Programa de Doctorat en Automàtica, Robòtica i Visió: Recent submissions
Now showing items 41-60 of 140
Position analysis based on multi-affine formulations
The position analysis problem is a fundamental issue that underlies many problems in Robotics such as the inverse kinematics of serial robots, the forward kinematics of parallel robots, the coordinated manipulation of ...
Collaborative social robot navigation in accompanying and approaching tasks
Our society is evolving to include robots in our daily lives. Therefore, it is necessary to develop robots capable of collaborating with people to carry out daily tasks, for example: accompanying, searching, transporting, ...
Control adaptativo por modelo de referencia con síntesis de controlador mínima en sistemas con incertidumbre y sujetos a perturbaciones
In this research work, a non-linear technique called Minimum Controller Synthesis (MCS) is presented. This is a variant of the Model Reference Adaptive Control (MRAC), which has the main advantage of requiring very little ...
Bridging the gap between reconstruction and synthesis
3D reconstruction and image synthesis are two of the main pillars in computer vision. Early works focused on simple tasks such as multi-view reconstruction and texture synthesis. With the spur of Deep Learning, the field ...
Guidance, navigation and control of multirotors
This thesis presents contributions to the Guidance, Navigation and Control (GNC) systems for multirotor vehicles by applying and developing diverse control techniques and machine learning theory with innovative results. ...
Health-aware predictive control schemes based on industrial processes
The research is motivated by real applications, such as pasteurization plant, water networks and autonomous system, which each of them require a specific control system to provide proper management able to take into account ...
Geometric computer vision meets deep learning for autonomous driving applications
This dissertation intends to provide theoretical and practical contributions on the development of deep learning algorithms for autonomous driving applications. The research is motivated by the need of deep neural networks ...
Advances in planning and control for autonomous vehicles
This thesis presents some advances to the state of the art of state estimation, automatic control and trajectory planning fields applied to autonomous vehicles. Such contributions have a common aspect throughout the thesis, ...
Fashion discovery : a computer vision approach
Performing semantic interpretation of fashion images is undeniably one of the most challenging domains for computer vision. Subtle variations in color and shape might confer different meanings or interpretations to an ...
Object manipulation based on tactile information
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 ...
Advanced energy management/control strategies for smart manufacturing systems
This thesis is devoted to the study of the optimisation-based control techniques for the design of control strategies that contribute to improve the energy efficiency of smart manufacturing systems. Currently, manufacturing ...
Contribución al modelado e implementación de un control avanzado para un proceso de cloración de una estación de tratamiento de agua potable
The effective disinfection in chlorination tanks of drinking water treatment plants depends on many factors that must be taken into account when designing a suitable control system. The chemical characteristics of the water ...
Knowledge representation and reasoning for perception-based manipulation planning
This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
3D Partial scans models for people recognition with a RGB-D sensor
Research developed in this thesis is motivated by a vision of a future where social activities and personalized services are delivered in intelligent environments, entering a new era of more natural and wholesome human-machine ...
Lidar-based scene understanding for autonomous driving using deep learning
With over 1.35 million fatalities related to traffic accidents worldwide, autonomous driving was foreseen at the beginning of this century as a feasible solution to improve security in our roads. Nevertheless, it is meant ...
Control and management of energy storage systems in microgrids
The rate of integration of the renewable energy sources in modern grids have significantly increased in the last decade. These intermittent, non-dispatchable renewable sources, though environment friendly tend to be ...
The robot null space : new uses for new robotic systems
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 ...
Model-based control and diagnosis of inland navigation networks
This thesis regards the problem of optimal management of water resources in inland navigation networks from a control theory perspective. In particular, the main objective to be attained consists in guaranteeing the ...
On the fault diagnosis of dynamic systems using set-based approaches
Model-based Fault Detection and Isolation (FDI) is a major theoretical topic that is becoming increasingly to one of the most significant key features to increase safety and reliability of complex automatic control systems. ...
Gestión energética de vehículos hibridos usando control predictivo económico
Every method of energy generation and transmission affects the environment. Under this principle, conventional generation options based on fossil fuels, such as coal, gasoline, diesel, among others, are progressively ...
