Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 41-60 of 146
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 ...
Design of a hysteresis predictive control strategy with engineering application cases
This doctoral thesis exposes the development of a redesigned Predictive Control strategy that uses hysteresis to improve the performance of the controlled systems in different fields of application. The approach may use ...
A socio-technical approach for assistants in human-robot collaboration in industry 4.0
The introduction of technologies disruptive of Industry 4.0 in the workplace integrated through human cyber-physical systems causes operators to face new challenges. These are reflected in the increased demands presented ...
Técnicas de control para la mejora de la estabilidad en redes eléctricas DC con convertidores operando a potencia constante
Some electrical devices in direct current (DC) networks, under certain operating characteristics, behave as constant power loads (CPLs). This behavior is defined by presenting negative incremental resistance, compromising ...
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, ...
Control adaptativo por modelo de referencia con síntesis de controlador mínima en sistemas con incertidumbre y sujetos a perturbaciones
In this research work, a non-linear technique called Minimum Controller Synthesis (MCS) is presented. This is a variant of the Model Reference Adaptive Control (MRAC), which has the main advantage of requiring very little ...
Bridging the gap between reconstruction and synthesis
3D reconstruction and image synthesis are two of the main pillars in computer vision. Early works focused on simple tasks such as multi-view reconstruction and texture synthesis. With the spur of Deep Learning, the field ...
Guidance, navigation and control of multirotors
This thesis presents contributions to the Guidance, Navigation and Control (GNC) systems for multirotor vehicles by applying and developing diverse control techniques and machine learning theory with innovative results. ...
Health-aware predictive control schemes based on industrial processes
The research is motivated by real applications, such as pasteurization plant, water networks and autonomous system, which each of them require a specific control system to provide proper management able to take into account ...
Geometric computer vision meets deep learning for autonomous driving applications
This dissertation intends to provide theoretical and practical contributions on the development of deep learning algorithms for autonomous driving applications. The research is motivated by the need of deep neural networks ...
Advances in planning and control for autonomous vehicles
This thesis presents some advances to the state of the art of state estimation, automatic control and trajectory planning fields applied to autonomous vehicles. Such contributions have a common aspect throughout the thesis, ...
Fashion discovery : a computer vision approach
Performing semantic interpretation of fashion images is undeniably one of the most challenging domains for computer vision. Subtle variations in color and shape might confer different meanings or interpretations to an ...
Object manipulation based on tactile information
In-hand dexterous manipulation of an object is the ability to change the configuration (position and/or orientation) of an object held in the hand. This is an ability that has allowed humans to use tools and interact with ...
Advanced energy management/control strategies for smart manufacturing systems
This thesis is devoted to the study of the optimisation-based control techniques for the design of control strategies that contribute to improve the energy efficiency of smart manufacturing systems. Currently, manufacturing ...
Contribución al modelado e implementación de un control avanzado para un proceso de cloración de una estación de tratamiento de agua potable
The effective disinfection in chlorination tanks of drinking water treatment plants depends on many factors that must be taken into account when designing a suitable control system. The chemical characteristics of the water ...
Knowledge representation and reasoning for perception-based manipulation planning
This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
3D Partial scans models for people recognition with a RGB-D sensor
Research developed in this thesis is motivated by a vision of a future where social activities and personalized services are delivered in intelligent environments, entering a new era of more natural and wholesome human-machine ...
