Universitat Politècnica de Catalunya
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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 ...
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 ...
Distributed generation of electric energy has become part of the current electric power system. In this context a new scenario is arising in which small energy sources make up a new supply system: The microgrid.<br/><br/>The ...
Aquesta tesi presenta treball original i aplicat en l'àrea del control i la col·locació de sensors/actuadors (S/A) en sistemes de Control Actiu de Soroll (ANC). Primer, s'han aplicat tècniques de control i identificació ...
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 ...
The present work aims to increase the diagnosis systems capabilities by choosing the location of sensors in the process. Therefore, appropriate sensor location will lead to better diagnosis performance and implementation ...
The use of computer controlled systems has increased dramatically in our daily life. Microprocessors are embedded in most of the daily- used devices. Due to cost constraints, many of these devices that run control ...
Mobile robotics research is currently interested on exporting autonomous navigation results achieved in indoor environments, to more challenging environments, such as, for instance, urban pedestrian areas. Developing mobile ...
Human-machine interaction in teleoperation, through the adequate user interface, allows achieving the level of intelligence necessary to execute complex tasks that cannot be executed by machines or robots alone neither ...
This thesis addresses the kinematic analysis of mechanisms, in particular, the position analysis of kinematic chains, or linkages, that is, mechanisms with rigid bodies (links) interconnected by kinematic pairs (joints). ...
The tracking/rejection of periodic signals constitutes a wide field of research in the control theory and applications area and Repetitive Control has proven to be an efficient way to face this topic; however, in some ...
Aquesta tesi tracta sobre la metodologia del raonament inductiu difús (FIR, de l’anglès fuzzy inductive reasoning) aplicada a sistemes de detecció i diagnòstic de fallades. La metodologia FIR sorgeix de l’enfocament del ...
La visión por computador y más específicamente el reconocimiento de objetos han demostrado en los últimos años un impresionante progreso que ha llevado a la aparición de nuevas y útiles tecnologías que facilitan nuestras ...
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 ...
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. ...
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 ...
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. ...
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 ...
In this doctoral thesis, contributions to the study and design of advanced controllers and their application to metallurgical smelting furnaces are discussed. For this purpose, this kind of plants has been described in ...
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, ...
