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Springer Theses
Recognizing Outstanding Ph.D. Research

Gerardo Beruvides

Artificial Cognitive
Architecture with
Self-Learning and
Self-Optimization
Capabilities
Case Studies in Micromachining
Processes
Springer Theses

Recognizing Outstanding Ph.D. Research

Aims and Scope

The series “Springer Theses” brings together a selection of the very best Ph.D.
theses from around the world and across the physical sciences. Nominated and
endorsed by two recognized specialists, each published volume has been selected
for its scientific excellence and the high impact of its contents for the pertinent field
of research. For greater accessibility to non-specialists, the published versions
include an extended introduction, as well as a foreword by the student’s supervisor
explaining the special relevance of the work for the field. As a whole, the series will
provide a valuable resource both for newcomers to the research fields described,
and for other scientists seeking detailed background information on special
questions. Finally, it provides an accredited documentation of the valuable
contributions made by today’s younger generation of scientists.

Theses are accepted into the series by invited nomination only

and must fulfill all of the following criteria
• They must be written in good English.
• The topic should fall within the confines of Chemistry, Physics, Earth Sciences,
Engineering and related interdisciplinary fields such as Materials, Nanoscience,
Chemical Engineering, Complex Systems and Biophysics.
• The work reported in the thesis must represent a significant scientific advance.
• If the thesis includes previously published material, permission to reproduce this
must be gained from the respective copyright holder.
• They must have been examined and passed during the 12 months prior to
nomination.
• Each thesis should include a foreword by the supervisor outlining the signifi-
cance of its content.
• The theses should have a clearly defined structure including an introduction
accessible to scientists not expert in that particular field.

More information about this series at http://www.springer.com/series/8790

Gerardo Beruvides

Artificial Cognitive
Architecture
with Self-Learning
and Self-Optimization
Capabilities
Case Studies in Micromachining Processes
Doctoral Thesis accepted by
Universidad Autónoma de Madrid, Madrid, Spain

123
Author Supervisors
Dr. Gerardo Beruvides Dr. Rodolfo E. Haber
Centre for Automation and Robotic Centre for Automation and Robotic
(CAR-CSIC) (CAR-CSIC)
Madrid, Spain Madrid, Spain

Dr. Ramon Quiza

Research Center on Advanced
and Sustainable Manufacturing
University of Matanzas
Matanzas, Cuba

ISSN 2190-5053 ISSN 2190-5061 (electronic)

Springer Theses
ISBN 978-3-030-03948-6 ISBN 978-3-030-03949-3 (eBook)
https://doi.org/10.1007/978-3-030-03949-3

Library of Congress Control Number: 2018961212

© Springer Nature Switzerland AG 2019

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission
or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar
methodology now known or hereafter developed.
The use of general descriptive names, registered names, trademarks, service marks, etc. in this
publication does not imply, even in the absence of a specific statement, that such names are exempt from
the relevant protective laws and regulations and therefore free for general use.
The publisher, the authors and the editors are safe to assume that the advice and information in this
book are believed to be true and accurate at the date of publication. Neither the publisher nor the
authors or the editors give a warranty, express or implied, with respect to the material contained herein or
for any errors or omissions that may have been made. The publisher remains neutral with regard to
jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
We learn from the greatest sages of the past,
… that there is no force greater than
willingness,
… that there is no success without hard work,
… that in your dreams you’ll find way to your
goals,
Thank you Mamucha for believe in my
dreams,
Thank you Peluchina for supporting me in
them.
Supervisor’s Foreword

It is a great pleasure to introduce the thesis work of Dr. Gerardo Beruvides López,
accepted for publication within Springer Theses and awarded with the 2017 prize
for outstanding Ph.D. in the field of Intelligent Control by the Comité Español de
Automática (CEA) in 2018. In March 2013, Dr. Beurvides López received a 4-years
Ph.D. grant by the Ministry of Economy and Competitiveness in the frame of the
research project DPI2012-35504 entitled “Artificial Cognitive Control for
Micromachining Processes. Method and Application” that I led and thereby I
acknowledge for.
The work presents outstanding research results in a multidisciplinary research
approach where methods in the conjunction of Control Engineering, Computer
Sciences and Artificial Intelligence are fed by Cognitive Sciences, Neurosciences
and Psychology to yield an artificial cognitive control architecture. From signal
processing up to real time learning and control, a comprehensive approach is
presented with the added relevance of the implementation in low cost computing
platforms and the real-time application to micro-scale manufacturing processes,
enriching the originality and innovative aspects of the proposed methods and
reported results. The structure of the Ph.D. dissertation allows the reader to follow,
in a comprehensive way, from basic initial steps in measurement sciences and
signal processing, modelling approaches using different techniques up to the
foundation of the proposed artificial cognitive control computational architecture.
Each theoretical contribution is validated by experimental studies enabling the
reader to understand the advantages and limitations of the proposed methods.
From engineering viewpoint, the theoretical framework inspired in the shared
circuits model for emulating socio-cognitive skills and experimental procedures are
harmonized in order to demonstrate the suitability of the developed method for
micromachining processes optimization, mainly micro-milling and micro-drilling
processes. Indeed, the efficiency of the proposed system and the set of developed
methods is verified through extensive experimentation in an industrial setup of
GAMHE 4.0 Lab (www.gahme.eu) in more than 300 experiments with state-of-art
sensors and computing platforms. Programming issues have been also considered
and reported in order to enable real time communication, learning and control.

vii
viii Supervisor’s Foreword

Multidisciplinary roots of the work are endorsed by scientific and technical

results in different fields. One result, in the domain of sensors and signal processing
to monitor tool wear in micro-drilling operations, is the result that demonstrate how
the combination of wavelet transform and neural network systems yields the most
suitable prediction of the use of tool. Another contribution reported in the Thesis is
the design and implementation of artificial cognitive control architecture is focused
on four key areas: (i) self-optimization and self-leaning capabilities by estimation of
distribution and reinforcement-learning mechanisms; (ii) portability and scalability
based on low-cost computing platforms; (iii) connectivity based on middleware;
and (iv) model-driven approaches. The results of simulation and real-time appli-
cation to force control of micro-manufacturing processes are presented in the Thesis
as a proof of concept.
From industrial viewpoint, very promising results for modelling, optimization
and control of micro-milling and micro-drilling processes are presented, paving the
way for future technology transfer of the reported work, supported on low-cost
computing platforms.

Madrid, Spain Dr. Rodolfo E. Haber

October 2018 Centre for Automation and Robotic
(CAR-CSIC)
Foreword from the Intelligent Control Group
of the Automation Spanish Committee (CEA)

The Ph.D. dissertation of Dr. Gerardo Beruvides López was awarded with the 2018
prize for outstanding Ph.D. in the field of Intelligent Control by the Comité Español
de Automática (CEA) in 2018.
The sustainability and efficiency are essential issues for the future of the man-
ufacturing industry. Nowadays, the main scientific and technical challenges of the
manufacturing industry are only partially addressed in isolated fields such as
Computer Science, Artificial Intelligence, Mechanical Engineering and System
Engineering, all relevant to achieve high levels of modularity, connectivity,
autonomy and digitization. The manufacturing industry needs to increase efficiency
with shorter delivery times, where the production optimization through cyber-
physical systems, self-learning and self-adaptation are essential.
Three key issues have been addressed in this Thesis, as follows: the development
and refinement of a gradient-free method to enable multi-objective self-optimization,
the development of a reinforcement learning strategy to carry out self-learning and
finally, the experimental evaluation and validation in two manufacturing processes at
the micro-scale (i.e., micro-milling and micro-drilling).
The methodology is based on the combination and integration of theoretical and
experimental methods by selecting, modifying, adapting and integrating the most
convenient paradigms within the Computer Sciences, Control Engineering and
Artificial Intelligence. In addition, the choice of micromachining processes as case
study is based on scientific-technical and economic reasons. The micromachining
has a great impact on the world economy, in sectors such as: electronics, aerospace
and biomedicine, among others.
The design and implementation of a computational architecture (modular, net-
work and reconfigurable for real-time monitoring and control) take into account the
analysis of different types of sensors, processing strategies and methodologies for
extracting behavior patterns from representative signals in complex processes. The
reconfiguration capability and the portability of this architecture are supported by
two major levels: the cognitive level (core of architecture) and the executive level
(direct exchange with the process). At the same time, this is composed by different
operating modes that interact with the process to be monitored and/or controlled.

ix
x Foreword from the Intelligent Control Group …

These procedures (briefly described below) depend on the models and algorithms
integrated in the architecture. The cognitive level is composed by three fundamental
modes: modeling, optimization and learning, necessary for decision-making (con-
trol signals) from the computational point of view, as well as the real-time exper-
imental characterization of complex processes.
Finally, a large number of these partial results has been submitted to consider-
ation by the international scientific community in international conferences and
publications in prestigious journals. Referees from different knowledge areas have
positively assessed the heterogeneous, multidisciplinary character and interdisci-
plinary of the contributions reported. The contemporaneity of these results are fully
aligned with the future research in the field of cyber-physical systems, Industry 4.0
and the Factory of the Future, in which cognitive systems, self-reconfiguration,
self-optimization and self-learning capabilities are the key to the sustainable pro-
duction systems in the 21st century.

Madrid, Spain Prof. Dr. Carlos Balaguer

President of CEA
Dr. Eloy Irigoyen
Coordinator of the Intelligent Control
Group (CEA)
Dr. Antonio José Calderón
Coordinator of the Intelligent Control
Group (CEA)
Prof. Dr. Juan Albino Mendez
Coordinator of the Intelligent Control
Group (CEA)
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