Doctoral School

Reading date: 10/11/2025

• DALMASSO BLANCH, MARC: Cooperative Planning and Negotiation in Human-Robot Teams
  
  Author: DALMASSO BLANCH, 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 AUTOMATIC CONTROL, ROBOTICS AND VISION
  Department: Institute of Robotics and Industrial Informatics (IRI)
  Mode: Normal
  Deposit date: 01/10/2025
  Reading date: 10/11/2025
  Reading time: 11:00
  Reading place: Sala d'Actes de la Facultat de Matemàtiques i Estadística (FME), Campus Diagonal Sud, Edifici U. C. Pau Gargallo, 14, 08028 Barcelona
  Thesis director: SANFELIU CORTES, ALBERTO
  Thesis abstract: As robots become increasingly integrated into everyday environments, rigid role paradigms and unilateral control models fall short of enabling meaningful collaboration. Preserving human autonomy while allowing robots to contribute proactively in shared decision-making tasks introduces the need for alignment and negotiation between agents. Negotiation arises not merely as a design preference but as a requirement when autonomous entities with partial knowledge, differing capabilities, or misaligned goals must act jointly in real-world settings.This thesis investigates the challenge of integrating robots into human teams in unstructured environments, with a particular focus on Human-Robot Collaborative Navigation (HRCN). It seeks to empower them as active decision-making agents who flexibly and critically adapt to human preferences and needs. This technological development is framed as a social necessity: without it, robots would remain confined to controlled environments, or people would lose agency by having to adapt to rigid robot behaviour.The core contributions of the thesis are threefold. First, it introduces the Social Reward Sources (SRS) model, a shared spatial and task representation for Human-Robot Teams (HRT). Second, it presents a multi-agent planning system leveraging the SRS model to generate collaborative plans for heterogeneous teams. Third, it proposes a negotiation framework for Human-Robot Plan Negotiation (HRPN), incorporating a novel plan characterisation model, the cooperativeness space. These and additional secondary contributions are validated through real-world experiments within the collaborative object search benchmark.Altogether, the thesis offers a pathway for deploying robots as collaborative agents capable of negotiation, thereby supporting agency-preserving human-robot interaction in open-world contexts.
  

• RENDON DÁVILA, VÍCTOR OSCAR: COMPORTAMIENTO HIDRÁULICO DE ALIVIADEROS DE PERFIL ESTRICTO EN ZONAS DE GRAN ALTITUD
  
  Author: RENDON DÁVILA, VÍCTOR OSCAR
  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 CIVIL ENGINEERING
  Department: Barcelona School of Civil Engineering (ETSECCPB)
  Mode: Normal
  Deposit date: 01/10/2025
  Reading date: 10/11/2025
  Reading time: 12:00
  Reading place: UPC Campus Nord, ETSECCPB, C/ Jordi Girona 1-3, edificio C1, Sala 002, Barcelona
  Thesis director: SANCHEZ JUNY, MARTI
  Thesis abstract: This research explores the influence of altitude on the shape of strict profile spillways and their discharge coefficients, pressure field, and cavitation risk. An experimental campaign has been carried out next to the Condoroma dam, in Peru, at an altitude of 4075 m a.s.l. and the data obtained were compared with existing classical references. First, the influence of altitude on the spillway profile was analyzed. For this purpose, the discharge over a sharp crested rectangular spillway was analyzed, considering 5 discharge heights of 0.05, 0.10, 0.20, 0.20, 0.30, and 0.35 m and flow rates up to a maximum of 285 l/s. Classical fits by Creager (1917), Scimemi (1930), Creager et al. (1945), Hager (1987), and WES (1977) show some differences with respect to the profile resulting from the Condoroma experiments for all P⁄Hd ratios.The equation proposed for the Condoroma data allows the standard profile of a spillway to be defined at altitudes around 4000 m a.s.l. Near the ridge 0<x⁄H_d <0.5, for dimensionless profiles, there is a tendency for the Condoroma values to overlap with the classical profiles. For x⁄Hd >1, the Condoroma profile, it tends to separate from all the classical profiles, giving a slightly wider profile. In order to evaluate the discharge coefficients, up to five different spillway heights (P), characterized by the dimensionless value (P⁄Hd ) were analyzed. The results show that the discharge coefficients vary considerably, with values systematically lower than those obtained to date in previous studies at lower altitudes. With regard to the pressure field and the risk of cavitation in standard profile spillways designed according to the USBR criteria for the 5 different heights, the results are presented in standardized graphs and compared with previous studies, showing that the pressure ranges obtained are similar. In addition, the structural recommendations for the design of these spillways are compared, and it is found that in most cases they are more restrictive than in areas of lower elevation.With regard to the risk of cavitation, new plots are presented with for P⁄H_d showing that there is a critical value of H⁄Hd and that this is more limiting than the pressure load for all the P⁄Hd studied.
  

• VENGHAUS, HENNING: Advanced Finite Element Methods for Metal Forming and Manufacturing Process Simulation: An Application to Friction Stir Welding Analysis.
  
  Author: VENGHAUS, HENNING
  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 STRUCTURAL ANALYSIS
  Department: Department of Civil and Environmental Engineering (DECA)
  Mode: Article-based thesis
  Deposit date: 10/09/2025
  Reading date: 10/11/2025
  Reading time: 12:00
  Reading place: Sala Zienkiewich (CIMNE) Building C1, UPC - Campus NorthGran Capitan S/N 08034 Barcelona
  Thesis director: CHIUMENTI, MICHELE | BAIGES AZNAR, JOAN | JUHRE, DANIEL
  Thesis abstract: This work explores the benefits and challenges of advanced Finite Element Methods for metal forming and manufacturing processes. As these processes become increasingly complex, FEM has emerged as a crucial tool. It helps predict physical quantities, aiding engineers in decision-making and enhancing the efficiency of development and production chains.Metal forming often involves (nearly) isochoric behavior due to plastic deformations, which can cause the standard Finite Method to become unstable. To address the isochoric behavior and ensure local convergence of strains and stresses, this study utilizes mixed finite element formulations, including the displacement-pressure (u/p), displacement-strain (u/ε), and displacement-pressure-deviatoric strain (u/p/e) formulations. To mitigate the high computational cost of the u/ε and u/p/e formulations, the Adaptive Formulation Refinement (AFR) technique is developed. This technique selectively activates the enhanced formulations based on physical criteria or error estimation. The method's accuracy and convergence rate is studied and compare favorably to reference solutions. The method is successfully applied to quasi-brittle structural failure analysis.This work further addresses the practical application of advanced numerical methods to complex manufacturing problems, notably Friction Stir Welding (FSW), which is a solid-state welding technique. FSW is characterized by isochoric deformations, extremely high strain rates, and highly non-linear and temperature-dependent material behavior. An Embedded Finite Element Method is employed to simplify the modeling of complex geometries and moving boundary conditions. It uses a purely Eulerian framework and a discrete level-set function for tool modeling and works directly with CAD tool geometries. The simulation results align well with experimental data. A parameter study of process parameters is carried out to evaluate their impact on welding forces and temperature evolution, demonstrating the tool's usefulness in aiding development processes.To enhance usability, a Graphical User Interface (GUI) is developed for creating simulation input files and managing simulations. Additionally, a particle tracing algorithm is implemented to visualize material flow. This work aims to bridge the gap between academic research and practical engineering applications. It provides advanced, yet robust and efficient numerical tools for simulating metal forming and manufacturing processes.
  

Reading date: 11/11/2025

• KOKABEE, OMID: High-power ultrafast optical parametric oscillators from the visible to mid-infrared
  
  Author: KOKABEE, OMID
  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 PHOTONICS
  Department: Institute of Photonic Sciences (ICFO)
  Mode: Normal
  Deposit date: 09/07/2025
  Reading date: 11/11/2025
  Reading time: 10:00
  Reading place: ICFO Auditorium
  Thesis director: EBRAHIM-ZADEH, MAJID
  Thesis abstract: The introduction of electric lighting in Architecture marked a profound transformation in its design conception, establishing artificial light as a fundamental element in the configuration of space. Unlike other artistic and architectural disciplines, artificial architectural lighting lacks a formalised Art History. Existing specialist literature remains largely focused on technical and quantitative aspects, frequently relegating the qualitative dimensions of light in space to a secondary status. Consequently, there is a notable absence of a specific vocabulary capable of accurately describing the qualitative effects of lighting in architecture. This lexical gap hampers the effective communication of lighting-related spatial concepts, ultimately to the detriment of architectural practice. In light of these challenges, and with the aim of improving both design and pedagogical methodologies, this research advocates for the establishment of a dedicated vocabulary for qualitative architectural lighting. It is predicated on the hypothesis that it is feasible to construct a consensual glossary that enables the precise articulation of the formal and spatial attributes of lighting effects within architectural environments. To substantiate this hypothesis, the research sets out two principal objectives: first, to identify the parameters that define the qualitative aspects of lighting and to compile the associated terminological corpus; second, to develop a lexical and visual dictionary in which each term is clearly defined and illustrated, thereby facilitating its comprehension and application in both academic and professional contexts, and contributing to the standardisation of a specific and practical language.The study adopts a qualitative methodological framework, centred on the linguistic analysis of texts describing architectural lighting projects, which have been published in specialised Spanish-language media. A rigorous, systematic, and replicable terminology methodology has been employed, drawing upon established principles from the field of Terminology studies and related research on lighting perception. The process integrates automated term extraction methods, enabling efficient handling of large data sets, and applies linguistic techniques adapted to the visual domain. The research identifies the principal parameters defining the formal qualities of architectural lighting as direction, colour, and distribution, followed by quantity, luminance, sources, informational content, perceptual effects, and others. Among these, the distribution parameter emerges as the most frequently cited and, thus, the most critical for both configuring and describing architectural lighting. Accordingly, the dictionary focuses on the most recurrent terms related to distribution, listed alphabetically as follows: accent lighting, ambient lighting, composed lighting, diffuse lighting, direct lighting, directed lighting, dispersed lighting, focalized lighting, general lighting, grazing lighting, homogeneous lighting, horizontal lighting, indirect lighting, integrated lighting, precise lighting, projected lighting, reflected lighting, uniform lighting, and vertical lighting. It has been demonstrated that each of these terms can be defined in a manner that supports clear, precise, and intelligible communication within architectural lighting discourse. Furthermore, it is feasible to identify corresponding visual representations that exemplify each definition, reinforcing their pedagogical and practical applicability. In conclusion, this research affirms the viability of developing a consensual glossary of terms to imporve the communication of the formal and spatial characteristics of lighting effects within architectural practice, which constitutes a foundational step toward the recognition and standardisation of qualitative lighting vocabulary in the discipline.
  

• MAKHARADZE, DAVIT: Design and Application of PEGylated Pseudo-Protein Nanoparticles in Drug Delivery
  
  Author: MAKHARADZE, DAVIT
  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 POLYMERS AND BIOPOLYMERS
  Department: Department of Chemical Engineering (EQ)
  Mode: Normal
  Deposit date: 15/10/2025
  Reading date: pending
  Reading time: pending
  Reading place: pending
  Thesis director: DEL VALLE MENDOZA, LUIS JAVIER
  Thesis abstract: In recent years, there has been growing interest in biodegradable and biocompatible polymeric nanoparticles (NPs) because of their versatile uses in drug delivery systems (DDSs). To improve the biological performance of these systems, PEGylation– the covalent attachment of polyethylene glycol (PEG) to the NP surface has been proposed, which improves NP stability, reduces protein adsorption, and extends circulation time.This thesis represents the synthesis, characterization, and biomedical applications of PEGylated NPs of poly(ester amide) (PEA) class. As part of the experimental work, four different types of polymer are presented in this thesis, labelled as follows: 8L6, unsaturated copolymers (precursors for PEG attachment)– [8L6]0.5-[tES-L6]0.5, (FuL6)0.5-(8L6)0.5 and their PEG conjugated adduct–PEG-PEA. Core-shell NPs are synthesized based on polymer 8L6 as a core and PEG-PEA as a shell. These biodegradable polymers (BPs) consist of the amino acid L-leucine, naturally occurring dicarboxylic acid, and diol units. The main advantages of these polymers consist of low to zero immunogenicity, high compatibility, and, at the same time, they release nutritive amino acids upon biodegradation. The polymers are designed in that way to have a non-proteinaceous molecular architecture, which is highly important to minimize immune recognition and rejection of the biomaterial.Chapter 3 describes the synthesis of polymer 8L6 and the initial design of precursor polymer [8L6]0.5-[tES-L6]0.5 for PEG attachment; the resulting PEG-PEA forms micelles similar to traditional surfactants. Additionally, stable core-shell 8L6 NPs with a size range of 100 to 200 nm were successfully prepared using the novel biodegradable surfactant PEG-PEA.Chapter 4 represents the synthesis of the new precursor (FuL6)0.5-(8L6)0.5, developed in response to the complexity and multi-step nature of the previous precursor’s synthesis. This copolymer contains equal mole percentages of unsaturated (FuL6) and saturated (8L6) repeating units designed for the special reason: the unsaturated fragments (FuL6) work for covalent attachment of PEG-derivatives and the saturated (anchoring) fragments (8L6) for immobilizing the PEGylating surfactant (PEG-PEA) to the surface of the drug-loaded NPs. Additionally, this chapter investigates the effect of various amine catalysts on the Michael addition reaction between (FuL6)0.5-(8L6)0.5 and thiol and amine-functionalized PEGs to optimize the reaction conditions.In chapter 5, the surface modification of 8L6 polymeric particles with PEG-PEA is studied by transmission electron microscopy (TEM) and synchrotron radiation-based FTIR (SR-FTIR) microspectroscopy. The formation of the core-shell structure is confirmed by both techniques.Finally, chapter 6 demonstrates the application of PEGylated 8L6 polymeric core-shell NPs. The anti-cancer potential of the phenolic compound resveratrol (RES) is evaluated using biodegradable vehicles. Those NPs are functionalized with the blood-plasma glycoprotein transferrin, which can bind to its receptor (transferrin receptor 1) highly expressed in tumour cells. The antiproliferative effects of RES-loaded NPs are studied in HeLa and U-87 cancer cell lines.Considering that synthesized NPs are biodegradable, biocompatible, and have high drug-loading capacity, this approach provides high efficiency for cancer therapy.