Institut d'Organització i Control de Sistemes Industrials: Recent submissions
Now showing items 21-40 of 108
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 ...
Monocular SLAM : data association and sensing through a human-assisted uncalibrated visual system
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 ...
3D pose estimation in complex environments
Although there has been remarkable progress in the pose estimation literature, there are still a number of limitations when existing algorithms must be applied in everyday applications, especially in uncontrolled environments. ...
Perceiving dynamic environments : from surface geometry to semantic representation
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 ...
Task-oriented viewpoint planning for free-form objects
This thesis deals with active sensing and its use in real exploration tasks under both scene ambiguities and measurement uncertainties. While object modeling is the implicit objective of most of active sensing algorithms, ...
Parallel robots with unconventional joints to achieve under-actuation and reconfigurability
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 ...
Programación de actividades en celdas robotizadas de tipo flowshop con buffers finitos y piezas distintas
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 ...
Distributed large scale systems : a multi-agent RL-MPC architecture
This thesis describes a methodology to deal with the interaction between MPC controllers in a distributed MPC architecture. This approach combines ideas from Distributed Artificial Intelligence (DAI) and Reinforcement ...
Multi-robot cooperative platform : a task-oriented teleoperation paradigm
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, ...
Demand modeling for water networks calibration and leak localization
The success in the application of any model-based methodology (e.g. design, control, supervision) highly depends on the availability of a well calibrated model. There is no best or unique solution for the calibration problem ...
3D mapping and path planning from range data
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 ...
Localización de robots móviles en entornos cerrados mediante características de audio
When GPS is not operative in closed environments, mobile robots use different types of sensor in order to locate their position. However, the use of audiofrequency signals sensors is significative lower than other type of ...
FAST : a fault detection and identification software tool
The aim of this work is to improve the reliability and safety of complex critical control systems by contributing to the systematic application of fault diagnosis. In order to ease the utilization of fault detection and ...
El modelo eléctrico de conductancias aplicado al isomorfismo de grafos : el método de la estrella
The first objective proposed in the research of this thesis was the select and develop a (preferably simple) model for graphs, thus, the results obtained through the model may be extrapolated to the modeled objects: graphs. ...
Predictive control with dynamic constraints for closure and opening operations of irrigation canals
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 ...
Energy efficient control of electrostatically actuated MEMS
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, ...
Advances in gain-scheduling and fault tolerant control techniques
This thesis presents some contributions to the state-of-the-art of the fields of gain-scheduling and fault tolerant control (FTC). In the area of gain-scheduling, the connections between the linear parameter varying (LPV) ...
Disseny i modelització d'un sistema de gestió multiresolució de sèries temporals
Nowadays, it is possible to acquire a huge amount of data, mainly due to the fact that it is easy to build monitoring systems together with big sensor networks. However, data has to be managed accordingly, which is not so ...
Understanding human-centric images : from geometry to fashion
Understanding humans from photographs has always been a fundamental goal of computer vision. Early works focused on simple tasks such as detecting the location of individuals by means of bounding boxes. As the field ...
Multi-layer model predictive control of complex water systems
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. ...
