Institut d'Organització i Control de Sistemes Industrials: Recent submissions
Now showing items 41-60 of 108
Social robot navigation in urban dynamic environments
Deploying mobile robots in social environments requires novel navigation algorithms which are capable of providing valid solutions in such challenging scenarios. The main objective of the present dissertation is to develop ...
Estabilización de vídeo en tiempo real : aplicaciones en teleoperación de micro vehículos aéreos de ala rotativa
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, ...
Detección y diagnóstico de fallos múltiples en sistemas dinámicos usando análisis de componentes principales no lineal y residuos estructurados
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 ...
On model predictive control for economic and robust operation of generalised flow-based networks
This thesis is devoted to design Model Predictive Control (MPC) strategies aiming to enhance the management of constrained generalised flow-based networks, with special attention to the economic optimisation and robust ...
Consensus control in robot networks and cooperative teleoperation : an operational space approach
An interesting approach in cooperative control is to design distributed control strategies which use only local information so that a multi-agent system achieves specified behaviors. A basic behavior in cooperative control ...
Enhancing low-level features with mid-level cues
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 ...
Experimental and model-based analysis for performance and durability improvement of PEM fuel cells
Increasing global energy demand, growing carbon emissions and the depletion of fossil fuel sources are some of the most important driving forces for the development of sustainable energy solutions. Proton Exchange Membrane ...
Diagnosis and fault-tolerant control using set-based methods
The fault-tolerant capability is an important performance specification for most of technical systems. The examples showing its importance are some catastrophes in civil aviation. According to some official investigations, ...
Hybrid modelling and receding horizon control of combined sewer networks
Combined sewer networks carry wastewater and storm water together. During normal operation all the water is delivered to wastewater treatment plants, where it is treated before being released to surrounding natural water ...
Modelado, simulación y control de un convertidor boost acoplado magnéticamente
This thesis covered the modeling, simulation as well as the design of a control law for a coupled inductor Boost converter. In particular, from the point of view of modeling, we focused on the use of averaged modeling ...
A contribution to the ranking and description of classifications
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. ...
Human movement analysis by means of accelerometers : aplication to human gait and motor symptoms of Parkinson's Disease
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 ...
Cooperative social robots: accompanying, guiding and interacting with people
The development of social robots capable of interacting with humans is one of the principal challenges in the field of robotics. More and more, robots are appearing in dynamic environments, like pedestrian walkways, ...
Estimación de la forma de un objeto deformable mediante integración de visión y tacto
Desde hace varias décadas los robots industriales han demostrado su eficiencia para tareas desarrolladas en entornos perfectamente conocidos. No obstante, surgen importantes complicaciones operativas en entornos limitadamente ...
Robot learning from demonstration of force-based manipulation tasks
One of the main challenges in Robotics is to develop robots that can interact with humans in a natural way, sharing the same dynamic and unstructured environments. Such an interaction may be aimed at assisting, helping or ...
Resolución del problema de flujo general flexible con fechas comprometidas y costes dependientes del intervalo de realización de las operaciones
En el marco de la problemática de la programación de operaciones en taller, en esta tesis se introduce un nuevo problema, que se identifica como problema de flujo general flexible (fJSP) con fechas comprometidas y costes ...
Modelado, análisis y control dinámico de un reformador de etanol en tres etapas para aplicaciones en pilas de combustible
This thesis presents results related to the design, modeling and control of a low temperature ethanol reformer as a source of hydrogen designed to feed a fuel cell (PEMFC). As fuel, ethanol has been selected as one of the ...
Numerical computation and avoidance of manipulator singularities
This thesis develops general solutions to two open problems of robot kinematics: the exhaustive computation of the singularity set of a manipulator, and the synthesis of singularity-free paths between given configurations. ...
Mapping, planning and exploration with Pose SLAM
This thesis reports research on mapping, path planning, and autonomous exploration. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common ...
Grasp plannind under task-specific contact constraints
Several aspects have to be addressed before realizing the dream of a robotic hand-arm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, ...
