Now showing items 77-96 of 108

    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 ...

    Resource and performance trade-offs in real-time embedded control systems 

    Lozoya Gámez, Rafael Camilo (Date of defense: 2011-07-19)

    The use of computer controlled systems has increased dramatically in our daily life. Microprocessors are embedded in most of the daily- used devices. Due to cost constraints, many of these devices that run control ...

    Robot learning from demonstration of force-based manipulation tasks 

    Rozo, Leonel (Date of defense: 2013-06-11)

    One of the main challenges in Robotics is to develop robots that can interact with humans in a natural way, sharing the same dynamic and unstructured environments. Such an interaction may be aimed at assisting, helping or ...

    The robot null space : new uses for new robotic systems 

    Claret Robert, Josep Arnau (Date of defense: 2019-10-02)

    This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic systems. In particular, new uses of the ...

    Robust perceptual organization techniques for analysis of color images 

    Moreno Serrano, Rodrigo (Date of defense: 2010-11-15)

    Esta tesis aborda el desarrollo de nuevas técnicas de análisis robusto de imágenes estrechamente relacionadas con el comportamiento del sistema visual humano. Uno de los pilares de la tesis es la votación tensorial, una ...

    Searching and tracking of humans in urban environments with humanoid robots 

    Goldhoorn, Alex (Date of defense: 2017-09-21)

    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 ...

    Sensor placement for fault diagnosis based on structural models: application to a fuel cell stak system 

    Rosich Oliva, Albert (Date of defense: 2011-06-03)

    The present work aims to increase the diagnosis systems capabilities by choosing the location of sensors in the process. Therefore, appropriate sensor location will lead to better diagnosis performance and implementation ...

    Sequencing in Mixed Model Non-Permutation Flowshop Production Lines using Constrained Buffers 

    Färber, Gerrit (Date of defense: 2007-02-12)

    En una línea de producción clásica, solamente se producían productos con las mismas opciones. Para la fabricación de variaciones del mismo producto básico se utilizaba una línea diferente o eran necesarias modificaciones ...

    Síntesis de controladores para convertidores de potencia utilizando realimentación de la salida pasiva de la dinámica exacta del error de seguimiento: teoría y práctica 

    Spinetti Rivera, Mario de Jesús (Date of defense: 2010-03-05)

    The essential idea of this thesis is to present a sufficiently general technique for the synthesis of control laws based on the passivity property. The fundamental ideal is properly exploit the exact tracking error dynamics ...

    Sliding mode control of the stand alone wound rotor synchronous generator 

    Muñoz Aguilar, Raúl Santiago (Date of defense: 2010-07-19)

    En esta Tesis ha sido analizado el control de la màquina sincrónica de rotor bobinado actuando en isla. Para esta configuración, la velocidad mecànica determina la frecuencia, y la tensión de rotor se utiliza para fijar ...