Institut de Robòtica i Informàtica Industrial: Recent submissions
Now showing items 1-20 of 32
Robust economic model predictive control of smart grids
(English) This thesis proposes a Robust Economic Model Predictive Control (REMPC) design based on deterministic approach for optimizing economic costs of energy production and dispatch in smart electrical grids. Robust ...
Automatic control advances in CPS security
(English) Cyber-physical systems (CPSs) constitute a new generation of control systems that seeks a better integration between computation and physical processes. However, the notable advances of these systems in terms of ...
Leak supervision in water distribution networks based on model-based and data-driven approaches
(English) This dissertation intends to provide a methodology for leak supervision in the water distribution network (WDN), focusing on detecting, estimating, and locating leaks in the system. Additionally, sensor placement ...
Modelling and vibration control for a submerged piezoelectric cantilever beam
(English) In this thesis, the dynamic model for the piezoelectric cantilever beam is build by using partial differential equation (PDE). To facilitate the parameter estimation procedure and the controller design, a simplified ...
Modelling and control of high-temperature proton exchange membrane fuel cells for combined heat and power comfort applications
(English) In this thesis, a model predictive control-based energy management system for a specific house powered by a high temperature proton exchange membrane fuel cell is presented. Fuel cells and combined heat and power ...
Enhancing maintenance and energy efficiency in smart manufacturing processes through non-intrusive monitoring strategies
(English) Concern about energy efficiency has increased in the industry, mainly motivated by rising energy prices and government policies to raise awareness of environmental impact. For this reason, this thesis is dedicated ...
LPV lateral control of autonomous and automated vehicles
(English) It is expected that automated driving will enhance road safety, increase highway capacity, reduce carbon emissions, and make transportation more accessible to disabled and older people. However, fully automated ...
Agile aerial manipulation: an approach based on full-body dynamics and model predictive control
(English) Aerial manipulators, which commonly take the form of multirotors with attached robotic limbs, primarily employ their limbs for pure manipulation tasks and do not rely on them during aerial locomotion. Besides, ...
Advances in nonlinear observer design for state and parameter estimation in energy systems
(English) Critical energy challenges are forcing a rapid modification of the current energy infrastructure. lndeed, larger renewable energy penetration, more distributed generation and storage, and higher degree of autonomy ...
Personalising robot assistance for cognitive training therapy
(English) There are 50 million people worldwide living with dementia, and this number is projected to triple by 2050. While there are no pharmacological treatments for this syndrome, behavioural therapy such as cognitive ...
Modeling and reconstruction of 3D humans
(English) Understanding humans in images has been a long-standing goal in Computer Vision. Recently, modelling and generation of virtual humans has become a popular area of research spurred by the success of deep learning, ...
Safety and adaptation in physical interaction control for robotic applications
(English) Although robotic platforms have been used for a wide range of purposes, recent advances in robot autonomy raise the opportunity of bringing them closer to humans. This implies that, under any circumstance, robots ...
Visual understanding of human behavior: 3D pose, motion, actions and context
(English) Visual understanding of human behavior is a very broad topic that, in the abstract, means understanding what a person or group of people is doing in an image or video. In practice, it can be broken down into a ...
Towards efficient quantum repeater nodes based on solid-state quantum memories
(English) Quantum repeaters are the foundation of future long-distance quantum networks. In most architectures, their functional core is constituted by quantum memories, which are devices that can store and re-emit photonic ...
Modeling and control of a vanadium redox flow battery
(English) Due to the current climate crisis, significant efforts are being made in the field of renewable energies, being one of the main challenges the storage of energy in an efficient, environmentally friendly and ...
Event based SLAM
(English) Event-based cameras are novel sensors with a bio-inspired design that exhibit a high dynamic range and extremely low latency. They sensing principle is different than the one of conventional cameras. These novel ...
Mathematical modelling and advanced control design applied to high-pressure electrolyzers for hydrogen production
This thesis is mainly dedicated to the study of high-pressure alkaline electrolysis. Alkaline electrolysis is a well established technology and is commercially available. However, the operation at high pressure for dispensing ...
Kinodynamic planning and control of closed-chain robotic systems
This work proposes a methodology for kinodynamic planning and trajectory control in robots with closed kinematic chains. The ability to plan trajectories is key in a robotic system, as it provides a means to convert ...
Position analysis based on multi-affine formulations
The position analysis problem is a fundamental issue that underlies many problems in Robotics such as the inverse kinematics of serial robots, the forward kinematics of parallel robots, the coordinated manipulation of ...
Collaborative social robot navigation in accompanying and approaching tasks
Our society is evolving to include robots in our daily lives. Therefore, it is necessary to develop robots capable of collaborating with people to carry out daily tasks, for example: accompanying, searching, transporting, ...
