Now showing items 68-87 of 108

    Modelado, simulación y control de un convertidor boost acoplado magnéticamente 

    Carrero Candelas, Niliana Andreina (Date of defense: 2014-07-18)

    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 ...

    Modeling and control of PEM fuel cells 

    Sarmiento Carnevali, Maria Laura (Date of defense: 2017-09-22)

    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 ...

    Modeling, Simulation and Control of Doubly-Fed Induction Machine Controlled by Back-to-Back converter 

    Dòria Cerezo, Arnau (Date of defense: 2006-10-18)

    Aquesta Tesi estudia el control d'un sistema complex, un sistema d'emmagatzement d'energia cinètica, incloent les seves especificacions de control, modelat, disseny de controladors, simulacions, muntatge i validació ...

    Modelling and nonlinear control of voltage frequency of hydroelectric power plants 

    Quiroga, Oscar Daniel (Date of defense: 2000-10-27)

    Las centrales hidroeléctricas, como sistemas reales, tienen un comportamiento no lineal. Con el objetivo de diseñar controladores para turbinas, fue una práctica normal en el pasado considerar o simplificar estos comportamientos ...

    Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system 

    Guerra Paradas, Edmundo (Date of defense: 2017-07-17)

    The Simultaneous Localization and Mapping (SLAM) problem is widely acknowledged as one of the fundamental problem to solve in perception and robotics to produce actual mobile robotic agents. The problem itself is that of ...

    Motion planning using synergies : application to anthropomorphic dual-arm robots 

    García Hidalgo, Néstor (Date of defense: 2019-10-08)

    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 ...

    Multi-layer model predictive control of complex water systems 

    Sun, Congcong (Date of defense: 2015-11-17)

    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. ...

    Multi-robot cooperative platform : a task-oriented teleoperation paradigm 

    Hernansanz Prats, Albert (Date of defense: 2016-04-14)

    This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, ...

    Numerical computation and avoidance of manipulator singularities 

    Bohigas Nadal, Oriol (Date of defense: 2013-05-10)

    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. ...

    Object manipulation based on tactile information 

    Montaño Sarria, Andrés Felipe (Date of defense: 2021-03-18)

    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 ...

    On model predictive control for economic and robust operation of generalised flow-based networks 

    Grosso Pérez, Juan Manuel (Date of defense: 2015-03-26)

    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 ...

    Parallel robots with unconventional joints to achieve under-actuation and reconfigurability 

    Grosch, Patrick (Date of defense: 2016-06-23)

    The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new ...

    Perceiving dynamic environments : from surface geometry to semantic representation 

    Husain, Syed Farzad (Date of defense: 2016-10-27)

    Perceiving human environments is becoming increasingly fundamental with the gradual adaptation of robots for domestic use. High-level tasks such as the recognition of objects and actions need to be performed far the active ...

    Physics-based motion planning for grasping and manipulation 

    Ud Din, Muhayy (Date of defense: 2018-12-04)

    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 ...

    Planificación automática y supervisión de operaciones de montaje mediante robots 

    Suárez, Raúl (Date of defense: 1993-07-08)

    One of the main topics to be solved in order to fully automate a robotized assembly task is the automatic determination of the movements to be done by the robot to properly perform the tasks when the existing uncertainty ...

    Planificación de movimientos en entornos dinámicos o inciertos mediante la coordinación de métodos aleatorios de búsqueda y funciones armónicas 

    Íñiguez Galbete, Pedro (Date of defense: 2012-05-23)

    En los métodos planificadores de trayectorias basados en funciones potenciales, la utilización de las funciones armónicas tiene la importante propiedad de no presentar mínimos locales. Sin embargo, la creación de ...

    Predictive control with dynamic constraints for closure and opening operations of irrigation canals 

    Galvis Restrepo, Eduard (Date of defense: 2016-01-15)

    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 ...

    Prognostics and health aware model predictive control of wind turbines 

    Sánchez Sardi, Héctor Eloy (Date of defense: 2017-07-21)

    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 ...

    Programación de actividades en celdas robotizadas de tipo flowshop con buffers finitos y piezas distintas 

    Pendones, Juan Pablo (Date of defense: 2016-04-20)

    In this dissertation it is solved a problem of optimization in automated systems of production based on robotic cells where the time of completion of parts Cmax is minimized and where there are buffers between pairs of ...

    Resolución del problema de flujo general flexible con fechas comprometidas y costes dependientes del intervalo de realización de las operaciones 

    González Vargas, Néstor Andrés (Date of defense: 2013-06-28)

    En el marco de la problemática de la programación de operaciones en taller, en esta tesis se introduce un nuevo problema, que se identifica como problema de flujo general flexible (fJSP) con fechas comprometidas y costes ...