Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 101-120 of 141
Demand modeling for water networks calibration and leak localization
The success in the application of any model-based methodology (e.g. design, control, supervision) highly depends on the availability of a well calibrated model. There is no best or unique solution for the calibration problem ...
Localización de robots móviles en entornos cerrados mediante características de audio
When GPS is not operative in closed environments, mobile robots use different types of sensor in order to locate their position. However, the use of audiofrequency signals sensors is significative lower than other type of ...
FAST : a fault detection and identification software tool
The aim of this work is to improve the reliability and safety of complex critical control systems by contributing to the systematic application of fault diagnosis. In order to ease the utilization of fault detection and ...
El modelo eléctrico de conductancias aplicado al isomorfismo de grafos : el método de la estrella
The first objective proposed in the research of this thesis was the select and develop a (preferably simple) model for graphs, thus, the results obtained through the model may be extrapolated to the modeled objects: graphs. ...
Predictive control with dynamic constraints for closure and opening operations of irrigation canals
Water delivery systems usually work in continuous way based on some prescribed flow conditions and user's needs . However there are situations in which abrupt changes in the operating conditions must be carried on. Typical ...
Advances in gain-scheduling and fault tolerant control techniques
This thesis presents some contributions to the state-of-the-art of the fields of gain-scheduling and fault tolerant control (FTC). In the area of gain-scheduling, the connections between the linear parameter varying (LPV) ...
Disseny i modelització d'un sistema de gestió multiresolució de sèries temporals
Nowadays, it is possible to acquire a huge amount of data, mainly due to the fact that it is easy to build monitoring systems together with big sensor networks. However, data has to be managed accordingly, which is not so ...
Understanding human-centric images : from geometry to fashion
Understanding humans from photographs has always been a fundamental goal of computer vision. Early works focused on simple tasks such as detecting the location of individuals by means of bounding boxes. As the field ...
Multi-layer model predictive control of complex water systems
This thesis is devoted to design a multi-layer MPC controller applied to the complex water network taking into account that the different layers with different time scales and control objectives have their own controller. ...
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 ...
Methodologies for hybrid systems diagnosis based on the hybrid automaton framework
Hybrid systems play an important role in the modeling of complex systems since they take into account the interaction between both continuous dynamics and discrete events. Complex systems are subject to changes in the ...
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 ...
