Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 81-100 of 149
Combining task and motion planning for mobile manipulators
This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple ...
Motion planning using synergies : application to anthropomorphic dual-arm robots
Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ...
Solving robotic kinematic problems : singularities and inverse kinematics
Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of ...
Sensorimotor exploration: constraint awareness and social reinforcement in early vocal development
This research is motivated by the benefits that knowledge regarding early development in infants may provide to different fields of science. In particular, early sensorimotor exploration behaviors are studied in the framework ...
Modeling and control of PEM fuel cells
In recent years, the PEM fuel cell technology has been incorporated to the R&D plans of many key companies in the automotive, stationary power and portable electronics sectors. However, despite current developments, the ...
Designing a robot to evaluate group formations
Robots are making their way in environments inhabited by people. Whether in domestic or public crowded environments, robots should take into consideration social norms and behaviors in order to become a social robot. This ...
Advanced digital resonant control techniques for grid-connected voltage source converters
It is a fact that the presence of power distributed generation sources in the electrical sector is growing exponentially worldwide. This can mainly be explained by the increase of renewable energy production, which involves ...
Vision based sensor substitution in robotic assisted surgery
Perceiving and understanding the world represents a long-term goal in the field of Artificial Intelligence (AI). In recent years, advances in the field of Machine Learning (ML), and specifically in Deep Learning (DL), have ...
Physics-based motion planning for grasping and manipulation
This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
A contribution to the incorporation of sociability and creativity skills to computers and robots
This dissertation contains the research and work completed by the PhD candidate on the incorporation of sociability and creativity skills to computers and robots. Both skills can be directly related with empathy, which is ...
Fault detection and fault tolerant control in wind turbines
Renewable energy is an important sustainable energy in the world. Up to now, as an essential part of low emissions energy in a lot of countries, renewable energy has been important to the national energy security, and ...
A template based approach for human action recognition
Visual analysis of human movements concerns the understanding of human activities from image sequences. The goal of the action/gesture recognition is to recognize the label that corresponds to an action or gesture made by ...
Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning
In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...
The role of population games in the design of optimization-based controllers: a large-scale insight
This thesis is mainly devoted to the study of the role of evolutionary-game theory in the design of distributed optimization-based controllers. Game theoretical approaches have been used in several engineering fields, e.g., ...
Estimating and understanding motion : from diagnostic to robotic surgery
Estimating and understanding motion from an image sequence is a central topic in computer vision. The high interest in this topic is because we are living in a world where many events that occur in the environment are ...
Prognostics and health aware model predictive control of wind turbines
Wind turbines components are subject to considerable stresses and fatigue due to extreme environmental conditions to which they are exposed, especially those located offshore. Also, the most common faults present in wind ...
Searching and tracking of humans in urban environments with humanoid robots
Searching and tracking are important behaviours for a mobile service robot to assist people, to search-and-rescue and, in general, to locate mobile objects, animals or humans. Even though searching might be evident for ...
Visual guidance of unmanned aerial manipulators
The ability to fly has greatly expanded the possibilities for robots to perform surveillance, inspection or map generation tasks. Yet it was only in recent years that research in aerial robotics was mature enough to allow ...
Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems
Proton exchange membrane (PEM) fuel cells, which use hydrogen as fuel, provide high power densities while operating at lower temperatures, reducing the cost of materials and maintenance. PEM fuel cells are suitable for a ...
Learning relational models with human interaction for planning in robotics
Automated planning has proven to be useful to solve problems where an agent has to maximize a reward function by executing actions. As planners have been improved to salve more expressive and difficult problems, there is ...
