3D mapping and path planning from range data 

    Teniente Avilés, Ernesto Homar (Date of defense: 2016-02-09)

    This thesis reports research on mapping, terrain classification and path planning. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common ...

    3D pose estimation in complex environments 

    Peñate Sánchez, Adrián (Date of defense: 2017-04-07)

    Although there has been remarkable progress in the pose estimation literature, there are still a number of limitations when existing algorithms must be applied in everyday applications, especially in uncontrolled environments. ...

    A contribution to the ranking and description of classifications 

    Sánchez Hernández, Germán (Date of defense: 2013-09-13)

    This thesis presents a novel and complete fuzzy multi-criteria decision making (MCDM) methodology. This methodology is specifically designed for selecting classifications in the framework of unsupervised learning systems. ...

    Aportació al disseny de sistemes de control basats en models intervalars 

    Comasòlivas Font, Ramon (Date of defense: 2011-04-29)

    En diverses tècniques de control robust és habitual treballar amb plantes incertes, el comportament de les quals es pot descriure raonablement segons incertesa paramètrica mitjançant models lineals intervalars. La QFT ...

    ASALBP: the Alternative Subgraphs Assembly Line Balancing Problem. Formalization and Resolution Procedures 

    Capacho Betancourt, Liliana (Date of defense: 2008-02-29)

    Hoy en día, los problemas de equilibrado de líneas de montaje se encuentran comúnmente en la mayoría de sistemas industriales y de manufactura. Básicamente, estos problemas consisten en asignar un conjunto de tareas a una ...

    Bearing-only slam methods 

    Munguía Alcalá, Rodrigo Francisco (Date of defense: 2009-10-19)

    SLAM (Simulatenous Localization and Mapping) es quizá el problema más importante a solucionar en robótica para construir robots móviles verdaderamente autónomos. El SLAM es acerca de cómo un robot móvil opera en un entorno ...

    Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning 

    Colomé Figueras, Adrià (Date of defense: 2017-07-14)

    In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...

    Cinemàtica i Control en entorns multi-robot 

    Costa Castelló, Ramon (Date of defense: 2001-12-20)

    Un dels camps de la robòtica que estan despertant gran interès per part de la comunitat científica és el dels entorns multirobot. Aquest nom genèric inclou diferents tipus de sistemes amb característiques i problemàtiques ...

    Combining task and motion planning for mobile manipulators 

    Akbari, Aliakbar (Date of defense: 2020-04-04)

    This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple ...

    Demand modeling for water networks calibration and leak localization 

    Sanz Estapé, Gerard (Date of defense: 2016-03-18)

    The success in the application of any model-based methodology (e.g. design, control, supervision) highly depends on the availability of a well calibrated model. There is no best or unique solution for the calibration problem ...

    Design and Control of an Electric Energy Conditioning System for a PEM Type Fuel Cell 

    Malo Barragán, Shane Leonardo (Date of defense: 2009-12-02)

    Isolated electric energy generation systems are often needed to supply electric loads where the electrical network is not available. This could be caused due to geographic isolation, the necessity of load mobility, demanded ...

    Detección y diagnóstico de fallos múltiples en sistemas dinámicos usando análisis de componentes principales no lineal y residuos estructurados 

    Rincón Charris, Amílcar Alejandro (Date of defense: 2015-04-24)

    In recent years the detection and diagnosis of faults in devices and processes has been a field of research and development that has been addressed from multiple perspectives: control engineering, artificial intelligence ...

    Disseny i modelització d'un sistema de gestió multiresolució de sèries temporals 

    Llusà Serra, Aleix (Date of defense: 2015-12-04)

    Nowadays, it is possible to acquire a huge amount of data, mainly due to the fact that it is easy to build monitoring systems together with big sensor networks. However, data has to be managed accordingly, which is not so ...

    Enhancing low-level features with mid-level cues 

    Trulls Fortuny, Eduard (Date of defense: 2015-02-20)

    Local features have become an essential tool in visual recognition. Much of the progress in computer vision over the past decade has built on simple, local representations such as SIFT or HOG. SIFT in particular shifted ...

    Estabilización de vídeo en tiempo real : aplicaciones en teleoperación de micro vehículos aéreos de ala rotativa 

    Aguilar Castillo, Wilbert Geovanny (Date of defense: 2015-09-04)

    Micro Aerial Vehicles (MAVs), a subset of Unmanned Aerial Vehicles (UAVs), also known as drones, are becoming popular for several applications and gaining interest due to advantages as manufacturing and maintenance cost, ...

    Estimating and understanding motion : from diagnostic to robotic surgery 

    Avilés Rivero, Angélica Ivone (Date of defense: 2017-05-18)

    Estimating and understanding motion from an image sequence is a central topic in computer vision. The high interest in this topic is because we are living in a world where many events that occur in the environment are ...

    FAST : a fault detection and identification software tool 

    Duatis Juárez, Jordi (Date of defense: 2016-02-05)

    The aim of this work is to improve the reliability and safety of complex critical control systems by contributing to the systematic application of fault diagnosis. In order to ease the utilization of fault detection and ...

    Human movement analysis by means of accelerometers : aplication to human gait and motor symptoms of Parkinson's Disease 

    Samà Monsonís, Albert (Date of defense: 2013-10-03)

    This thesis presents the original contributions of the author on the field of human movement analysis from signals captured by accelerometers. These sensors are capable of converting acceleration from some body parts into ...

    Instrumentation, model identification and control of an experimental irrigation canal 

    Sepúlveda Toepfer, Carlos (Date of defense: 2008-04-03)

    This thesis aims to develop control algorithms for irrigation canals in an experimental framework.<br/>These water transport systems are difficult to manage and present low efficiencies in practice. <br/>As a result, an ...

    Integration Techniques of Fault Detection and Isolation Using Interval Observers 

    Meseguer Amela, Jordi (Date of defense: 2009-06-30)

    An interval observer has been illustrated to be a suitable approach to detect and isolate faults affecting complex dynamical industrial systems. Concerning fault detection, interval observation is an appropriate passive ...