ROBIM: Autonomous robots to inspect and evaluate buildings with BIM integration



The main challenges to overcome in building rehabilitation refer to the use of inefficient traditional techniques and processes as well as to the lack of updated qualitative and quantitative building information. Additionally, building surroundings and facades usually include vulnerable and geometrically complex elements that jeopardize a direct access to them for rehabilitation purposes. This is a critical aspect as the energetic behavior of a building is intimately related to its design and the materials used, hence when materials become functionally or energetically obsolescent, rehabilitation is absolutely necessary so to achieve a minimum energetic efficiency.

In this context, the main objective of the ROBIM project is to develop an automated robotic system that eases the acquisition of detailed and representative information about the state of conservation and composition of enclosures of the building. This system will allow to cut costs
regarding auxiliary equipment used in order to safely access to surroundings of the building, applying state-of-the-art non-destructive inspection techniques and integrating all the information obtained in a digital platform based in BIM methodology. Hence, it will be developed a global solution capable to successfully diagnose the state of a building and provide information in order to effectively decide the typology and scope of the rehabilitation tasks to be performed.


Duration: November 201 – October 2020
Financing entity: Programa Estratégico de Consorcios de Investigación Empresarial Nacional (CIEN) – Centro para el Desarrollo Tecnológico Industrial (CDTI)

More information:
Project info
UPM info 
Kickoff meeting     





TFG: High mobility Brigadier General (OF-6) wireless Command and Control Center design applying “Human-Centered Design” methodologies

Imagen 1


A high mobility Command and Control Center a the Brigadier General (OF-6) level (PCBRI) contains from twenty to thirty operator workstations. Each workstation consists on a computer connected to SIMACET (Command and Control Spanish Army digital network) and a telephony terminal. According to the PCBRI layout it supposes between three and five kilometers of signal wire.

Each time the PCBRI moves from one location to another one means removing and recabling several kilometers of wire and about three hundred wire connections. On the other hand beyond the work, personnel and material the main problem is the unavailability of the Command and Control Center between jumps and the connections reliability.

The development of a new wireless Command and Control Center was considered as a good challenge for applying “Human-Centerd Design” methodologies and the “Brigada Guadarrama XII” created a working group acting as final user, the Research Group “B105 Electronic Systems Lab” (Universidad Politécnica de Madrid) as technological and methodological partner, the Colegio Universitario de la Defensa (Zaragoza) both as technological and educational partner, the company Teldat and the Escuela Politécnica Superior del Ejército de Tierra as observer for, applying this methodology, develop a prototype to work inside of the PCBRI without wires.

The results of this project, apart of the experience of applying Human-Centered Design and SCRUM methodologies within the Spanish Army, is the development of a prototype of a high mobility Command and Control Center that copes with the demands of the Brigade where time and effort have been fully controlled. Main features are:

  • Phantom Digital system over the SIMACET network (The developed system is transparent to the legacy network)
  • VoIP phantom system supported by an smart switchboard allowing intelligent routing and voice recording running over a legacy NAVARRA station
  • Electromagnetic shielding with several choices in the binomial cost-attenuation according the mission requirements

I Foro Internacional de Género y Ciberseguridad


The Instituto Nacional de Ciberseguridad (INCIBE), in cooperation with the Organización de Estados Americanos (OEA), organized the l “I Foro Internacional de Género y Ciberseguridad: creando un mundo digital más inclusivo v1.0”, in the Auditorio Ciudad de León, on June 5th and 6th, 2017. Representants of 21 countries were present on this Forum where conferences and working groups performed a quite important task.

Main Forum objectives were the following ones:

  • Promote information exchange and the development of knowledge on gender and cibersecurity
  • Analyce current situation and the gender problems both at national and international levels in relation to the cibersecurity field
  • To debate on the main problems in gender violence over the digital world

Among the different activities, the B105 participated in the Working Group 1: “Mejores prácticas para sensibilizar a las jóvenes en la importancia del mundo digital, especial referencia a la Ciberseguridad, carreras tecnológicas, y medios de comunicación” where our collegue Octavio worked as member of the group.

More information on the web


El B105 en el MWC


El B105, con Octavio a la cabeza, realizó una visita a una de las ferias de tecnología más importantes a nivel mundial, el MWC de Barcelona.

El objeto de la visita era conocer, de primera mano, las innovaciones presentes en los desarrollos de las grandes compañias relacionadas con los sistemas embebidos como pueden ser Mediatek, ST Microelectronics, Qualcom, Intel, etc.

Entre los stands que encontramos más interesantes, por estar estrechamente relacionados con la actividad que realizamos en el laboratorio, estuvieron Mediatek, ST Microelectronics y Cadence.


De Mediatek cabe destacar los SoCs fuertemente orientados a IoT en general y wereables en particular. Integraban microcontroladores basados en ARM Cortex M4 con varios interfaces de comunicación inalámbrica como puede ser WiFi, BT y BLE.

ST Microelectronics disponía de un demostrador que plasmaba su interés en aplicaciones de Smart Buildings (de nuevo más IoT) . También presentaba otras mesas donde enseñaba las virtudes y capacidades de cargar dispositivos de forma inalámbrica y los avances desarrollados en este campo como son: mayor distancia a la que se produce la carga y mayor eficiencia en la transmisión de la energía.

En cuanto a Cadence nos llamó la atención el grado de integración de sus diferentes herramientas así como el abanico de posibilidades para el desarrollo de sistemas embebidos que ofrecen. Desde diseño Hardware, hasta su integración con uso de de DSPs y desarrollo para aplicaciones móviles.


A parte e estos stands nos resultó especialmente interesante la alta presencia de la nueva tecnología orientada a las redes móviles 5G, con una aplicación bien lograda en el stand de Nokia. Espectacular el stand de Intel donde asistimos con gran interés a una demostración basada en el uso del proyecto de Google Project Tango.

Y por último el stand de BQ donde pudimos tocar y utilizar su último móvil BQ Aquaris X5 Plus. Nos pareció un móvil muy completo y maduro que no hace más que afianzar a la empresa española entre las grandes de la telefonía móvil.

PUE Attack Detection in CWSN Using Collaboration and Learning Behavior

cognitive radio module

Title: PUE Attack Detection in CWSN Using Collaboration and Learning Behavior
Authors: Javier Blesa, Elena Romero, Alba Rozas, Alvaro Araujo and Octavio Nieto-Taladriz
Published in: International Journal of Distributed Sensor Networks
Date of Publication: June 2013
Digital Object Identifier : 10.1155/2013/815959

Cognitive Wireless Sensor Network (CWSN) is a new paradigm which integrates cognitive features in traditional Wireless Sensor Networks (WSNs) to mitigate important problems such as spectrum occupancy. Security in Cognitive Wireless Sensor Networks is an important problem because these kinds of networks manage critical applications and data. Moreover, the specific constraints of WSN make the problem even more critical. However, effective solutions have not been implemented yet. Among the specific attacks derived from new cognitive features, the one most studied is the Primary User Emulation (PUE) attack. This paper discusses a new approach, based on anomaly behavior detection and collaboration, to detect the PUE attack in CWSN scenarios. A nonparametric CUSUM algorithm, suitable for low resource networks like CWSN, has been used in this work. The algorithm has been tested using a cognitive simulator that brings important results in this area. For example, the result shows that the number of collaborative nodes is the most important parameter in order to improve the PUE attack detection rates. If the 20% of the nodes collaborates, the PUE detection reaches the 98% with less than 1% of false positives.

cognitive radio module