Universitat de Girona
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This thesis presents a SLAM algorithm using a multibeam echosounder, a new 1/2 underwater laser scanner for online 3D perception and two applications of this new laser scanner: inspection and intervention. The SLAM ...
La tesis propone un marco de trabajo para el soporte de la toma de decisiones adecuado para soportar la ejecución distribuida de acciones cooperativas en entornos multi-agente dinámicos y complejos. Soporte para la toma ...
La idea básica de detección de defectos basada en vibraciones en Monitorización de la Salud Estructural (SHM), es que el defecto altera las propiedades de rigidez, masa o disipación de energía de un sistema, el cual, altera ...
The presented work focuses on the theoretical and practical aspects concerning the design and development of a formal method to build a mission control system for autonomous underwater vehicles bringing systematic design ...
The performance of a model-based diagnosis system could be affected by several uncertainty sources, such as,model errors,uncertainty in measurements, and disturbances. This uncertainty can be handled by mean of interval ...
Aquesta tesi proposa l'ús d'un seguit de tècniques pel control a alt nivell d'un robot autònom i també per l'aprenentatge automàtic de comportaments. L'objectiu principal de la tesis fou el de dotar d'intel·ligència als ...
This thesis proposes a solution to the problem of estimating the motion of an Unmanned Underwater Vehicle (UUV). Our approach is based on the integration of the incremental measurements which are provided by a vision system. ...
In this thesis we focus on solving CSPs using SMT. Essentially, what we do is reformulating CSPs into SMT. The obtained results allow us to conclude that state-of-the-art SMT solvers are a robust tool to solve CSPs. We ...
In summary, this thesis proposes to address the problem of simulating physical effects in large urban environments through the use of procedural rules and Level-of-Detail techniques, in order to reduce the computational ...
En aquesta tesi proposem dos esquemes de xarxa amb control d'admissió per al trànsit elàstic TCP amb mecanismes senzills. Ambdós esquemes són capaços de proporcionar throughputs diferents i aïllament entre fluxos, on un ...
With a large amount of trajectory data generated every day, there is a high demand for developing advanced techniques to discover the underlying information instead of dull and heavy manual work. This thesis focuses on the ...
A key challenge in autonomous mobile manipulation is the ability to determine in real-time how to safely execute complex tasks when placed in an unknown world. In response to those arising needs in the underwater ...
This work proposes an appearance-based SLAM method whose main contribution is the Feature Stability Histogram (FSH). The FSH is built using a voting schema, if the feature is re-observed, it will be promoted; otherwise it ...
Els models matemàtics quantitatius són simplificacions de la realitat i per tant el comportament obtingut per simulació d'aquests models difereix dels reals. L'ús de models quantitatius complexes no és una solució perquè ...
Aquesta tesi tracta sobre la combinació del control visual i la llum estructurada. El control visual clàssic assumeix que elements visuals poden ser fàcilment extrets de les imatges. Això fa que objectes d'aspecte uniforme ...
This thesis deals with the segmentation of brain magnetic resonance imaging applied to multiple sclerosis patients. This disease is characterised by the presence of white matter lesions in this image modality. After a ...
It is stated that non-photorealistic rendering (NPR) triggers specific ocular behaviors that can have a real effect on the way of perceiving a cinematic narrative. The transdisciplinary interest of this thesis lies in ...
In recent decades, the rapid development of intelligent vehicle and 3D scanning tecnologies has led to a growing interest in applications based on 3D point data processing, with many applications such as augmented reality ...
This thesis is focused on the automated segmentation of the brain structures in magnetic resonance images, applied to multiple sclerosis patients. This disease is characterized by the presence of lesions, which affect the ...
L'objectiu principal d'aquesta tesi és el desenvolupament d'un nou mètode de segmentació totalment automàtic capaç de mesurar amb precisió el volum cerebral en imatges de pacients d'EM amb lesions. El mètode que hem proposat ...
