Institut d'Organització i Control de Sistemes Industrials: Enviaments recents
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Técnicas de control para la mejora de la estabilidad en redes eléctricas DC con convertidores operando a potencia constante
Some electrical devices in direct current (DC) networks, under certain operating characteristics, behave as constant power loads (CPLs). This behavior is defined by presenting negative incremental resistance, compromising ...
Object manipulation based on tactile information
In-hand dexterous manipulation of an object is the ability to change the configuration (position and/or orientation) of an object held in the hand. This is an ability that has allowed humans to use tools and interact with ...
Knowledge representation and reasoning for perception-based manipulation planning
This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
The robot null space : new uses for new robotic systems
This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic systems. In particular, new uses of the ...
Combining task and motion planning for mobile manipulators
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 ...
Motion planning using synergies : application to anthropomorphic dual-arm robots
Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ...
Solving robotic kinematic problems : singularities and inverse kinematics
Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of ...
Modeling and control of PEM fuel cells
In recent years, the PEM fuel cell technology has been incorporated to the R&D plans of many key companies in the automotive, stationary power and portable electronics sectors. However, despite current developments, the ...
Advanced digital resonant control techniques for grid-connected voltage source converters
It is a fact that the presence of power distributed generation sources in the electrical sector is growing exponentially worldwide. This can mainly be explained by the increase of renewable energy production, which involves ...
Vision based sensor substitution in robotic assisted surgery
Perceiving and understanding the world represents a long-term goal in the field of Artificial Intelligence (AI). In recent years, advances in the field of Machine Learning (ML), and specifically in Deep Learning (DL), have ...
Physics-based motion planning for grasping and manipulation
This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
Fault detection and fault tolerant control in wind turbines
Renewable energy is an important sustainable energy in the world. Up to now, as an essential part of low emissions energy in a lot of countries, renewable energy has been important to the national energy security, and ...
A template based approach for human action recognition
Visual analysis of human movements concerns the understanding of human activities from image sequences. The goal of the action/gesture recognition is to recognize the label that corresponds to an action or gesture made by ...
Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning
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 ...
The role of population games in the design of optimization-based controllers: a large-scale insight
This thesis is mainly devoted to the study of the role of evolutionary-game theory in the design of distributed optimization-based controllers. Game theoretical approaches have been used in several engineering fields, e.g., ...
Estimating and understanding motion : from diagnostic to robotic surgery
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 ...
Prognostics and health aware model predictive control of wind turbines
Wind turbines components are subject to considerable stresses and fatigue due to extreme environmental conditions to which they are exposed, especially those located offshore. Also, the most common faults present in wind ...
Searching and tracking of humans in urban environments with humanoid robots
Searching and tracking are important behaviours for a mobile service robot to assist people, to search-and-rescue and, in general, to locate mobile objects, animals or humans. Even though searching might be evident for ...
Visual guidance of unmanned aerial manipulators
The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow ...
Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems
Proton exchange membrane (PEM) fuel cells, which use hydrogen as fuel, provide high power densities while operating at lower temperatures, reducing the cost of materials and maintenance. PEM fuel cells are suitable for a ...
