbus-Based Industrial Processes.
  
In 3rd IEEE International Workshop on Factory Communications Systems (WFCS00). Porto. Portugal. September 2000. pp 11-18
Authors: P. Marti, J.C. Aguado, F. Rolando, M. Velasco, J. Colomar, J.M. Fuertes

• Real Time Scheduling Methods Requirements in Distributed Control Systems.
  
In 5th IFAC Workshop on Real-Time Programming (WRTP00). Palma de Mallorca. Spain. May 2000. pp 101-108
Authors: P. Marti, R. Villa, J.M. Fuertes, G. Fohler

• Analysis and Design of Real Time Scheduling in Control Systems.
  
Seminari de Treball en Automàtica, Robòtica i Percepció (STAR99). Barcelona. Spain. Octubre 1999. pp 135-141
Authors: P. Marti

• A Java-Based Framework for Distributed Supervision and Control of Industrial Processes.
  
In 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA99). Barcelona. Spain. October 1999. Vol.1 pp 33-41
Authors: P. Marti, J.C. Aguado, F. Rolando, M. Velasco, J. Colomar, J.M. Fuertes

• Distributed Internet-based Remote Control of On-board Processes.
In 1st International Congress on Maritime Technological Innovations and Research. Barcelona. Spain. April 1999.
Authors: J.C. Aguado, P. Martí, F. Rolando, M. Velasco, J. Colomar, J.M. Fuertes

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Reports

• SimpleRTK: Minimal Real-Time Kernel for Time-Driven and Event-Driven Control
  
Research Report ESAII-RR-10-01, January 2010
Authors: Diego García, Manel Velasco, Pau Martí

• Optimal On-Line Sampling Period Assignment
  
Research Report ESAII-RR-09-04, December 2009
Authors: Anton Cervin, Manel Velasco, Pau Martí, and Antonio Camacho

• Simulation Study on Control Performance and Resource Utilization for Resource-Constrained Control Systems
  
Research Report ESAII-RR-09-01, March 2009
Authors: Camilo Lozoya, Pau Martí, Manel Velasco, and Josep M. Fuertes.

• Schedulability Analysis for CAN-based Control Applications with Dynamic Bandwidth Management
  
Research Report ESAII-RR-08-04, November 2008
Authors: Manel Velasco, Pau Martí, and Josep M. Fuertes

• An Embedded Real-Time Control Systems Laboratory Activity
  
Research Report ESAII-RR-08-03, August 2008
Authors: Pau Martí, Manel Velasco, and Giorgio Buttazzo

• Clock Synchronization for Networked Control Systems Using Low-Cost Microcontrollers
  
Research report ESAII-RR-08-2, April 2008
Authors: Pau Martí, Manel Velasco, Camilo Lozoya and Josep M. Fuertes

• Implementing Flexible Embedded Control on a Simple Real-Time Multitasking Kernel
  
Research report ESAII-RR-07-10, April 2007
Authors: Ricardo Marau, Pedro Leite, Luis Almeida, Manel Velasco, Pau Martí, and Josep M. Fuertes

• Wireless Network Delay Estimation for Time-Sensitive Applications
  
Research report ESAII-RR-06-12, July 2006
Authors: Rafael Camilo Lozoya Gamez, Pau Martí, Manel Velasco and Josep M. Fuertes

• Feedback Scheduling in S.Ha.R.K.: a First Approach
  
Research report ESAII-RR-06-13, July 2006
Unofficial modification of the S.Ha.R.K. kernel available for download.
Unofficial Knoppix ISO with S.Ha.R.K. available for download.
Authors: Josep Guardia, Pau Martí, Manel Velasco and Rosa Castañé

• Enabling Feedback Scheduling in TrueTime.
  
Research report ESAII-RR-06-05, March 2006
Unofficial modification of the TrueTime simulator available for download.
Authors: Josep Guardia, Pau Martí, Manel Velasco and Rosa Castañé

• A discrete-time controller design method to tolerate non-equidistant sampling and actuation.
  
Research report ESAII-RR-02-05, January 2002
Authors: Pau Martí, Ricard Villa, Gerhard Fohler and Josep M. Fuertes

• Rate Monotonic Scheduling Timing Analysis.
  
Researh report ESAII-RR-00-17, July 2000
Authors: Pau Martí, Josep M. Fuertes and Gerhard Fohler

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Pau Martí, July 2009