Doctoral School

Reading date: 14/10/2024

• FLORES VÁZQUEZ, CARLOS ALBERTO: CeCi: Design, Development and Validation of an Affordable Consumer Service Robot as a Social Robot
  
  Author: FLORES VÁZQUEZ, CARLOS ALBERTO
  Thesis file: (contact the Doctoral School to confirm you have a valid doctoral degree and to get the link to the thesis)
  Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
  Department: Department of Automatic Control (ESAII)
  Mode: Normal
  Deposit date: 02/07/2024
  Reading date: 14/10/2024
  Reading time: 11:00
  Reading place: Sala de Juntes de la Facultat de Matemàtiques i Estadística (FME), Campus Diagonal Sud, Edifici U. C. Pau Gargallo, 14 08028 Barcelona
  Thesis director: ANGULO BAHON, CECILIO
  Committee:
       PRESIDENT: VALLÈS PERIS, NÚRIA
       SECRETARI: REPISO POLO, ELY
       VOCAL: TREJO RAMÍREZ, KARLA ANDREA
  Thesis abstract: This research discusses elements to be considered for designing, developing, and validating a service robot that performs its task in different social environments. Due to the social focus of the provided services, technical considerations are demanded toaccomplish the task, and the acceptability of use for the people interacting with the robot.The first stage of the research considers previous cases on the implementation of service mobile robots, their analysis, and the motivation of how to solve their acceptability and use by people. The developmental part presents the technical and social considerations for implementing the CeCi (Computer Electronic Communication Interface) social robot. Two main problems of social robots and service robots in social environments currently on the market are addressed, which are the main focus of this research: First, their costs are not affordable for many companies, universities, or individuals in developing countries. The second is that their design is exclusively oriented to the functional part with a viewpoint inherent to the engineers who create them without considering the end users’ views, preferences, or requirements, especially for their social interaction. This last reason ends up causing a certain aversion to the use of this type of robot.In response to the issues raised, an affordable, low-cost prototype is proposed, starting from a commercial platform for research development and using open-source code. The robot design presented here is centered on the criteria and preferences of the end user, prioritizing acceptability for social interaction. This document details the selection process and hardware capabilities of the robot. Moreover, a programming section is provided to introduce the different software packages used and adapted for social interaction, the main functions implemented, as well as the new and original part of the proposal. A list of applications currently developed with the robot and possible applications for future research are discussed.As a final step, the complete implementation of the social robot is explained based on two design elements. The first element is the use of the design thinking methodology for the development and implementation of the robot. The second element, of a technical nature, is a previous taxonomy generated for defining socially-aware robot assistants. Therefore, in the construction process, special emphasis is placed on the realization of prototypes and their adjustment to the users’ preferences. Interviewswith users who were unaware of the robot’s capabilities were used to improve and validate the prototype. These prototypes and their evolution will be presented based on the adjustments performed. Beyond the users’ feedback, previous experiences exposed to the state of the art were considered for the evolution of this robot. The entire methodological process is validated with surveys, and results are presented as a SWOT (strengths, weaknesses, opportunities, and threats) analysis for future improvements.
  

• HURTADO ILLANES, MARISOL CAROL: Diseño de un Modelo Integrado para el Empoderamiento Individual y el Apoyo Social en la Gestión del Conocimiento de Enfermedades Crónicas
  
  Author: HURTADO ILLANES, MARISOL CAROL
  Thesis file: (contact the Doctoral School to confirm you have a valid doctoral degree and to get the link to the thesis)
  Programme: DOCTORAL DEGREE IN BUSINESS ADMINISTRATION AND MANAGEMENT
  Department: Department of Management (OE)
  Mode: Normal
  Deposit date: 17/07/2024
  Reading date: 14/10/2024
  Reading time: 11:30
  Reading place: Defensa pública al Seminari I - Dept. Organitació d'Empreses, planta 7 - ETSEIB- UPC - Avda. Diagonal, 647, Barcelona
  Thesis director: VIEDMA MARTI, JOSE M. | COLL BERTRAN, JOSEP
  Committee:
       PRESIDENT: CANALS PARERA, AGUSTI
       SECRETARI: BARTOLOME COMAS, ROSA MARIA
       VOCAL: SERRADELL LÓPEZ, ENRIC
  Thesis abstract: This transdisciplinary research focuses on knowledge management and human capital development in the context of chronic diseases, investigating mechanisms of empowerment in virtual communities. Living with a chronic illness involves facing high uncertainty and stress, resulting in social limitations and challenges. However, health conditions do not alter the essence of the individual or their need to actively participate in society. Chronic diseases increase global morbidity and mortality, representing a significant economic burden for healthcare systems. In this context, individual and community empowerment is crucial to improving the well-being and quality of life of patients.The study develops an Integrated Model for Individual Empowerment and Social Support in the Knowledge Management of Chronic Diseases, aimed at improving quality of life and enhancing patient autonomy. Its objectives include analyzing the influence of individual empowerment on patient engagement, exploring the connection between individual empowerment and community development in virtual communities, and examining the impact of sustainable practices on long-term empowerment. Using a mixed methodology that combines Dubin's methodology for theoretical development, the TDR approach (Transdisciplinary Research), and qualitative methods, the model was validated in a virtual community of chronic patients.The model focuses on key aspects such as Individual Empowerment (IE), Active Participation (IEG), Community Development (CD), and Sustainable Practices (SP). Furthermore, it describes states ranging from initial levels of low empowerment to achieving complete autonomy and commitment, through the formulation of theoretical propositions and the identification of intermediate stages that connect these elements and describe their interrelationships.Self-efficacy was manifested in narratives and testimonies that revealed participants' confidence and control. Active participation was evidenced in contributions and community activities, demonstrating a commitment to self-care. Social support was detected in interactions, reflecting solidarity and collaboration. Collaboration was observed in teamwork and mutual aid. Community development became evident through practices aimed at collective well-being. Access to knowledge was manifested in participation and resource-seeking, while sustainable practices were identified in actions aimed at long-term positive change.The results revealed individual strengthening among members of the online support group, highlighting the sense of personal control and resilience fostered through emotional support and self-efficacy. Members of the virtual community showed adaptability in facing health challenges through innovative strategies and community support, resulting in significant improvements in lifestyle habits and well-being. These aspects underscore the crucial influence of online support in promoting self-care, resilience, and overall health.In conclusion, the research highlights that empowerment through virtual communities is fundamental for the effective management of chronic diseases, emphasizing the importance of a holistic approach that encompasses social, psychological, and health self-management support. These findings enrich existing knowledge and influence health decisions and policies, underscoring the need to integrate sustainable practices into health policies for general well-being. The unified model of individual and community empowerment shows potential for application in other aspects of personal development, focusing on human capital and knowledge management.
  

• MARTINEZ SUAREZ, FRANK: Sistema de electrocardiografía ambulatoria para el análisis de la variabilidad de los intervalos de repolarización ventricular del ECG en la progresión de la enfermedad renal crónica en pacientes diabéticos e hipertensos
  
  Author: MARTINEZ SUAREZ, FRANK
  Thesis file: (contact the Doctoral School to confirm you have a valid doctoral degree and to get the link to the thesis)
  Programme: DOCTORAL DEGREE IN ELECTRONIC ENGINEERING
  Department: Department of Electronic Engineering (EEL)
  Mode: Change of supervisor
  Deposit date: 29/07/2024
  Reading date: 14/10/2024
  Reading time: 11:00
  Reading place: Auditorio del Departamento de Ingeniería Eléctrica del Cinvestav Unidad Zacatenco.
  Thesis director: CASAS PIEDRAFITA, JAIME OSCAR | ALVARADO SERRANO, CARLOS
  Committee:
       PRESIDENT: LEIJA SALAS, LORENZO
       SECRETARI: ALVARADO SERRANO, CARLOS
       VOCAL: GUTIERREZ SALGADO, JUAN MANUEL
  Thesis abstract: Chronic kidney disease is considered a risk factor for the development of cardiovascular disease because it is one of the main complications of diabetes mellitus and arterial hypertension, which are themselves considered cardiovascular risk factors. Therefore, it is important to periodically evaluate renal function in at-risk groups, such as diabetic and hypertensive patients or those with cardiovascular disease. In this doctoral thesis, six parameters of ECG ventricular activity are proposed to assess the progression of renal damage in diabetic subjects, with and without hypertension and hemodialysis treatment.To obtain ECG recordings from subjects and patients, a low-power, long-duration ambulatory monitor was developed for the simultaneous acquisition of three ECG leads. This monitor incorporates an algorithm that uses the continuous wavelet transform (CWT) to measure heart rate beat-by-beat in real-time. It has a CMRR greater than 80 dB at 60 Hz, a bandwidth of 0 to 150 Hz, a sampling rate of 1 kHz, and a current consumption of 50 mA, resulting in an average battery life of 84 hours. The monitor also detects false electrode contacts, stores data on a microSD memory card, and includes a user interface that facilitates interaction with the device.Specific PC software was developed for reading, storing, visualizing, and analyzing ECG records, as well as managing the patient's personal information. A SQL Server database was implemented to manage the records, corresponding analysis results, and patient data. The software uses Microsoft Excel files for the exchange of input and output information, with formats that are easy to create and interpret in other software development applications. The software algorithms employ CWT and are robust against the presence of noise, artifacts, and baseline drifts in the recording. These algorithms include detection and classification of T waves and QRS complexes, adaptation to changes in heart rate, and interval calculation. The algorithms work with CWT using B-spline basis functions, allowing them to handle any integer scale and ensuring that the analysis is not restricted to scales that are powers of two. The software enables the analysis of ECG recordings with different sampling rates by automatically selecting the CWT scale.The QRS complex detector, evaluated with the MIT-BIH, ST-T, and QT databases, achieved excellent performance with a sensitivity and positive predictivity of 99% from a total of 986,467 QRS complexes analyzed. For the QRS complex and T-wave characteristic point delineator, evaluated with the CSE, PTB, and QT databases, the errors at the Qi, J, and Te points were within the tolerance limits for deviations with respect to the manual measurements by CSE experts. For the Tp point, compared to another similar algorithm, the deviation was 1 sample (4 ms). According to these results, the developed algorithms allow reliable measurement of ECG ventricular activity intervals.For the analysis of the progression of renal damage in diabetic patients with and without hypertension and hemodialysis treatment, ECG records from the following databases of diabetic patients were used: GE-71, GE-75, and HR-48H. To analyze the five stages of diabetic nephropathy, three groups of diabetic patient records were created from the above databases: 39 patients without hypertension and without hemodialysis (DSH_SH), 22 patients with hypertension and without hemodialysis (DH_SH), and 20 patients with hypertension and hemodialysis (DH_CH). The proposed parameters representing ECG ventricular activity and heart rate are: the intervals (QpTe)c, (RTp)c, and (SpTp)c, and the ratios TpQp/RR, TpSp/RR, and RTe/TeR, which relate to two consecutive beats of the cardiac cycle. These parameters cover the five stages of diabetic nephropathy and enable the evaluation of the progression of renal damage in diabetic patients with and without hypertension and hemodialysis.
  

• ROCA MUSACH, MARC: Automatismes, usuaris i arquitectura. Aplicació a la gestió energètica dels edificis
  
  Author: ROCA MUSACH, MARC
  Thesis file: (contact the Doctoral School to confirm you have a valid doctoral degree and to get the link to the thesis)
  Programme: DOCTORAL DEGREE IN ARCHITECTURE, ENERGY AND ENVIRONMENT
  Department: Department of Architectural Technology (TA)
  Mode: Normal
  Deposit date: 19/09/2024
  Reading date: 14/10/2024
  Reading time: 11:00
  Reading place: Room Sala de Grados. ETSAB. Main floor
  Thesis director: CRESPO CABILLO, ISABEL | COCH ROURA, HELENA
  Committee:
       PRESIDENT: LUNA NAVARRO, ALESSANDRA
       SECRETARI: LÓPEZ BESORA, JUDIT
       VOCAL: AGUACIL MORENO, SERGI
  Thesis abstract: Digitalization and automation are being applied across various sectors of society, including buildings through Building Automation and Control Systems (BACS). These systems enable, for instance, the management of mobile exterior elements based on energy criteria that enhance the utilization of natural energy sources. However, they often completely replace the user’s role in managing the architecture, sometimes leading to uncomfortable and undesirable situations. The acceptance of BACS is well-studied in scientific literature, though this issues can arise only when people are present in the building. Some types of buildings, such as non-residential buildings with regular schedules (like offices, schools, universities, and administrative buildings), have a low annual occupancy rate, being occupied between one-sixth to one-third of the year. This means that they remain unoccupied most of the time. This thesis aims to quantify the impact of implementing control systems only when buildings are not in use (such as at night, during the weekends, and vacation periods), times when automation can operate freely without causing any disturbances to occupants. To achieve this, an energy simulation method is designed with three control scenarios: (i) entirely manual, (ii) fully automatic, and (iii) a combined system based on the occupancy, called hybrid, where the automation happens only when the building is not occupied, but allows manual control when people are present. This method is applied to nine case studies. The hybrid control system for solar protections reduces the energy demand by 5% to 15% compared to a manual control system, due to taking better advantage of solar radiation. The fully automatic system doubles the reduction of the energy demand of the hybrid system, but it does not take into consideration the user’s possible discomfort, such as glare. In conclusion, for buildings with regular occupancy patterns, hybrid systems are a good starting point for implementing BACS as they offer the advantages of automatic systems by efficiently utilizing natural environmental conditions, while still allowing for manual control by occupants, thus avoiding acceptance issues.
  

Reading date: 15/10/2024

• GUANCHEZ REYES, EDINSON ASDRUBAL: ESTUDIO DE LA INFLUENCIA DE LOS FENÓMENOS DE INTERACCIÓN SUELO-ESTRUCTURA EN LA RESPUESTA SÍSMICA DE ESTRUCTURAS TÍPICAS DE ACERO CON ARRIOSTRAMIENTOS CONCÉNTRICOS
  
  Author: GUANCHEZ REYES, EDINSON ASDRUBAL
  Thesis file: (contact the Doctoral School to confirm you have a valid doctoral degree and to get the link to the thesis)
  Programme: DOCTORAL DEGREE IN MECHANICAL, FLUIDS AND AEROSPACE ENGINEERING
  Department: Department of Strength of Materials and Structural Engineering (RMEE)
  Mode: Normal
  Deposit date: 10/09/2024
  Reading date: 15/10/2024
  Reading time: 12:00
  Reading place: Defensa pública a la Sala Àgora del Campus Nord de la Universitat Politècnica de Catalunya
  Thesis director: SANCHEZ ROMERO, MONTSERRAT | WEYLER PEREZ, RAFAEL
  Committee:
       PRESIDENT: DEL COZ DÍAZ, JUAN JOSÉ
       SECRETARI: VELAZQUEZ AMEIJIDE, JUAN
       VOCAL: CITO, SALVATORE
  Thesis abstract: Steel concentrically braced frames (CBF) are considered efficient in resisting lateral forces because they provide high lateral strength and stiffness, which is particularly beneficial in seismic zones. However, this type of structure has a significant overstrength that is not considered during foundation design, which can lead to uplift of the footings under the braced members and to rocking mechanisms. On the other hand, soil-structure interaction (SSI) phenomena and foundation flexibility are generally not considered in performance-based analyses of new or existing structures.In this research, the influence of SSI phenomena on the seismic response of CBF is evaluated by considering the nonlinear response of embedded footings using the BNWF (Beam on Nonlinear Winkler Foundation) approach. To model the vertical stress-displacement behaviour of the footings, it is possible to define a backbone curve by combining the response of the compression zone in series with that of the tension zone.When uplift of the footing is allowed, it is shown that it is necessary to consider the horizontal stresses of the native soil in situ and the degree of compaction of the soil above the footing to avoid significant deviations between the analysis results and the real response. The tension zone in the response curves has been calibrated to take these parameters into account and, given the difficulty associated with their calibration, an estimate is reported which could also be used for practical applications.The implementation has been validated by various pushover analyses on a steel CBF archetype originally tested in the fixed base condition, and predictions for the flexible base condition have been made considering different soil types and footing embedment depths (Df). The results show a direct relationship between the nonlinear response of steel CBF and the uplift mechanism of embedded footings, with the embedment depth (Df) and the shape of the tension-displacement curve being the most important variables that influence the response.The model has been incorporated in various nonlinear time-history analyses considering a set of seismic records on a well-known steel CBF archetype. The results obtained suggest that, when analysing the response of steel CBF on a nonlinear flexible base condition, it is possible to report variations in the yielding sequence of the superstructure with respect to the fixed base condition. It is reported that the embedment depth (Df) of the footing, and hence its uplift stiffness, is able to modify the overall response of the superstructure. On the other hand, the cyclic response of the foundation determines a process of energy dissipation which is reflected in a reduction of the seismic force on the bracing system of the structure. The energy dissipation mechanism due to vertical response is more efficient for the supports located under the braced frames compared to those footings located under unbraced columns, and the effect is much more pronounced in soft or loose soils. The proposed model can be implemented as part of both static and dynamic analyses to have a more realistic prediction of the seismic response during performance-based designs of structures supported on embedded footings, particularly for the case of steel CBF.