Universitat Politècnica de Catalunya
Now showing items 1-20 of 54
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 ...
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. ...
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 ...
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) ...
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 ...
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.<br/>Tres objetivos diferentes ...
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 ...
An interesting approach in cooperative control is to design distributed control strategies which use only local information so that a multi-agent system achieves specified behaviors. A basic behavior in cooperative control ...
The development of social robots capable of interacting with humans is one of the principal challenges in the field of robotics. More and more, robots are appearing in dynamic environments, like pedestrian walkways, ...
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 ...
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 ...
The fault-tolerant capability is an important performance specification for most of technical systems. The examples showing its importance are some catastrophes in civil aviation. According to some official investigations, ...
The tracking/rejection of periodic signals constitutes a wide field of research in the control theory and applications area and Repetitive Control has proven to be an efficient way to face this topic; however, in some ...
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 ...
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 ...
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. ...
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, ...
Micro Aerial Vehicles (MAVs), a subset of Unmanned Aerial Vehicles (UAVs), also known as drones, are becoming popular for several applications and gaining interest due to advantages as manufacturing and maintenance cost, ...
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 ...
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 ...
