3D mapping and path planning from range data 

    Teniente Avilés, Ernesto Homar (Fecha de defensa: 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 ...

    3D pose estimation in complex environments 

    Peñate Sánchez, Adrián (Fecha de defensa: 2017-04-07)

    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. ...

    Advanced digital resonant control techniques for grid-connected voltage source converters 

    Orellana Barceló, Marcos (Fecha de defensa: 2019-02-06)

    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 ...

    Advances in gain-scheduling and fault tolerant control techniques 

    Rotondo, Damiano (Fecha de defensa: 2016-04-01)

    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) ...

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

    Vidal Idiarte, Enric (Fecha de defensa: 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 (Fecha de defensa: 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.<br/>Tres objetivos diferentes ...

    Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning 

    Colomé Figueras, Adrià (Fecha de defensa: 2017-07-14)

    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 ...

    Consensus control in robot networks and cooperative teleoperation : an operational space approach 

    Aldana López, Carlos Iván (Fecha de defensa: 2015-03-17)

    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 ...

    Cooperative social robots: accompanying, guiding and interacting with people 

    Garrell Zulueta, Anaís (Fecha de defensa: 2013-12-20)

    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, ...

    Demand modeling for water networks calibration and leak localization 

    Sanz Estapé, Gerard (Fecha de defensa: 2016-03-18)

    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 ...

    Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems 

    Luna Pacho, Julio Alberto (Fecha de defensa: 2017-02-27)

    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 ...

    Diagnosis and fault-tolerant control using set-based methods 

    Xu, Feng (Fecha de defensa: 2014-11-27)

    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, ...

    Digital repetitive control under varying frequency conditions 

    Ramos Fuentes, Germán Andrés (Fecha de defensa: 2012-09-12)

    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 ...

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

    Navarro López, Eva Maria (Fecha de defensa: 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 ...

    Distributed large scale systems : a multi-agent RL-MPC architecture 

    Javalera Rincón, Valeria (Fecha de defensa: 2016-04-07)

    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 ...

    El modelo eléctrico de conductancias aplicado al isomorfismo de grafos : el método de la estrella 

    Igelmo Ganzo, Manuel (Fecha de defensa: 2016-01-28)

    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. ...

    Energy efficient control of electrostatically actuated MEMS 

    Fargas Marquès, Andreu (Fecha de defensa: 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, ...

    Estabilización de vídeo en tiempo real : aplicaciones en teleoperación de micro vehículos aéreos de ala rotativa 

    Aguilar Castillo, Wilbert Geovanny (Fecha de defensa: 2015-09-04)

    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, ...

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

    Castillo Pérez, Esteban del (Fecha de defensa: 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 ...

    Estimating and understanding motion : from diagnostic to robotic surgery 

    Avilés Rivero, Angélica Ivone (Fecha de defensa: 2017-05-18)

    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 ...