Browsing Programa de Doctorat en Automatització Avançada i Robòtica by Subject "68"

Now showing items 1-10 of 10

3D mapping and path planning from range data

Teniente Avilés, Ernesto Homar (Date of defense: 2016-02-09)

This thesis reports research on mapping, terrain classification and path planning. These are classical problems in robotics, typically studied independently, and here we link such problems by framing them within a common ...

Aportación de la lógica borrosa y del control H-inf a la regulación de sistemas conmutados continua-continua

Vidal Idiarte, Enric (Date of defense: 2003-12-21)

En esta tesis doctoral se aborda el estudio de la aplicación de nuevas técnicas de control como el control basado en lógica borrosa y el control robusto H a la regulación de sistemas conmutados continua-continua. Más ...

Approximation and geometric processing of digital images with adaptive triangular meshes

Vintimilla Burgos, Boris Xavier (Date of defense: 2001-01-19)

Esta tesis se ha enfocado en el desarrollo y evaluación de un conjunto de técnicas eficientes para generar y procesar mallas triangulares adaptativas obtenidas a partir de imágenes digitales. Tres objetivos diferentes ...

Dissipativity and passivity-related properties in nonlinear discrete-time systems

Navarro López, Eva Maria (Date of defense: 2002-06-28)

El propósito de la presente tesis es el estudio de la disipatividad en sistemas no lineales discretos. Dicho trabajo de investigación presenta nuevas contribuciones en la teoría de control no lineal discreto basado en ...

Energy efficient control of electrostatically actuated MEMS

Fargas Marquès, Andreu (Date of defense: 2016-01-22)

Plenty of Micro-electro-mechanical Systems (MEMS) devices are actuated using electrostatic forces, and specially, parallel-plate actuators are extensively used, due to the simplicity of their design. Nevertheless, ...

Estimación de la forma de un objeto deformable mediante integración de visión y tacto

Castillo Pérez, Esteban del (Date of defense: 2013-09-30)

Desde hace varias décadas los robots industriales han demostrado su eficiencia para tareas desarrolladas en entornos perfectamente conocidos. No obstante, surgen importantes complicaciones operativas en entornos limitadamente ...

Experimental characterization and diagonosis tools for proton exchange membrane fuel cells

Primucci, Mauricio (Date of defense: 2012-09-10)

A fuel cell is a device that gives electric power directly from electrochemical reduction and oxidation reactions. PEM fuel cells present some properties that make them appropriate for portable and transport applications: ...

Fine-motion planning for robotic assembly under modelling and sensing uncertainties

Rosell Gratacòs, Jan (Date of defense: 1998-10-13)

This thesis proposes a fine-motion planner for assembly tasks in the plane considering two degrees of freedom of translation and one of rotation, taking into account modelling and sensing uncertainties and the effect of ...

Grasp plannind under task-specific contact constraints

Rosales Gallegos, Carlos (Date of defense: 2013-01-10)

Several aspects have to be addressed before realizing the dream of a robotic hand-arm system with human-like capabilities, ranging from the consolidation of a proper mechatronic design, to the development of precise, ...

Solving inverse kinematics problems using an interval method

Castellet Llerena, Albert (Date of defense: 1998-10-09)

de la tesi El principal objectiu d'aquesta tesi és establir una base teòrica que permeti resoldre problemes cinemàtics inversos mitjançant mètodes d'intervals. La primera part de la tesi desenvolupa i ...