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Automatic Control, Robotics and Vision

Origin and framework of the programme
The doctoral programme in Automatic Control, Robotics and Vision (ARV) was established in 2006 by combining the Advanced Automation and Robotics programme of the Institute of Industrial and Control Engineering (IOC) and the Control, Vision and Robotics programme of the Department of Automatic Control (ESAII), both of which had received quality awards from the Spanish Ministry of Education and Science. The merger was the result of an increasing affinity and convergence in the content and activity of the two programmes and served as an opportunity to adapt to the new system for official postgraduate programmes within the framework of the European Higher Education Area. From the first year that the new doctoral programme was offered, it was recognised with a quality award from the Ministry of Education and Science (code MCD2007-00150, years 2007, 2008, 2009, 2010). The programme has also been granted the Pathway to Excellence award by the Ministry of Education (code MEE2011-0453, valid from 2011-2012 to 2013-2014).
The doctoral programme in Automatic Control, Robotics and Vision provides a framework for students to complete doctoral theses in these fields, which are of vital importance in traditional industry and many service applications. Work is carried out mainly under the supervision of professors associated with the programme, using research facilities made available by the two units responsible for the degree (IOC and ESAII); the Institute of Robotics and Industrial Informatics (IRI), which collaborates very actively with the programme; and the research groups involved.
The doctoral programme in Automatic Control, Robotics and Vision is a natural continuation of the master's degree in Automatic Control and Robotics (a UPC programme taught in English). Students who complete this master’s degree are therefore eligible for direct admission to the doctoral programme. Students with degrees in related fields may also be considered for admission. The academic committee will require that students admitted with other degrees complete specific bridging courses from the master’s degree in Automatic Control and Robotics (selected on a case-by-case basis) to ensure that they have the knowledge and skills needed to conduct research and complete a doctoral thesis in one of the areas covered by the programme.

Automatic control and robotics play an increasingly important role in contemporary society, from both a social perspective (habits and greater convenience and quality of life) and in terms of their direct and indirect economic significance. Consequently, research and development in this field is of vital importance and marks a clear difference between developed and developing countries. In the latter, products are marketed, or in some cases manufactured (basically due to lower production costs), but there is usually no know-how or capacity to innovate or produce graduates qualified to work in R&D, and this is where the difference lies. Producing professionals who are capable of innovating and working in highly specialised areas with the latest technologies constitutes a clear and direct contribution to our society. Moreover, all developed countries offer doctoral degrees equivalent to the doctoral programme in Automatic Control, Robotics and Vision.

Aim of the programme
The aim of the programme is to provide students with rigorous training that builds on knowledge acquired in previous stages of their education and prepares them to undertake a career in scientific and technological research and to innovate in highly specialised areas on advanced aspects of automatic control, robotics and computer vision. The goal is therefore for doctoral students to develop the ability to find innovative solutions by drawing on solid theoretical knowledge and applying new technologies.

COORDINATOR

Suarez Feijoo, Raul

CONTACT

Doctoral Area - Barcelona Industrial Engineering Management and Support Unit (UTGAEIB)
Av. Diagonal, 647
08028 Barcelona

Tel.: 934 016 654
E-mail: doctorat.arv@upc.edu

Programme website

General information

Access profile

The ideal entrance qualification is a master’s degree that covers areas related to the subject areas of the programme: automatic control, robotics and computer vision. (Degree names vary depending on the applicant's country of origin and the university where they completed their previous studies.) Applicants who have completed the master's degree in Automatic Control and Robotics offered by the Universitat Politècnica de Catalunya qualify for direct admission to the doctoral programme in Automatic Control, Robotics and Vision. Applicants who hold a science degree (e.g. in industrial engineering, electronics, mechanics, electromechanics or informatics) may also be admitted to the programme. Students admitted with these qualifications may be required to complete bridging courses, which will be specified by the academic committee for the programme.

Output profile

Doctoral candidates who complete a doctoral degree will have acquired the following competencies, which are needed to carry out quality research (Royal Decree 99/2011, of 28 January, which regulates official doctoral studies):

a) A systematic understanding of the field of study and a mastery of the research skills and methods related to the field.
b) An ability to conceive, design or create, put into practice and adopt a substantial process of research or creation.
c) An ability to contribute to pushing back the frontiers of knowledge through original research.
d) A capacity for critical analysis and an ability to assess and summarise new and complex ideas.
e) An ability to communicate with the academic and scientific community and with society in general as regards their fields of knowledge in the manner and languages that are typical of the international scientific community to which they belong.
f) An ability to foster scientific, technological, social, artistic and cultural progress in academic and professional contexts within a knowledge-based society.

The award of a doctoral degree must equip the graduate for work in a variety of settings, especially those requiring creativity and innovation. Doctoral graduates must have at least acquired the personal skills needed to:

a) Develop in contexts in which there is little specific information.
b) Find the key questions that must be answered to solve a complex problem.
c) Design, create, develop and undertake original, innovative projects in their field.
d) Work as part of a team and independently in an international or multidisciplinary context.
e) Integrate knowledge, deal with complexity and make judgements with limited information.
f) Offer criticism on and intellectually defend solutions.

Finally, with respect to competencies, doctoral students must:
a) have acquired advanced knowledge at the frontier of their discipline and demonstrated, in the context of internationally recognised scientific research, a deep, detailed and well-grounded understanding of theoretical and practical issues and scientific methodology in one or more research fields;
b) have made an original and significant contribution to scientific research in their field of expertise that has been recognised as such by the international scientific community;
c) have demonstrated that they are capable of designing a research project that serves as a framework for carrying out a critical analysis and assessment of imprecise situations, in which they are able to apply their contributions, expertise and working method to synthesise new and complex ideas that yield a deeper knowledge of the research context in which they work;
d) have developed sufficient autonomy to set up, manage and lead innovative research teams and projects and scientific collaborations (both national and international) within their subject area, in multidisciplinary contexts and, where appropriate, with a substantial element of knowledge transfer;
e) have demonstrated that they are able to carry out their research activity in a socially responsible manner and with scientific integrity;
f) have demonstrated, within their specific scientific context, that they are able to make cultural, social or technological advances and promote innovation in all areas within a knowledge-based society;
g) have demonstrated that they are able to participate in scientific discussions at the international level in their field of expertise and disseminate the results of their research activity to audiences of all kinds.

Number of places

20

Duration of studies and dedication regime

Duration
The maximum period of study for full-time doctoral studies is three years, counted from the date of admission to the programme to the date of submission of the doctoral thesis. The academic committee of the doctoral programme may authorise a doctoral candidate to pursue doctoral studies on a part-time basis. In this case, the maximum period of study is five years, counting from the date of admission to the programme to the date of submission of the doctoral thesis. For calculating these periods, the date of admission is considered to be the date of the first enrolment for tutorials, and the date of submission the moment in which the Doctoral School officially deposits the doctoral thesis.

For full-time doctoral candidates, the minimum period of study is two years, counted from the date of an applicant's admission to the programme until the date on which the doctoral thesis is deposited; for part-time doctoral candidates it is four years. When there are justified grounds for doing so, and the thesis supervisor and academic tutor have given their authorisation, doctoral candidates may request that the academic committee of their doctoral programme exempt them from the minimum period of study requirement.

The calculation of periods of study will not include periods of absence due to illness, pregnancy or any other reason provided for in the regulations in force. Students who find themselves in any of these circumstances must notify the academic committee of the doctoral programme, which, where appropriate, must inform the Doctoral School. Doctoral candidates may also temporarily withdraw from the programme for up to one year, and this period may be extended for an additional year. Doctoral candidates who wish to interrupt their studies must submit a justified request to the academic committee of the doctoral programme, which will decide whether or not to approve the request. Each programme will establish conditions for readmission to doctoral studies.

Extension
If full-time doctoral candidates have not applied to deposit their thesis by the end of the three-year period of study, the academic committee of the programme may authorise an extension of up to one year. In exceptional circumstances, a further one-year extension may be granted, subject to the conditions established by the corresponding doctoral programme. In the case of part-time doctoral candidates, an extension of two years may be authorised. In both cases, in exceptional circumstances a further one-year extension may be granted by the Doctoral School's Standing Committee, upon the submission of a reasoned application by the academic committee of the doctoral programme.

Dismissal from the doctoral programme
A doctoral candidate may be dismissed from a doctoral programme for the following reasons:

  • The doctoral candidate submitting a justified application to withdraw from the programme.
  • The maximum period of study and of extensions thereof ending.
  • The doctoral candidate not having enrolled every academic year (unless he or she has been authorised to temporarily withdraw).
  • The doctoral candidate failing two consecutive assessments.
  • The doctoral candidate having disciplinary proceedings filed against him or her that rule that he or she must be dismissed from the UPC.

Dismissal from the programme implies that doctoral candidates cannot continue studying at the UPC and the closing of their academic record. This notwithstanding, they may apply to the academic committee of the programme for readmission and the committee must reevaluate them in accordance with the criteria established in the regulations.

Organization

COORDINATOR:
ACADEMIC COMMISSION OF THE PROGRAM:
STRUCTURAL UNITS:
  • Institute of Industrial and Control Engineering (PROMOTORA)
  • Department of Automatic Control
  • Institute of Robotics and Industrial Informatics
Specific URL of the doctoral program:
https://arv.phd.upc.edu/

CONTACT:

Doctoral Area - Barcelona Industrial Engineering Management and Support Unit (UTGAEIB)
Av. Diagonal, 647
08028 Barcelona

Tel.: 934 016 654
E-mail: doctorat.arv@upc.edu


Agreements with other institutions

Rather than establishing general agreements with other institutions, the emphasis in recent years has been on reaching specific agreements with a narrower focus.
Specific agreements in effect include:

Cotutelle agreements with the following universities:

  • IMT Lille Douai, France (http://imt-lille-douai.fr/)
  • Buenos Aires Institute of Technology, Argentina (https://www.itba.edu.ar/)
  • Tuxtla Gutierrez Institute of Technology, Mexico (https://www.tuxtla.tecnm.mx/)
  • Normandy University, France (http://www.normandie-univ.fr/)
  • University of the Andes, Colombia (https://uniandes.edu.co/)

Industrial doctorate agreements with the following companies:

  • Aigües de Barcelona (https://www.aiguesdebarcelona.cat/)
  • Aingura IIoT (http://www.ainguraiiot.com/)
  • BROSE (https://www.brose.com/de-en/)
  • FICOSA (https://www.ficosa.com/es/)
  • INLOC Robotics, S.L. (https://inlocrobotics.com/es/)
  • KIVNON (http://agvkivnon.com/)
  • Pal Robotics (http://pal-robotics.com/es/)
  • Rücker Lypsa (https://www.rueckerlypsa.es/)
  • SEAT (https://www.seat.es/)
  • Wide Eyes Technologies (https://wideeyes.ai/)

Most recent general agreements concluded:
  • National University of Colombia (https://unal.edu.co/). Aims: to facilitate mobility of academic staff participating in joint research activities; to facilitate mobility of master’s and doctoral students. Start year: 2009. Term: 2009-2013
  • Meritorious Autonomous University of Puebla (BUAP), Mexico (https://www.buap.mx/). Aim: to facilitate mobility of academic staff and graduate students from BUAP to the UPC. Start year:  2011. Term: 2011-2014
  • University of Guadalajara, Mexico (http://www.udg.mx/). Aims: to provide training for doctoral degree holders and researchers; to facilitate mobility of students and academic staff between the two institutions. Start year: 2010. Term: 2010-2013
  • University of Naples Federico II, Italy (http://www.unina.it). Aim: to facilitate mobility of students and academic staff for doctoral studies within the framework of the Erasmus programme. Start year: 2011. Term: 2011-2013
  • University of Split, Croatia (https://www.unist.hr/en/). Aim: to facilitate mobility of students and academic staff for doctoral studies within the framework of the Erasmus programme.  Start year: 2011. Term: 2011-2013

Access, admission and registration

Access profile

The ideal entrance qualification is a master’s degree that covers areas related to the subject areas of the programme: automatic control, robotics and computer vision. (Degree names vary depending on the applicant's country of origin and the university where they completed their previous studies.) Applicants who have completed the master's degree in Automatic Control and Robotics offered by the Universitat Politècnica de Catalunya qualify for direct admission to the doctoral programme in Automatic Control, Robotics and Vision. Applicants who hold a science degree (e.g. in industrial engineering, electronics, mechanics, electromechanics or informatics) may also be admitted to the programme. Students admitted with these qualifications may be required to complete bridging courses, which will be specified by the academic committee for the programme.

Access requirements

Applicants must hold a Spanish bachelor’s degree or equivalent and a Spanish master’s degree or equivalent, provided they have completed a minimum of 300 ECTS credits on the two degrees (Royal Decree 43/2015, of 2 February)

In addition, the following may apply:

  • Holders of an official degree awarded by a university in Spain or any other country in the European Higher Education Area, pursuant to the provisions of Article 16 of Royal Decree 1393/2007, of 29 October, which establishes official university course regulations, who have completed a minimum of 300 ECTS credits on official university degrees, of which at least 60 must be at the master's degree level.
  • Holders of an official Spanish bachelor’s degree comprising at least 300 credits, as provided for by EU regulations. Holder of degrees of this kind must complete bridging courses unless the curriculum of the bachelor’s degree in question included research training credits equivalent in value to those which would be earned on a master's degree.
  • Holders of an official university qualification who, having passed the entrance examination for specialised medical training, have completed at least two years of a training course leading to an official degree in a health-sciences specialisation.
  • Holders of a degree issued under a foreign education system. In these cases, homologation is not required, but the UPC must verify that the degree certifies a level of training equivalent to an official Spanish master's degree and qualifies the holder for admission to doctoral studies in the country where it was issued. Admission on this basis does not imply homologation of the foreign degree or its recognition for any purpose other than admission to doctoral studies.
  • Holders of a Spanish doctoral qualification issued under previous university regulations.
  • Note 1: Doctoral studies entrance regulations for holders of an undergraduate degree awarded before the introduction of the EHEA (CG 47/02 2014)

    Note 2: Governing Council Decision 64/2014, which approves the procedure and criteria for assessing the fulfilment of academic admission requirements for doctoral studies by holders of non-homologated foreign degrees (CG 25/03 2014)

Admission criteria and merits assessment

There are no specific admission requirements for the doctoral programme in Automatic Control, Robotics and Vision beyond those that apply under current legislation. However, bear in mind that the academic committee for the programme reviews the academic records of all applicants to assess how well their academic background matches the ideal entrance qualifications indicated above. Applicants should have training equivalent to that which students receive on the UPC master's degree in Automatic Control and Robotics. Graduates of this UPC master’s degree qualify for direct admission to the doctoral programme in Automatic Control, Robotics and Vision.

The academic committee for the programme will issue an assessment of applications for admission. The main criteria considered are:

a) Relevance of previous studies and the applicant's academic record (50%)
b) Other merits (experience in research work, publications, proficiency in languages, motivation and reasons for embarking on the doctoral degree) (50%)

When appropriate, the academic committee may require that a student take bridging courses as a condition of admission.

Training complements

The academic committee for the programme determines what bridging courses applicants will have to take if admitted. When an applicant seeks admission with the backing of a professor on the programme who will act as their thesis supervisor, the professor concerned may recommend to the academic committee the bridging courses that they consider most appropriate to direct the doctoral student specifically towards topics related to their doctoral thesis work.

Additional training will be based primarily on subjects of the master's degree in Automatic Control and Robotics. However, if there is sufficient justification, a student may take subjects included on other master's programmes or postgraduate courses. This may be deemed appropriate if there are subjects that are particularly relevant to the thesis work an applicant plans to undertake (when this work has been defined at the time of admission). Applicants who have completed a UPC master's degree in Automatic Control and Robotics qualify for direct admission to the doctoral programme in Automatic Control, Robotics and Vision and will not be required to take any bridging courses.

Enrolment period for new doctoral students

The enrolment period for new doctoral students will be in September.

More information at the registration section for new doctoral students

Enrolment period

After the first year, the enrolment period for doctoral students will run from September to mid-October.

More information at the general registration section

Monitoring and evaluation of the doctoral student

Procedure for the preparation and defense of the research plan

Doctoral candidates must submit a research plan, which will be included in their doctoral student activity report, before the end of the first year. The plan may be improved over the course of the doctoral degree. It must be endorsed by the tutor and the supervisor, and it must include the method that is to be followed and the aims of the research.

At least one of these annual assessments will include a public presentation and defence of the research plan and work done before a committee composed of three doctoral degree holders, which will be conducted in the manner determined by each academic committee. The examination committee awards a Pass or Fail mark. A Pass mark is a prerequisite for continuing on the doctoral programme. Doctoral candidates awarded a Fail mark must submit a new research plan for assessment by the academic committee of the doctoral programme within six months.

The committee assesses the research plan every year, in addition to all of the other activities in the doctoral student activity report. Doctoral candidates who are awarded two consecutive Fail marks for the research plan will be obliged to definitely withdraw from the programme.

If they change the subject of their thesis, they must submit a new research plan.

Formation activities

Activity: Tutorial.
Hours: 288.
Type: compulsory.

Activity: Mobility.
Hours: 480.
Type: optional.

Activity: Assessment based on doctoral student activity report (DAD) and research plan.
Hours: 4.
Type: compulsory.

Activity: Training in information skills.
Hours: 1.5.
Type: optional.

Activity: Research methodology.
Hours: 12.
Type: optional.

Activity: Innovation and creativity.
Hours: 8.
Type: optional.

Activity: Language and communication skills.
Hours: 18.
Type: optional.

Activity: Courses and seminars.
Hours: 30.
Type: optional.

Activity: Publications.
Hours: 80.
Type: optional.

Procedure for assignment of tutor and thesis director

The academic committee of the doctoral programme assigns a thesis supervisor to each doctoral candidate when they are admitted or enrol for the first time, taking account of the thesis supervision commitment referred to in the admission decision.

The thesis supervisor will ensure that training activities carried out by the doctoral candidate are coherent and suitable, and that the topic of the candidate’s doctoral thesis will have an impact and make a novel contribution to knowledge in the relevant field. The thesis supervisor will also guide the doctoral candidate in planning the thesis and, if necessary, tailoring it to any other projects or activities undertaken. The thesis supervisor will generally be a UPC professor or researcher who holds a doctoral degree and has documented research experience. This includes PhD-holding staff at associated schools (as determined by the Governing Council) and UPC-affiliated research institutes (in accordance with corresponding collaboration and affiliation agreements). When thesis supervisors are UPC staff members, they also act as the doctoral candidate’s tutor.

PhD holders who do not meet these criteria (as a result of their contractual relationship or the nature of the institution to which they are attached) must be approved by the UPC Doctoral School's Standing Committee in order to participate in a doctoral programme as researchers with documented research experience.

The academic committee of the doctoral programme may approve the appointment of a PhD-holding expert who is not a UPC staff member as a candidate’s thesis supervisor. In such cases, the prior authorisation of the UPC Doctoral School's Standing Committee is required. A UPC staff member who holds a doctoral degree and has documented research experience must also be proposed to act as a co-supervisor, or as the doctoral candidate’s tutor if one has not been assigned.

A thesis supervisor may step down from this role if there are justified reasons (recognised as valid by the committee) for doing so. If this occurs, the academic committee of the doctoral programme will assign the doctoral candidate a new thesis supervisor.

Provided there are justified reasons for doing so, and after hearing any relevant input from the doctoral candidate, the academic committee of the doctoral programme may assign a new thesis supervisor at any time during the period of doctoral study.

If there are academic reasons for doing so (an interdisciplinary topic, joint or international programmes, etc.) and the academic committee of the programme gives its approval, an additional thesis supervisor may be assigned. Supervisors and co-supervisors have the same responsibilities and academic recognition.

The maximum number of supervisors of a doctoral thesis is two: a supervisor and a co-supervisor.

For theses carried out under a cotutelle agreement or as part of an Industrial Doctorate, if necessary and if the agreement foresees it this maximum number of supervisors may not apply. This notwithstanding, the maximum number of supervisors belonging to the UPC is two.

More information at the PhD theses section

Permanence

The academic committee of the programme may authorise an extension of up to one year for full-time doctoral candidates who have not applied to deposit their thesis by the end of the three-year period of study, in the terms outlined in the Academic Regulations for Doctoral Studies of the Universitat Politècnica de Catalunya. In the case of part-time candidates, an extension of two years may be authorised. In both cases, in exceptional circumstances a further one-year extension may be granted by the Doctoral School's Standing Committee, upon the submission of a reasoned application by the academic committee of the doctoral programme.

A doctoral candidate may be dismissed from a doctoral programme for the following reasons:

  • The doctoral candidate submitting a justified application to withdraw from the programme.
  • The maximum period of study and of extensions thereof ending.
  • The doctoral candidate not having enrolled every academic year (unless he or she has been authorised to temporarily withdraw).
  • The doctoral candidate failing two consecutive assessments.
  • The doctoral candidate having disciplinary proceedings filed against him or her that rule that he or she must be dismissed from the UPC.

Dismissal from the programme implies that doctoral candidates cannot continue studying at the UPC and the closing of their academic record. This notwithstanding, they may apply to the academic committee of the programme for readmission and the committee must reevaluate them in accordance with the criteria established in the regulations.

International Mention

The doctoral degree certificate may include International Doctorate mention. In this case, the doctoral candidate must meet the following requirements:

a) During the period of study leading to the award of the doctoral degree, the doctoral candidate must have spent at least three months at a respected higher education institution or research centre outside Spain to complete courses or do research work. The stays and activities carried out must be endorsed by the thesis supervisor and authorised by the academic committee of the programme. The candidate must provide a certifying document issued by the person responsible for the research group of the body or bodies where the stay or activity was completed. This information will be added to the doctoral student’s activity report.
b) Part of the thesis (at least the summary and conclusions) must be written and presented in one of the languages commonly used for science communication in the relevant field of knowledge, which must not be an official language of Spain. This rule does not apply to stays and reports in Spanish or to experts from Spanish-speaking countries.
c) At least two PhD-holding experts belonging to a higher education institution or research centre outside Spain must have issued officially certified reports on the thesis.
d) The thesis examination committee must have included at least one PhD-holding expert from a higher education or research institution outside Spain who was not responsible for the candidate’s stay abroad (point a) above).
e) The thesis defence must have taken place on UPC premises or, in the case of joint programmes, at the location specified in the collaboration agreement.

Learning resources

The main resources used to carry out doctoral work are provided by the units responsible for the programme and participating units. They include very well-equipped laboratories with excellent technical equipment, highly specialised libraries, and spaces equipped to facilitate study and work by doctoral students during the completion of their thesis. Websites of the units responsible for the programme and participating units:

  • Department of Automatic Control (ESAII) (https://esaii.upc.edu/es)
  • Institute of Industrial and Control Engineering (IOC) (https://ioc.upc.edu/es)
  • Institute of Robotics and Industrial Informatics (IRI)(https://www.iri.upc.edu/)

Doctoral Theses

List of authorized thesis for defense

  • AL MOHAMAD, AHMAD: Contribution to Prognostics and Health Management of Complex Systems. Application to Energy Systems
    Author: AL MOHAMAD, AHMAD
    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: Change of supervisor + Temporary seizure
    Deposit date: 20/09/2021
    Reading date: 22/10/2021
    Reading time: 09:00
    Reading place: ETSEIB- Université normandie Enllaç: https://tinyurl.com/t4yzpz65
    Thesis director: PUIG CAYUELA, VICENÇ | HOBLOS, GHALEB
    Committee:
         PRESIDENT: TRAVÉ-MASSUYÈS, LOUISE
         SECRETARI: NEJJARI AKHI-ELARAB, FATIHA
         VOCAL: IANNUZZO, FRANCESCO
    Thesis abstract: This thesis presents contributions to model-based Prognostics and Health Management (PHM) for online Remaining Useful Life (RUL) forecasting of degraded systems. The major issue in such a prognostics approach is that the degradation models are required for prediction purposes. However, this practice is effort- and time-consuming specifically for large systems with mutual degradation and cascading damage effects. Thus, this work aims to overcome the knowledge dependence on the degradation models in addition to the historical data which are accompanied by uncertainties. In consequence, a threefold PHM strategy with various prognostics approaches are proposed for degraded systems and can be generalized, with soft tuning, for further applications.In this context, system-level prognostics are broadly accomplished without a remarkable interest in the root cause of the degradation on the component level. Therefore, the important role of degradation estimation for the critical components in systems is elaborated for the sake of improved Condition-Based Maintenance (CBM). Thus, there exist stochastic-based filtering techniques for parameter estimation and degradation prediction that have been investigated in the state of the art. Whereas, the main challenge lies in the consistency of the RUL forecasting that is subject to modeling and measurement uncertainties on a system level, as concluded based on the examination of various forecasting approaches. Consequently, a fusion between stochastic and deterministic estimation techniques has been investigated in a Zonotopic Extended Kalman filter (ZEKF) framework, which has been upgraded into a Zonotopic Set-Membership (ZSM) observer for degradation estimation and prediction with unknown-but-bounded noises and uncertainties. Furthermore, zonotopes are adopted for their simple computations in addition to their ability to propagate bounded sets that improve the accuracy of RUL forecasting. Furthermore, a robustness condition is guaranteed due to the Linear Matrix Inequality (LMI)-based offline optimal tuning of the zonotopic observers.Moreover, the proposed approaches are applied to a DC-DC converter with three degradation scenarios for the validation of the threefold PHM. Eventually, the nonlinear model of the converter has been linearized online when applied with the stochastic approaches. However, it has been transformed into a polytopic Linear Parameter-Varying (LPV) model that copes with the LMI optimization for reduced online computations in addition to generalization purposes for real-time prognostics.Keywords: Prognostics and health management, remaining useful life forecasting, deterministic observers, zonotopes, set-membership, stochastic filters, joint estimation of states and parameters, linear matrix inequality, linear parameter-varying.
  • DAVID, MARTÍN RAFAEL: Mathematical modelling and advanced control design applied to high-pressure electrolyzers for hydrogen production
    Author: DAVID, MARTÍN RAFAEL
    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: Change of supervisor + Temporary seizure
    Deposit date: 30/09/2021
    Reading date: pending
    Reading time: pending
    Reading place: pending
    Thesis director: OCAMPO MARTINEZ, CARLOS AUGUSTO | SANCHEZ PEÑA, RICARDO
    Committee:
         PRESIDENT: PULESTON, PABLO
         SECRETARI: COSTA CASTELLO, RAMON
         VOCAL: PATIÑO GUEVARA, DIEGO ALEJANDRO
    Thesis abstract: This thesis is mainly dedicated to the study of high-pressure alkaline electrolysis. Alkaline electrolysis is a well established technology and is commercially available. However, the operation at high pressure for dispensing compressors was not fully investigated. Moreover, there is a lack of dynamic models and publications related to control strategies. Therefore, this thesis contributes especially in the modelling and control of high pressure alkaline electrolyzers in order to improve purity of produced gases.The thesis is framed within a general idea about the renewed concern for the care of the environment, which involves reducing greenhouse gas emissions without sacrificing modern comforts. Widespread proposal focuses on energy produced from renewable sources and its subsequent storage and transportation based on hydrogen. Currently, this gas applies to the chemical industry and its production is based on fossil fuels. The introduction of this energy vector requires the development of environmental-friendly methods for obtaining it. Existing techniques are presented and the main focus is made on electrolysis, a mature procedure. In turn, some developed proposals as previous steps to the hydrogen economy are presented. Moreover, some lines of research to improve electrolysis technology are commented.Afterwards, a phenomenological-based semiphysical model for a self-pressurized alkaline electrolyzer is proposed. The model, based on mass and energy balances, represents the dynamic behavior of hydrogen and oxygen production using electrolysis. The model allows to anticipate operational variables as dynamic responses in the concentrations of the electrolytic cell, and variations in both, level and pressure, at the gas separation chambers due to the change in electric current. The model parameters have been adjusted based on experimental measurements taken from an available prototype and through a suitable identification process. Simulation results replicate the current dynamic response of the experimental self-pressurized electrolyzer assembly. This model proves to be useful in the improvement of the control of gas production rate in this kind of assemblies, both as a validated simulation platform and as a source of reduced order models for model-based control design.Later, this thesis presents two control strategies that mitigate the cross contamination of H2 and O2 in a high-pressure alkaline electrolyzer, which consequently increases the supplied purity of the gases: one based on a decoupled PI scheme and the other based on optimal control tools. In order to reduce the diffusion of gases through the membrane, the controllers establish the opening of two outlet valves based on the pressure of the system and the difference in liquid level between both separation chambers. Therefore, two multiple input - multiple output controllers are designed. For this purpose, the high-fidelity model previously mentioned was simplified in order to obtain a control-oriented model. The proposed controllers were evaluated in simulation using the high-fidelity nonlinear model in a wide operating range, which resulted in less than 1% impurity of gases. In addition, tests were carried out in the prototype electrolyzer where the operation of the PI control was verified, obtaining even better results, with a maximum contamination of 0.2%.
  • LARCO BARROS, CIRO MAURICIO: Control adaptativo por modelo de referencia con síntesis de controlador mínima en sistemas con incertidumbre y sujetos a perturbaciones
    Author: LARCO BARROS, CIRO MAURICIO
    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: 17/09/2021
    Reading date: pending
    Reading time: pending
    Reading place: pending
    Thesis director: COSTA CASTELLO, RAMON | OLM MIRAS, JOSEP MARIA
    Committee:
         PRESIDENT: CÓBRECES ÁLVAREZ, SANTIAGO
         SECRETARI: GRIÑO CUBERO, ROBERTO
         VOCAL: CALVO ROLLE, JOSÉ LUIS
    Thesis abstract: 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 information from the device to be controlled. It can be implemented in continuous or discrete time, and that guarantees that if the parameters of the plant are constant or that vary more slowly than the adaptive gains, the error between the desired characteristics and those of operation, tend to zero in steady state. This guarantees stable conditions of performance and robustness to parametric variation. The tracking speed and the rejection of disturbances are other inherent characteristics of the technique.The mathematical development of the MCS technique is presented, starting from the MRAC to obtain its basic presentation, its modeling in continuous time, and then arrive at discrete time. Then, they are evaluated mathematically and experimentally in systems to be controlled (with parametric uncertainty and/or disturbances presence) in order to propose a development alternative to current automatic control systems.For this purpose, the following two systems with uncertainty and under disturbance were evaluated: a Laboratory control system called "Roto-Magnet" and a Single-Phase Inverter based on a LCL (a device widely used today to the incorporation of electrical energy from renewable sources to electrical networks).The methodology used is to implement the adaptive algorithms and evaluate them in continuous time through the mathematical model of the Roto-Magnet plant. Then, take them at discrete time and observe their operation both in simulation and in real way in the Laboratory, taking in consideration that the Roto-Magnet has a vector of first-order states. These experiences were scaled to the LCL based Inverter, whose state vector is third order. The results of the adaptive control implemented to control the LCL-based single-phase inverter can be seen through the averaged and switched mathematical models that were developed in Matlab/Simulink. The results obtained in the two plants with the adaptive control, allow visualizing the performance of MCS, its robustness in the face of the uncertainty in the parameters, in its modeling and also in the face of periodic disturbances.These adaptive designs incorporated parametric projection to avoid the drift growth of adaptive gains and a controller based on the Principle of the Internal Model, which improves the capabilities of reference tracking and rejection of disturbances of this class.The thesis is divided into nine chapters that describe from the basic aspects to more complex aspects, and at the same time show how these have been solved, their implementations and the results obtained from the Minimum Controller Synthesis technique. The results in the mathematical field as in the real plants are compared with other techniques developed for theRoto-Magnet plant and the Inverter based on LCL. Based on this, its advantages and disadvantages are observed in order to present the advances made in the technique.Finally, the explanations have been sought to be detailed and easy to understand throughout all the chapters of the thesis, enriching this description with references to multiple scientific articles and texts, which allow better orienting and deepening the topics according to the interests and requirements of each reader.
  • SANJUAN GÓMEZ, ADRIÁN: Fault diagnosis and fault-tolerant control of nonlinear dynamic systems using artificial intelligence techniques
    Author: SANJUAN GÓMEZ, ADRIÁN
    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: Temporary seizure
    Deposit date: 23/09/2021
    Reading date: 04/11/2021
    Reading time: 16:00
    Reading place: ETSIAAT_ Google Meet: meet.google.com/qgq-pbew-oum
    Thesis director: NEJJARI AKHI-ELARAB, FATIHA | SARRATE ESTRUCH, RAMON
    Committee:
         PRESIDENT: PULIDO JUNQUERA, JOSÉ BELARMINO
         SECRETARI: PUIG CAYUELA, VICENÇ
         VOCAL: LÓPEZ ESTRADA, FRANCISCO RONAY
    Thesis abstract: This thesis attempts to reduce the gap between the approaches developed by researchers to build a fault tolerant system and their implementation in a real system.The most widespread methodologies are model-based approaches which require a representative description of the behaviour of the system to use them. This model is usually not available, either because the system corresponds to a complex process or is poorly understood, or the performance of the system is not static in the sense that the behaviour depends on the current state and the situation (environment) of the system. Thus, obtaining a model based on the knowledge of the system will require a high effort and the accuracy of the resulting model will often be not sufficient to apply the approaches successfully. In this situation, considering generic or adaptable models will allow to reduce the time required to design a fault tolerant system, creating a more flexible process. In this thesis, artificial intelligent (AI)-based models are considered to obtain adaptable models. Moreover, a procedure to train these structures (pa-rameter estimation), in order to achieve an accurate and representative model, is also proposed.The main issue of AI-based models is their incompatibility with linear-like techniques which have been developed to identify or accommodate a fault in a nonlinear system. The transformation of these models into a promising structure which embeds the nonlinearities in the varying parameters, the so-called linear parameter varying (LPV) model, is considered in this thesis as a bridge to combine the classical linear or nonlinear model-based approaches with the learning ability of AI techniques.The polytopic representation of an LPV model, obtained from an AI-based model, will lead to a high number of vertex controller/observer gains, which may make the implementation of an LPV controller/observer into a micro-controller to become infeasible. This representation is used to reduce the controller/observer conditions to a finite-dimensional problem that can be solved using linear matrix inequalities (LMIs). The real-time implementation of a fault-tolerant control approach should be feasible using the heuristic algorithm developed in the thesis. By means of reducing the number of controller/observer gains, defining a common controller/observer for a set of vertices (vertex reduction), the algorithm will be able to provide a compact controller/observer that will be realizable and computable by a micro-controller or small-scale laboratory setups.The accuracy and the time required to estimate a fault are critical issues that determine whether the system will be able to continue with the mission. The formulation of fault estimation as a dynamic optimization problem is an alter-native approach when the performance of the fault does not fulfil with the assumptions considered in the design of a Lyapunov-based fault diagnosis method. Different AI-based algorithms are developed to reconstruct, in real-time, the fault signal which is corrupting the behaviour of the actuators.Finally, the autonomy of a system to accommodate an unexpected event is discussed. A procedure to decide whether the available resources are able to mitigate the consequences of an event is developed and detailed for an actuator fault event.The efficiency of the algorithms developed in this thesis is assessed in real systems, such as twin rotor MIMO system, two-link robotic manipulator, and multirotors.

Last update: 16/10/2021 04:47:07.

List of lodged theses

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Last update: 16/10/2021 04:30:36.

List of defended theses by year

  • DE LOS SANTOS RUIZ, ILDEBERTO: Leak Detection and Localization in Pipeline Networks Using Machine Learning and Principal Component Analysis
    Author: DE LOS SANTOS RUIZ, ILDEBERTO
    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: Change of supervisor + Temporary seizure
    Reading date: 11/06/2021
    Thesis director: PUIG CAYUELA, VICENÇ | LÓPEZ ESTRADA, FRANCISCO RONAY

    Committee:
         PRESIDENT: DUVIELLA, ERIC
         SECRETARI: PEREZ MAGRANE, RAMON
         VOCAL: DELGADO AGUIÑAGA, JORGE ALEJANDRO
    Thesis abstract: This thesis presents a methodology to locate leaks in pipeline networks, with a focus on water distribution networks. Leak localization techniques using classifiers are proposed by associating the different classes with branches or nodes where the leaks occur. The classifiers are fed with pressure measurements at specific sensor nodes in the network and learn to recognize the leak positions through supervised learning from a data-set obtained by the network model simulations. The analysis of the results includes tests in different leak scenarios and considers measurement noise in the pressures. The proposed classification techniques¿ performance is analyzed in a didactic network and with physical measurements in an experimental prototype¿s real networks. Performance metrics, classification loss (or its counterpart, accuracy), and topological error (measuring the distance between the leak¿s real position and the position where it is detected) are used to validate the methods¿ performance and applicability.Unlike other works as reported in the literature, this study improves the classifiers¿ performance when a non-linear transformation is applied on the pressure residuals to extract only the information about their direction so that the classifiers use ¿direction cosines¿ as features. However, it was also found that performance using direction cosines can be considerably affected by uncalibrated models or sensors.This research also addresses a fundamental problem in leak localization-related to find-ing an optimal placement for the pressure sensors. This is a significant finding because the number of sensors to place is limited in real networks due to technological and economic problems. Two algorithms are proposed to select the nodes where it is most useful to place the sensors to capture as much information as possible about the location of the leaks within the network. The first is a supervised approach based on information theory that seeks maximum relevance and minimum redundancy of the sensor set in terms of mutual information. The second is an unsupervised method based on principal component analysis that aims to maximize the pressure variance associated with leaks captured by the sensors. Both are iterative algorithms independent of the leak localization method and are econom-ical in computational time compared to other proposals because they do not perform leak localization calculations in the iterations. The effectiveness of these methods was tested by an exhaustive analysis of a network model.Finally, this work proposed a leak detection and localization technique for single and branched pipelines. In single pipelines, the problem of leak detection and sizing is addressed through dynamic principal component analysis. In branched pipelines, only the leak pre-localization problem is addressed through classifiers, identifying the sector or branch where the leak occurs. However, it is essential to note that these methods are limited to estimate the leak position with a certain margin of error. Despite this limitation, the method shows its effectiveness and can be applied in real networks where the exact position is determined by physical inspection using specialized instruments.

  • GÁMIZ CARO, JAVIER FRANCISCO: Contribución al modelado e implementación de un control avanzado para un proceso de cloración de una Estación de Tratamiento de Agua Potable
    Author: GÁMIZ CARO, JAVIER FRANCISCO
    Thesis link: http://hdl.handle.net/10803/671887
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Department of Automatic Control (ESAII)
    Mode: Confidentiality
    Reading date: 29/01/2021
    Thesis director: BOLEA MONTE, YOLANDA | MARTINEZ GARCIA, HERMINIO

    Committee:
         PRESIDENT: GUINJOAN GISPERT, FRANCISCO JUAN
         SECRETARI: PALACÍN ROCA, JORGE
         VOCAL: MENESES BENÍTEZ, MONTSERRAT
    Thesis abstract: 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 to be treated, the possible flow disturbances or the contact time of the chlorine with the outgoing water must be taken into account in order to establish a control strategy that contemplates adaptation to the different possible scenarios. An excessive dosage of chlorine, or on the other hand a deficit in the dose, may lead to a legal failure to comply with the existing regulations that establish obligatory limit values. Likewise, an overdose generates an unnecessary expenditure of chlorine and, as a collateral effect, problems due to an increase in the maximum values allowed for by-products such as trihalomethanes. The contribution of the present work regarding chlorination in drinking water treatment tanks is divided into two areas: simulation and control. The studies and field work have been carried out on one of the largest drinking water treatment plants in southern Europe. The design and implementation of a simulator has made it possible to reproduce the behaviour of the system to test the proposed controller without the need to interfere in the production process, thus avoiding possible effects on the supply. The control implemented at the Plant is based on a control advance that compensates the disturbance of ammonium and other compounds and a feedback with planned gains depending on the flow rate and the temperature and origin of the water to be treated. The two control blocks (feedforward and feedback) are supervised by a diffuse system that, depending on the characteristics of the water to be treated, combines a control feedforward with a gains planning on a PI control.The simulation and experimental results obtained have been validated with real plant data from the Supervision System database. The control presented in this work has been integrated into the current Plant Control System. The results obtained, apart from being satisfactory, have allowed the Plant Control Room operator to move from the role of Process Control to that of Supervision of the Chlorination Process.

  • GARCÍA LÓPEZ, JAVIER: Geometric computer vision meets Deep Learning for autonomous driving applications
    Author: GARCÍA LÓPEZ, JAVIER
    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: Temporary seizure
    Reading date: 17/05/2021
    Thesis director: MORENO NOGUER, FRANCESC D'ASSIS | AGUDO MARTÍNEZ, ANTONIO

    Committee:
         PRESIDENT: VENTURA ROYO, CARLES
         SECRETARI: SÁNCHEZ RIERA, JORDI
         VOCAL: HERRANZ ARRIBAS, LUIS
    Thesis abstract: This dissertation intends to provide theoretical and practical contributions on the development of deep learning algorithms forautonomous driving applications. The research is motivated by the need of deep neural networks (DNNs) to get a fullunderstanding of the surrounding area and to be executed on real driving scenarios with real vehicles equipped with specifichardware, such as memory constrained (DSP or GPU platforms) or multiple optical sensors, which constraints the algorithm'sdevelopment forcing the designed deep networks to be accurate, with minimum number of operations and low memoryconsumption.The main objective of this thesis is, on one hand, the research in the actual limitations of DL-based algorithms that prevent themof being integrated in nowadays' ADAS (Autonomous Driving System) functionalities, and on the other hand, the design andimplementation of deep learning algorithms able to overcome such constraints to be applied on real autonomous drivingscenarios, enabling their integration in low memory hardware platforms and avoiding sensor redundancy. Deep learning (DL)applications have been widely exploited over the last years but have some weak points that need to be faced and overcame inorder to fully integrate DL into the development process of big manufacturers or automotive companies, like the time needed todesign, train and validate and optimal network for a specific application or the vast knowledge from the required experts to tunehyperparameters of predefined networks in order to make them executable in the target platform and to obtain the biggestadvantage of the hardware resources. During this thesis, we have addressed these topics and focused on the implementationsof breakthroughs that would help in the industrial integration of DL-based applications in the automobile industry.This work has been done as part of the "Doctorat Industrial" program, at the company FICOSA ADAS, and it is because of thepossibilities that developing this research at the company's facilities have brought to the author, that a direct impact of theachieved algorithms could be tested on real scenarios to proof their validity. Moreover, in this work, the author investigates deepin the automatic design of deep neural networks (DNN) based on state-of-the-art deep learning frameworks like NAS (neuralarchitecture search). As stated in this work, one of the identified barriers of deep learning technology in nowadays automobilecompanies is the difficulty of developing light and accurate networks that could be integrated in small system on chips (SoC) orDSP. To overcome this constraint, the author proposes a framework named E-DNAS for the automatic design, training andvalidation of deep neural networks to perform image classification tasks and run on resource-limited hardware platforms. Thisapporach have been validated on a real system on chip by the company Texas Instrumets (tda2x) provided by the company,whose results are published within this thesis. As an extension of the mentioned E-DNAS, in the last chapter of this work theauthor presents a framework based on NAS valid for detecting objects whose main contribution is a learnable and fast way offinding object proposals on images that, on a second step, will be classified into one of the labeled classes.

  • MONTAÑO SARRIA, ANDRÉS FELIPE: Object Manipulation Based on Tactile Information
    Author: MONTAÑO SARRIA, ANDRÉS FELIPE
    Thesis link: http://hdl.handle.net/10803/672089
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Institute of Industrial and Control Engineering (IOC)
    Mode: Normal
    Reading date: 18/03/2021
    Thesis director: SUAREZ FEIJOO, RAUL

    Committee:
         PRESIDENT: INDRI, MARINA
         SECRETARI: ROSELL GRATACOS, JOAN
         VOCAL: ROA, MAXIMO A.
    Thesis abstract: 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 the environment effectively.For the past decades, robotics researchers have worked to provide dexterous manipulation skills to the robots by designing robotic hands that mimic the human hand and by developing applications that allow performing autonomous manipulation or teleoperation in harsh environments. Despite the progress made, managing the uncertainties that exist in the real world is one of the problems that still need to be worked on. Many existing manipulation methods for controlling robotic hands require a priori information about the object and high-fidelity sensors that are typically limited only to laboratory settings.The main objective of this thesis is to develop strategies for the dexterous manipulation of unknown objects, using the tactile information generated during the grasp of the object and the manipulation process itself. In manipulation applications based on tactile information, the robotic hand has access only to tactile and proprioceptive data, in addition, no a priori information is known about the manipulated object. This reflects real-world applications, where there is uncertainty in the models of the objects that are commonly manipulated in daily activities, as well as in the sensorial measurements.In this dissertation, novel manipulation strategies based on heuristic and gradient optimization methods are proposed.Three quality indexes are selected to measure the goodness of the grasp during the manipulation, related to the configuration of the hand, the quality of the grasp, and the configuration of the object. Starting from a given initial grasp, the manipulation strategies are able to improve one quality index or a combination of them. The manipulation strategies are validated with real experimentation using robotic hands equipped with tactile sensors, allowing the execution of practical applications, such as object recognition, force optimization, and telemanipulation.

  • NASSOUROU, MOHAMADOU: Robust Economic Model Predictive Control of Smart Grids
    Author: NASSOUROU, MOHAMADOU
    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: Temporary seizure
    Reading date: 13/09/2021
    Thesis director: PUIG CAYUELA, VICENÇ | BLESA IZQUIERDO, JOAQUIN

    Committee:
         PRESIDENT: PRODAN, IONELA
         SECRETARI: SERRA PRAT, MARIA
         VOCAL: LI, ZHONGLIANG
    Thesis abstract: This thesis proposes a Robust Economic Model Predictive Control (REMPC) design based on deterministic approach for optimizing economic costs of energy production and dispatch in smart electrical grids. Robust Economic Model Predictive Control strategies for linear or linearized systems including algebraic constraints are developed. The contributions of this thesis are manifold: ¿ The development of Robust Economic Model Predictive Control strategies for linear or linearized systems including algebraic constraints. ¿ The development of Robust Optimization based EMPC strategies for the management of smart electrical grids incorporating several types of uncertainties. ¿ The use of Robust Optimization technique to improve the robustness and reliability of the standard EMPC. ¿ Assessing the efficiency and applicability of standard EMPC as well as its hierarchical and single-layer variants to solve economic energy dispatch problems of smart electrical grids.¿ The development and application of a novel constraints tightening minimax Robust EMPC method based on decomposing control inputs and states into dependent and independent components for tackling uncertain energy dispatch problems in smart electrical grids. ¿ The development and application of a novel Robust EMPC Method based on Interval Arithmetic and Zonotopes from the perspective of Tube-based approaches for tackling uncertain energy dispatch problems in smart electrical grids. ¿ The development of a Robust Economic Model Predictive Control strategy for linear system with algebraic constraints. The developed Robust EMPC strategies are categorized into three groups: single-layer EMPC, single-layer EMPC with pseudo-reference tracking, and hierarchical EMPC consisting of EMPC upper-layer and tracking MPC lower-layer. A generic control-oriented mathematical model of smart grids based on the theory of generalized flow-based networks is systematically developed. Additionally, a generic objective function for Economic MPC to solve economic energy dispatch of smart grids is also proposed. The developed mathematical model is repeatedly used to develop several Economic MPC formulations encompassing multi-objective cost functions for tackling uncertainties such as additive unexpected disturbances and energy costs fluctuation with periodically time-varying dynamics. First, the developed Economic MPC strategies are applied to smart micro-grid systems facing nominal periodic load demands and fixed energy prices, in order to assess recursive feasibility and stability of the system. After that, based on robust optimization techniques namely worst-case approach (minimax), the developed Economic MPC formulations are extended to tackle uncertainty of load demands, energy prices and intermittent energy sources. A closed-loop minimax control approach integrating the technique of affine dependence into the minmax approach for eliminating non-linearity and non-convexity of uncertain energy dispatch problems is also developed. Having discovered the computational complexity of minimax based on affine dependence technique, two novel constraints tightening Robust EMPC methods based on decomposition of control inputs and states into components for tackling uncertain energy dispatch problems in smart electrical grids are proposed.

  • RUBIO ROMANO, ANTONIO: Fashion Discovery: A Computer Vision Approach
    Author: RUBIO ROMANO, ANTONIO
    Thesis link: http://hdl.handle.net/10803/672423
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Institute of Robotics and Industrial Informatics (IRI)
    Mode: Normal
    Reading date: 23/07/2021
    Thesis director: MORENO NOGUER, FRANCESC D'ASSIS | SIMÓ SERRA, EDGAR

    Committee:
         PRESIDENT: CHEN, LIMING
         SECRETARI: DIMICCOLI, MARIA
         VOCAL: YAMAGUCHI, KOTA
    Thesis abstract: 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 image. Not only is it a domain tightly coupled with human understanding, but also with scene interpretation and context. Being able to extract fashion-specific information from images and interpret that information in a proper manner can be useful in many situations and help understanding the underlying information in an image. Fashion is also one of the most important businesses around the world, with an estimated value of 3 trillion dollars and a constantly growing online market, which increases the utility of image-based algorithms to search, classify or recommend garments. This doctoral thesis aims to solve specific problems related with the treatment of fashion e-commerce data, from low-level pure pixel information to high-level abstract conclusions of the garments appearing in an image, taking advantage of the multi-modality of the available data for developing some of the solutions. The contributions include: - A new superpixel extraction method focused on improving the annotation process for clothing images. - The construction of an image and text embedding for fashion data. - The application of this embedding space to the task of retrieving the main product in an image showing a complete outfit. In summary, fashion is a complex computer vision and machine learning problem at many levels, and developing specific algorithms that are able to capture essential information from pictures and text is not trivial. In order to solve some of the challenges it proposes, and taking into account that this is an Industrial Ph.D., we contribute with a variety of solutions that can boost the performance of many tasks useful for the fashion e-commerce industry.

  • SHABANI, ARYA: Position Analysis based on Multi-affine Formulations
    Author: SHABANI, ARYA
    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: Temporary seizure
    Reading date: 05/07/2021
    Thesis director: THOMAS ARROYO, FEDERICO | PORTA PLEITE, JOSE MARIA

    Committee:
         PRESIDENT: MATA AMELA, VICENTE
         SECRETARI: PEREZ GRACIA, MARIA ALBA
         VOCAL: GARCIA CENA, CECILIA ELISABET
    Thesis abstract: 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 objects, the generation of valid grasps, the constraint-based object positioning, the simultaneous localization and map building, and the analysis of complex deployable structures. It also arises in other fields, such as in computer aided design, when the location of objects in a design is given in terms of geometric constrains, or in the conformational analysis of biomolecules. The ubiquity of this problem, has motivated an intense quest for methods able of tackling it. Up to now, efficient algorithms for the general problem have remained elusive and they are only available for particular cases. Moreover, the complexity of the problem has typically led to methods difficult to be implemented. Position analysis can be decomposed into two equally important steps: obtaining a set of closure equations, and solving them. This thesis deals with both of them to obtain a general, simple, and yet efficient solution method that we call the trapezoid method. The first step is addressed relying on dual quaternions. Although it has not been properly highlighted in the past, the use of dual quaternions permits expressing the closure condition of a kinematic loop involving only lower pairs as a system of multi-affine equations. In this thesis, this property is leveraged to introduce an interval-based method specially tailored for solving multi-affine systems. The proposed method is objectively simpler (in the sense that it is easier to understand and to implement) than previous methods based on general techniques such as interval Newton methods, conversions to Bernstein basis, or linear relaxations. Moreover, it relies on two simple operations, namely, linear interpolations and projections on coordinate planes, which can be executed with a high performance. The result is a method that accurately and efficiently bounds the valid solutions of the problem at hand. To further improve the accuracy, we propose the use of redundant, multi affine equations that are derived from the minimal set of equations describing the problem. To improve the efficiency, we introduce a variable elimination methodology that preserves the multi-affinity of the system of equations. The generality and the performance of the proposed trapezoid method are extensively evaluated on different kind of mechanisms, including spherical mechanisms, generic 6R and 7R loops, over-constrained systems, and multi-loop mechanisms. The proposed method is, in all cases, significantly faster than state of the art alternatives.

  • SHARAFELDEEN, MOHAMMED DIAB ELSAYED: Knowledge Representation and Reasoning for Perception-based Manipulation Planning
    Author: SHARAFELDEEN, MOHAMMED DIAB ELSAYED
    Thesis link: http://hdl.handle.net/10803/671505
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Institute of Industrial and Control Engineering (IOC)
    Mode: Temporary seizure
    Reading date: 22/01/2021
    Thesis director: ROSELL GRATACOS, JOAN

    Committee:
         PRESIDENT: GONZÁLEZ JIMÉNEZ, JAVIER
         SECRETARI: SUAREZ FEIJOO, RAUL
         VOCAL: KUNZE, LARS
    Thesis abstract: 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 semantic description of the scene, knowledge about the physical behavior of the objects, and inference mechanism to reason about the potential manipulation actions. Moreover, a multi-model sensory module is proposed to perceive the objects in the environment and build the ontological knowledge.The first part of the thesis is focused on the techniques to provide useful knowledge to guide and facilitate the planning process within a classical-based manipulation planning framework. This planning framework facilitates the combination of task and motion planning approaches which includes Fast Forward (FF), a classical symbolic planning approach to compute the sequence of actions to be done in a certain task, and physics-based motion planning which deals with motions and possible interactions with the objects. The tool proposed to provide useful knowledge to the planning process is called Perception and Manipulation Knowledge (PMK). It provides, on the one hand, a standardized formalization under several foundations, such as the Suggested Upper Merged Ontology (SUMO), and the Core Ontology for Robotics and Automation (CORA), in order to facilitate the shareability and reusability when the interaction between humans and/or robots is done. On the other hand, it provides the inference mechanism to reason about TAMP requirements, such as robot capabilities, action constraints, action feasibility, and manipulation behaviors. Moreover, PMK allows breaking the closed-world assumption of classical-based manipulation planning approaches. This proposal has been tested for a serving task in a table-top manipulation problem.The second part of the thesis is focused on providing FailRecOnt framework which provides a failure interpretation and recovery knowledge for any planner approaches. We are mainly interested in assembly manipulation tasks for bi-manual robots, which often encounter complexity or failures in the planning and execution phases and also takes into account the manipulation actions to couple/decouple or attach/detach the objects. Planning phase failures typically refer to failures of the planner itself, but we will use planning phase failures to also refer to situations where the planner reasons that some action would be infeasible, e.g. because objects block access to what the robot should reach. A correct selection of grasps and placements must be produced in such an eventuality. Depending on the type of problem, goal order must be carefully handled specially in the assembly domain; very large search spaces are possible, requiring objects to be moved more than once for achieving the goals. Execution phase failures refer to hardware failures related to the system devices, e.g. robot or camera needs to be re-calibrated, or software failures related to the capabilities offered by specific software components, or failures in action performance such as an unexpected occluding object, or slippage. Description of how to use the failure ontology in a task and motion planning process, such as the knowledge-enabled approaches or the heuristic search classical approaches is proposed. The third part of the thesis is focused on the use of knowledge-based experience, called experiential knowledge, in every-day manipulation problems, such as, in service robotics applications, serve a cup in a cluttered environment, where some repeatable skills are usually used like pick-up, place-down or navigate. To efficiently handle these tasks, a planning and execution framework, called SkillMaN, for robotic manipulation tasks is proposed, which is equipped with a module withexperiential knowledge (learned from its experience or given by the user) on how to execute a set of skills, like pick-up, put-down or open a drawer.

  • TRAPIELLO FERNÁNDEZ, CARLOS: Automatic control advances in CPS security
    Author: TRAPIELLO FERNÁNDEZ, CARLOS
    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: Temporary seizure
    Reading date: 26/07/2021
    Thesis director: PUIG CAYUELA, VICENÇ | CEMBRANO GENNARI, M.GABRIELA ELENA

    Committee:
         PRESIDENT: FRANZÈ, GIUSEPPE
         SECRETARI: OCAMPO MARTINEZ, CARLOS AUGUSTO
         VOCAL: FERRARI, RICCARDO
    Thesis abstract: Cyber-physical systems (CPSs) constitute a new generation of control systems that seeks a better integration between computation and physical processes. However, the notable advances of these systems in terms of efficiency and modularity come at the price of introducing new security vulnerabilities. Consequently, the complementation of existing cybersecurity methods with model-based techniques that take into account the effect of attacks on the system dynamics, has become an urgent need and a major theoretical challenge. Therefore, this thesis presents several contributions in the security of CPSs from an automatic control perspective. Notably, motivated by the concern that they generate in the industrial sector, attention is focused in two particular problems: the detection of replay attacks launched against control systems, and the reconfiguration of a hardware-redundant system after an anomaly causes the nominal component configuration to be no longer admissible. During this thesis, the non-negligible effect of the uncertainty that remains when modelling a dynamical system is addressed assuming an unknown-but-bounded description.As regards the detection of replay attacks, the bounded uncertainty premise has led to follow a set-based paradigm that allows to infer deterministically whether the system is under attack or not. In particular, the contributions presented in this field make use of zonotopic-sets in order to develop a set-invariance analysis on the detectability of the replay attack launched against the supervisory layer of a control system, as well as to derive explicit expressions regarding the attack detectability with respect the set-point output reference set from the supervision center. The advantages offered by zonotopes are exploited in the design of different physical watermarking schemes, which guarantee the detection of the attack either by injecting finite watermark sequences, or by imposing a continuous degradation of the system's operation. In addition, the relationship between the proposed zonotope-based deterministic techniques and the stochastic detection techniques, which are widely used in optimal control schemes, has been studied, obtaining analogous expressions that allow connecting both approaches.On the other hand, techniques for exploiting the physical redundancy common in large-scale systems, which often include back-up elements other than those used in nominal operation, are studied. On this subject, the (in some sense) optimal selection of the new system configuration after an anomaly detection is particularized for flow-based networks. In the first instance, the problem is addressed at a planning level, proposing a generic methodology where the selection of the optimal configuration is posed as a multi-objective mixed-integer program (MIP), pruned with the offline assessment of necessary properties. The methodology is further extended with the inclusion of closed-loop stability guarantees and the consideration of unknown-but-bounded uncertainty. On this subject, the admissibility of each configuration is evaluated according to the average stage-cost of the optimal periodic trajectory towards which the flow-based network can be robustly steered to. Besides, the configuration selection is solved using a single-layer robust model predictive control (MPC) scheme, where the local controller is designed using the minimal configurations that guarantee an admissible performance. To that end, several algorithms for searching minimum cardinality configurations in the associated lattice of configurations are proposed.

  • XING, YASHAN: Modeling and Control for a Fuel Cell System
    Author: XING, YASHAN
    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: Temporary seizure
    Reading date: 01/07/2021
    Thesis director: COSTA CASTELLO, RAMON | NA, JING

    Committee:
         PRESIDENT: ANDÚJAR MÁRQUEZ, JOSÉ MANUEL
         SECRETARI: SERRA PRAT, MARIA
         VOCAL: LI, XI
    Thesis abstract: Fuel cells are electrochemical devices to covert hydrogen and oxygen into electrical energy and heat. However, the degradation during the operation can reduce a fuel cell lifetime which is the major obstacle for widely commercial utilization. Hence, reliably modeling and suitable control strategies are required to understand their behavior and ensure their operation in the safe region. This doctoral thesis aims to develop a control-oriented model, propose unknown parameter estimation methods and design suitable control strategies for fuel cell systems. First, a control-oriented model of a fuel cell system and the detail analysis from the perspective of control are provided. Then, a global tuning strategy based on the hybrid particle swarm optimization method with the classical gradient-based search method is proposed. The method is validated by using experimental data coming from a fuel cell test bench. Subsequently, an equilibrium point analysis is formulated in order to systematically analyze the system behavior. The analysis results show the maximum efficiency region where the maximum steady-state electrical power under each constant stack temperature can be obtained. Furthermore, the Lyapunov' theory is used to characterize the local stability of equilibrium point. Besides, comparison between the initial nonlinear model with the linearized model is performed to show the efficacy of the linearized model. Finally, the frequency response of the linearized model is performed, which provides key information about control system design in order to efficiently operate the fuel cell system.Additionally, adaptive parameter estimation methods are presented for a fuel cell system. It is worth mentioning that most of existing adaptive parameter estimation techniques are developed to deal with the linearly parametric systems. Meanwhile, estimating time-varying parameters still remains as an open problem. However, the nonlinearly parameterization and time-varying parameters are intrinsic characteristics in the fuel cell models. Therefore, the linearly and nonlinearly parameterized systems are both considered. Adaptive parameter estimation methods with constant and time-varying parameters are also studied. Specifically, the properties of convexity and monotonicity are first used separately in order to linearize the nonlinearly parametric functions. Then, the adaptive laws are designed by using the extracted estimation errors such that exponential convergence of the parameter estimation error can be guaranteed. Finally, experimental results on a practical fuel cell system are given to verify the effectiveness of the proposed schemes.Furthermore, there are unknown modeling errors, external disturbance and noise for fuel cells during modeling and experiment processes. Due to those unknown dynamics, the conventional control strategies may fail to achieve the expectant results. To address this issue, a composite proportional-integral (PI) controller with an unknown system dynamics estimator is proposed for a fuel cell system. To be specific, the control strategy is developed by reducing the temperature of input air through increasing the mass flow of air in order to eliminate the excess heat. Moreover, an unknown system dynamics estimator is proposed in order to compensate the effect of the unknown dynamics. The construction of the estimator is designed through finding an invariant manifold which implies the relation between known variables and the unknown manifold. The invariant manifold is derived by applying a simple low-pass filter to the system which is beneficial to avoid the requirement of the unmeasurable derivation state. Furthermore, the proposed estimator is easily merged into the proposed PI control strategy and ensures the exponential convergence of estimated errors. Finally, experimental results illustrate the efficacy of the proposed control strategy.

Last update: 16/10/2021 05:11:51.

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Reading date:29/01/2021
Director:BOLEA MONTE, YOLANDA
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AUTHOR:RUBÍ PERELLÓ, BARTOMEU
Title:Guidance, navigation and control of multirotors
Reading date:11/12/2020
Director:MORCEGO SEIX, BERNARDO
Co-director:PEREZ MAGRANE, RAMON
Mention:No
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AUTHOR:DERAY, JEREMIE
Title:Robust Navigation for Industrial Service Robots
Reading date:29/09/2020
Director:ANDRADE CETTO, JUAN
Co-director:SOLÀ ORTEGA, JOAN
Mention:Doctorat Industrial
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Reading date:23/09/2020
Director:SANFELIU CORTES, ALBERTO
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Mention:Mention de Doctor Internacional
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Title:Advances in planning and control for autonomous vehicles
Reading date:24/03/2020
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AUTHOR:CANAL CAMPRODON, GERARD
Title:Adapting robot behavior to user preferences in assistive scenarios
Reading date:09/03/2020
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Mention:Mention de Doctor Internacional
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Title:Lidar-Based Scene Understanding for Autonomous Driving Using Deep Learning
Reading date:25/02/2020
Director:SANFELIU CORTES, ALBERTO
Co-director:MORENO NOGUER, FRANCESC D'ASSIS
Mention:Mention de Doctor Internacional
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AUTHOR:ROSERO CHANDI, CARLOS XAVIER
Title:Active power sharing and frequency regulation in inverter-based islanded microgrids subject to clock drifts, damage in power links and loss of communications
Reading date:06/02/2020
Director:VELASCO GARCIA, MANUEL
Co-director:MARTI COLOM, PAU
Mention:No
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Title:Heat pump controls to exploit the energy flexibility of building thermal loads
Reading date:24/01/2020
Director:COSTA CASTELLO, RAMON
Co-director:SALOM TORMO, JAUME
Mention:Mention de Doctor Internacional
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AUTHOR:TREJO RAMÍREZ, KARLA ANDREA
Title:3D Partial Scans Models for People Recognition With A RGB-D Sensor
Reading date:22/01/2020
Director:ANGULO BAHON, CECILIO
Mention:Mention de Doctor Internacional
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AUTHOR:SINISCALCHI MINNA, SARA
Title:Advanced wind farm control strategies for enhancing grid support
Reading date:20/12/2019
Director:OCAMPO MARTINEZ, CARLOS AUGUSTO
Co-director:DE PRADA GIL, MIKEL
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Siniscalchi Minna, S.; Bianchi, F.; Ocampo-Martinez, C.; Domínguez , J.; De Schutter, B. (2020). A non-centralized predictive control strategy for wind farm active power control: A wake-based partitioning approach. - Renewable energy, ISSN: 1879-0682

AUTHOR:ANANDUTA, WAYAN WICAK
Title:Non-centralized Optimization-Based Control Schemes for Large-Scale Energy Systems
Reading date:17/12/2019
Director:OCAMPO MARTINEZ, CARLOS AUGUSTO
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Ananduta, W.; Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2018). Mitigation of communication failures in distributed model predictive control strategies. - IET control theory and applications, ISSN: 1751-8644 (JCR Impact Factor-2018: 3.526; Quartil: Q1)

Ananduta, W.; Pippia, Tomas Manuel; Ocampo-Martinez, C.; Sijs, J.; De Schutter, B. (2019). Online partitioning method for decentralized control of linear switching large-scale systems. - Journal of the Franklin Institute, ISSN: 0016-0032 (JCR Impact Factor-2019: 4.036; Quartil: Q1)

Ananduta, W.; Maestre, J.; Ocampo-Martinez, C.; Ishii, H. (2019). Resilient distributed model predictive control for energy management of interconnected microgrids. - Optimal control applications and methods, ISSN: 0143-2087 (JCR Impact Factor-2019: 1.252; Quartil: Q2)

Ananduta, W.; Maestre, J.; Ocampo-Martinez, C.; Ishii, H. (2018). Resilient distributed energy management for systems of interconnected microgrids.

Ananduta, W.; Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2018). Resilient information-exchange protocol for distributed model predictive control schemes.

Ananduta, W.; Ocampo-Martinez, C. (2019). Decentralized energy management of power networks with distributed generation using periodical self-sufficient repartitioning approach.

Ananduta, W.; Maestre, J.; Ocampo-Martinez, C.; Ishii, H. (2019). A resilient approach for distributed MPC-based economic dispatch in interconnected microgrids.

Belgioioso, G.; Ananduta, W.; Grammatico, S.; Ocampo-Martinez, C. (2020). Energy management and peer-to-peer trading in future smart grids: a distributed game-theoretic approach.

Ananduta, W.; Ocampo-Martinez, C.; Nedic, A. (2020). Accelerated Multi-agent optimization method over stochastic networks.

AUTHOR:GARCÍA HIDALGO, NÉSTOR
Title:Motion Planning Using Synergies: Application to Anthropomorphic Dual-Arm Robots
Reading date:08/10/2019
Director:SUAREZ FEIJOO, RAUL
Co-director:ROSELL GRATACOS, JOAN
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Garcia, N.; Suarez, R.; Rosell, J. (2017). Task-dependent synergies for motion planning of an anthropomorphic dual-arm system. - IEEE transactions on robotics, ISSN: 1552-3098 (JCR Impact Factor-2017: 4.264; Quartil: Q1)

Garcia, N.; Suarez, R.; Rosell, J. (2017). First-order synergies for motion planning of anthropomorphic dual-arm robots. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Suarez, R.; Palomo, L.; Martinez, J.; Clos, D.; Garcia, N. (2018). Development of a dexterous dual-arm omnidirectional mobile manipulator. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Suarez, R.; Rosell, J.; Garcia, N. (2015). Using synergies in dual-arm manipulation tasks.

Garcia, N.; Rosell, J.; Suarez, R. (2015). Motion planning using first-order synergies.

Garcia, N.; Suarez, R.; Rosell, J. (2015). HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning.

Rosell, J.; Nuño, E.; Claret, J.; Zaplana, I.; Garcia, N.; Akbari, A.; Ud Din, M.; Palomo, L.; Pérez, A.; Mas, Orestes; Basañez, L. (2017). Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration.

Rosell, J.; Suarez, R.; Garcia, N. (2018). Modeling human-likeness in approaching motions of dual-arm autonomous robots.

AUTHOR:CLARET ROBERT, JOSEP ARNAU
Title:The Robot Null Space: New Uses For New Robotic Systems
Reading date:02/10/2019
Director:BASAÑEZ VILLALUENGA, LUIS
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Claret, J.; Venture, G.; Basañez, L. (2017). Exploiting the robot kinematic redundancy for emotion conveyance to humans as a lower priority task. - International journal of social robotics, ISSN: 1875-4805 (JCR Impact Factor-2017: 1.017; Quartil: Q1)

Claret, J.; Zaplana, I.; Basañez, L. (2016). Teleoperating a mobile manipulator and a free-flying camera from a single haptic device.

AUTHOR:SEGOVIA CASTILLO, PABLO
Title:Model-Based Control And Diagnosis Of Inland Navigation Networks
Reading date:11/06/2019
Director:DUVIELLA, ERIC
Director:PUIG CAYUELA, VICENÇ
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V.; Duviella, E. (2018). Modeling of interconnected flat open-channel flow : application to inland navigation canals.

Segovia, P.; Blesa, J.; Duviella, E.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V. (2018). Sliding window assessment for sensor fault model-based diagnosis in inland waterways. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Segovia, P.; Blesa, J.; Duviella, E.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V. (2018). Sensor fault diagnosis in inland navigation networks based on a grey-box model. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Segovia, P.; Blesa, J.; Horvath, K.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V.; Duviella, E. (2018). Modeling and fault diagnosis of flat inland navigation canals. - Proceedings of the Institution of Mechanical Engineers. Part I, journal of systems and control, ISSN: 0959-6518 (JCR Impact Factor-2018: 1.166; Quartil: Q4)

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Duviella, E.; Puig, V. (2019). Model predictive control and moving horizon estimation for water level regulation in inland waterways. - Journal of process control, ISSN: 0959-1524 (JCR Impact Factor-2019: 3.624; Quartil: Q2)

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Blesa, J.; Puig, V.; Duviella, E. (2016). Decentralized fault-tolerant control of inland navigation networks: a challenge.

Segovia, P.; Blesa, J.; Horvath, K.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V.; Duviella, E. (2017). Fault detection and isolation in flat navigation canals.

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V.; Duviella, E. (2017). Decentralized control of inland navigation networks with distributaries: application to navigation canals in the north of France.

Segovia, P.; Horvath, K.; Rajaoarisoa, L.H.; Nejjari, F.; Puig, V.; Duviella, E. (2017). Modeling of two sub-reach water systems: application to navigation canals in the North of France.

Segovia, P.; Desquesnes, G.; Doniec, A.; Duviella, E.; Lozenguez, G.; Nejjari, F.; Puig, V.; Rajaoarisoa, L.H. (2018). Management tools to study and to deal with effects of climate change on inland waterways.

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Duviella, E.; Puig, V. (2018). Distributed input-delay model predictive control of inland waterways.

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Duviella, E.; Puig, V. (2018). Input-delay model predictive control of inland waterways considering the backwater effect.

Segovia, P.; Rajaoarisoa, L.H.; Nejjari, F.; Duviella, E.; Puig, V. (2019). A communication-based distributed model predictive control approach for large-scale systems.

AUTHOR:CAYERO BECERRA, JULIÁN FRANCISCO
Title:UAV perception for safe flight under physical interaction
Reading date:07/06/2019
Director:CUGUERÓ ESCOFET, JOSEP
Director:MORCEGO SEIX, BERNARDO
Mention:No
RELATED PUBLICATIONS
Cabeza Doña, Antonio (2015). Study of the modelling and indentification of an AscTec Hummingbird Multirotor.

Cayero, J. (2015). UAV control for safe flight under physical interaction.

Alvarez De la hera, Edgar (2018). Projecte de desenvolupament d'un dispositiu de monitorització automàtica de música per la gestió de drets d'autor.

Cayero, J.; Rotondo, D.; Morcego, B.; Puig, V. (2019). Optimal state observation using quadratic boundedness: application to UAV disturbance estimation. - International journal of applied mathematics and computer science, ISSN: 1641-876X (JCR Impact Factor-2019: 0.967; Quartil: Q3)

Cayero, J.; Pep Cugueró Escofet; Morcego, B. (2015). Impedance control of a planar quadrotor with an extended Kalman filter external wrench estimator.

Cayero, J.; Pep Cugueró Escofet; Morcego, B. (2015). Impedance control of a planar quadrotor with an extended Kalman Filter external wrench estimator.

Ghangale, D.; Romeu, J.; Arcos, R.; Noori, B.; Clot, A.; Cayero, J. (2018). Study of the validity of a rectangular strip track/soil coupling in railway semi-analytical prediction models.

Cayero, J.; Morcego, B.; Pep Cugueró Escofet (2018). Estimating external disturbances in UAVs using linear and spin momenta.

AUTHOR:POURASGHARLAFMEJANI, MASOUD
Title:On the fault diagnosis of dynamic systems using set-based approaches
Reading date:12/04/2019
Director:OCAMPO MARTINEZ, CARLOS AUGUSTO
Director:PUIG CAYUELA, VICENÇ
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Puig, V.; Pourasgharlafmejani, M. (2019). Fault diagnosis using set-membership approaches.

Pourasgharlafmejani, M. (2016). Diagnosis and Fault-tolerant Control of Dynamic System using Set-based Approaches.

Rahman, A.; Pourasgharlafmejani, M.; Puig, V.; Olaru, S.; Ocampo-Martinez, C.; Reppa, V. (2017). Observer-based sensor fault detectability: about robust positive invariance approach and residual sensitivity. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C.; Zhang, Q. (2017). Reduced-order interval-observer design for dynamic systems with time-invariant uncertainty. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Peirovi, S.; Pourasgharlafmejani, M.; Nejad, A.; Hassan, M. A. (2017). A study on the different finite element approaches for laser cutting of aluminum alloy sheet. - International journal of advanced manufacturing technology, ISSN: 0268-3768 (JCR Impact Factor-2017: 2.601; Quartil: Q2)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2018). Interval observer fault detection ensuring detectability and isolability by using a set-invariance approach ¿. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Pourasgharlafmejani, M.; Combastel, C.; Puig, V.; Ocampo-Martinez, C. (2019). FD-ZKF: A Zonotopic Kalman Filter optimizing fault detection rather than state estimation. - Journal of process control, ISSN: 0959-1524 (JCR Impact Factor-2019: 3.624; Quartil: Q2)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2019). Interval observer-based fault detectability analysis using mixed set-invariance theory and sensitivity analysis approach. - International journal of systems science, ISSN: 0020-7721 (JCR Impact Factor-2019: 2.149; Quartil: Q2)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2019). Interval observer versus set-membership approaches for fault detection in uncertain systems using zonotopes. - International journal of robust and nonlinear control, ISSN: 1049-8923 (JCR Impact Factor-2019: 3.503; Quartil: Q1)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2019). Characterisation of interval-observer fault detection and isolation properties using the set-invariance approach. - Journal of the Franklin Institute, ISSN: 0016-0032 (JCR Impact Factor-2019: 4.036; Quartil: Q1)

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2016). Comparison of set-membership and interval observer approaches for state estimation of uncertain systems.

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2016). Characterization of the minimum detectable fault of interval observers by using set-invariance theory.

Pourasgharlafmejani, M.; Puig, V.; Ocampo-Martinez, C. (2019). Robust zonotopic observer design: Interval observer versus set-membership approaches.

AUTHOR:AKBARI, ALIAKBAR
Title:Combining task and motion planning for mobile manipulators
Reading date:04/04/2019
Director:ROSELL GRATACOS, JOAN
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Beßler, D.; Pomarlan, M.; Akbari, A.; Ud Din, M.; Diab, M.; Rosell, J.; Bateman, J.; Beetz, M. (2018). Assembly planning in cluttered environments through heterogeneous reasoning.

Ud Din, M.; Akbari, A.; Rosell, J.; Qazi, W. (2019). A tool for knowledge-oriented physics-based motion planning and simulation.

Ud Din, M.; Akbari, A.; Rosell, J. (2017). Physics-based Motion Planning with Temporal Logic Specifications. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Ud Din, M.; Rosell, J.; Akbari, A. (2017). k-PMP: enhancing physics-based motion planners with knowledge-based reasoning. - Journal of intelligent and robotic systems, ISSN: 0921-0296 (JCR Impact Factor-2017: 1.583; Quartil: Q3)

Lagriffoul, F.; Dantam, N.; Garrett, C.; Akbari, A.; Srivastava, S.; Kavraki, L. (2018). Platform-independent benchmarks for task and motion planning. - IEEE robotics and automation letters, ISSN: 2377-3766

Akbari, A.; Ud Din, M.; Rosell, J. (2019). Knowledge-oriented task and motion planning for multiple mobile robots. - Journal of experimental and theoretical artificial intelligence, ISSN: 0952-813X (JCR Impact Factor-2019: 2.039; Quartil: Q3)

Diab, M.; Akbari, A.; Ud Din, M.; Rosell, J. (2019). PMK: a knowledge processing framework for autonomous robotics perception and manipulation. - Sensors, ISSN: 1424-8220 (JCR Impact Factor-2019: 3.275; Quartil: Q1)

Akbari, A.; Lagriffoul, F.; Rosell, J. (2019). Combined heuristic task and motion planning for bi-manual robots. - Autonomous robots, ISSN: 0929-5593 (JCR Impact Factor-2019: 3.602; Quartil: Q1)

Akbari, A.; Rosell, J.; Diab, M. (2020). Contingent task and motion planning under uncertainty for human–robot interactions. - Applied sciences, ISSN: 2076-3417 (JCR Impact Factor-2018: 2.217; Quartil: Q2)

Akbari, A.; Ud Din, M.; Rosell, J. (2016). Task planning using physics-based heuristics on manipulation actions.

Ud Din, M.; Akbari, A.; Rosell, J. (2017). Knowledge-Oriented Physics-Based Motion Planning for Grasping Under Uncertainty.

Diab, M.; Ud Din, M.; Akbari, A.; Rosell, J. (2017). An Ontology Framework for Physics-Based Manipulation Planning.

Rosell, J.; Akbari, A.; Ud Din, M.; Diab, M. (2018). A knowledge-based planning framework for smart and autonomous manipulation robots.

Diab, M.; Pomarlan, M.; Bebler, D.; Akbari, A.; Bateman, J.; Beetz, M.; Rosell, J. (2019). An ontology for failure interpretation in automated planning and execution.

AUTHOR:VALLVÉ NAVARRO, JOAN
Title:Information Metrics for Localization and Mapping
Reading date:27/02/2019
Director:ANDRADE CETTO, JUAN
Director:SOLÀ ORTEGA, JOAN
Mention:No
RELATED PUBLICATIONS
Vallve, J. (2015). Information Gain Metrics for Localization and Mapping.

Vallve, J.; Andrade-Cetto, J. (2015). Potential information fields for mobile robot exploration. - Robotics and autonomous systems, ISSN: 0921-8890 (JCR Impact Factor-2015: 1.618; Quartil: Q2)

Vallve, J.; Solá, J.; Andrade-Cetto, J. (2018). Graph SLAM sparsification with populated topologies using factor descent optimization. - IEEE robotics and automation letters, ISSN: 2377-3766

Vallve, J.; Solá, J.; Andrade-Cetto, J. (2019). Pose-graph SLAM sparsification using factor descent. - Robotics and autonomous systems, ISSN: 0921-8890 (JCR Impact Factor-2019: 2.825; Quartil: Q2)

Villagra, J.; Vallve, J.; Medina, J.; Solá, J.; Artuñedo, A.; Andrade-Cetto, J. (2020). Technological advances for intelligent vehicles: shared control in highly complex contexts and the automation of transport in segregated environments. - Boletín del Grupo Español del Carbón, ISSN: 2172-6094 (JCR Impact Factor-2019: 0.0; Quartil: )

Vallve, J.; Andrade-Cetto, J. (2014). Dense entropy decrease estimation for mobile robot exploration.

Valencia, R.; Saarinen, J.; Andreasson, H.; Vallve, J.; Andrade-Cetto, J.; Lilienthal, A. (2014). Localization in highly dynamic environments using dual-timescale NDT-MCL.

Vallve, J.; Andrade-Cetto, J. (2015). Active pose SLAM with RRT*.

Corominas, A.; Vallve, J.; Solá, J.; Flores, I.; Andrade-Cetto, J. (2016). Observability analysis and optimal sensor placement in stereo radar odometry.

Vallve, J.; Solá, J.; Andrade-Cetto, J. (2017). Factor descent optimization for sparsification in graph SLAM.

AUTHOR:RAYA GINER, CRISTOBAL
Title:A Contribution to the Incorporation of Sociability and Creativity Skills to Computers and Robots
Reading date:14/11/2018
Director:ANGULO BAHON, CECILIO
Director:RUIZ VEGAS, FRANCISCO JAVIER
Mention:No
RELATED PUBLICATIONS
Raya, C. (2018). Diapositives de programació de Android en Kotlin.

Grabulosa Olivé, Jordi (2017). Aplicació de control domòtic.

Ruda, Joaquín (2017). Detección de caídas mediante sensores inerciales y de presión barométrica.

Lago Cañadas, Julio Cesar (2017). Diseño y control de un dron con evasión de obstaculos.

Kalachov, Serhiy (2017). Desenvolupament d'un sistema MES per a una linneà de producció del sector farmacèutic.

Herreros Granell, Ernest (2017). IMUTOWER: An inertial sensor for human towers.

Souto Hernández, Daniel (2018). SPK connect.

Guzmán Eixarch, Jose Miguel (2018). Diseño de túnel de viento para test de modelos a escala reducida-JGE.

Cuadrado Aguado, Ivan (2018). LiveDomotech.

Homma Pajaron, Mina Patricia (2018). Diseño de túnel de viento para test de modelos a escala reducida-MHP.

Martin Colome, Pol (2018). Control domótic d' una casa amb Arduino.

Llorens Ruiz, Oriol (2018). Sistema pel control de qualitat del Steering Wheel Switch mitjançant bus LIN.

Bin Zaikuan, Eizzat Ayman (2018). Walking Stick with Disease Detection.

De La fragua gómez, Jose Maria (2018). Business plan de empresa especialista en post-procesos mecánicos de piezas de manufacturación aditiva.

Montalvo Martín, Salvador (2018). Smart roundabout.

Ayora Sorli, Júlia (2018). Industria 4.0 en el Mantenimiento de Fabrica SEAT.

Montoya Calasanz, Pablo Isaac (2018). Control de convertidores para la reducción de armónicos en sistemas de generación distribuida.

Celedón Rocha, Jorge Eliecer (2019). Detección de transiciones posturales para aplicaciones médicas, usando datos obtenidos de sensores inerciales de un Smartphone..

El Bakouri, Youssef (2019). Menjador per gossos i gats automatitzat amb control remot..

Terrades Andreu, Adrià (2019). Implementació Algoritmes de Tracking en cel·la col·laborativa KUKA.

Azmani Oualite, Hassan (2019). Silla de ruedas autónoma.

López Uri, Angel (2019). Sistema control d'estabilització d'una maqueta Segway.

Granda Pozo, Jhon (2019). Automatització d'una estació de pintura mitjançant Sysmac..

Sánchez Tolo, Laia (2019). Sensors cerebrals aplicats a l'accessibilitat de la conducció..

Raya, C.; Ruiz, F.; Angulo, C.; Sama, A.; Agell, N. (2017). A Transformational creativity tool to support musical composition.

AUTHOR:ACEVEDO VALLE, JUAN MANUEL
Title:Sensorimotor exploration: constraint awareness and social reinforcement in early vocal development
Reading date:06/11/2018
Director:ANGULO BAHON, CECILIO
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Acevedo-Valle, J. M. (2015). Early-Language Development in Children and Machines.

Acevedo-Valle, J. M.; Angulo, C.; Moulin-Frier, C. (2017). Autonomous Discovery of Motor Constraints in an Intrinsically-Motivated Vocal Learner. - IEEE Transactions on Cognitive and Developmental Systems, ISSN: 2379-8920 (JCR Impact Factor-2017: 1.952; Quartil: Q2)

Acevedo-Valle, J. M.; Hafner, V.; Angulo, C. (2019). Social reinforcement in artificial prelinguistic development : a study using intrinsically motivated exploration architectures. - IEEE Transactions on Cognitive and Developmental Systems, ISSN: 2379-8920 (JCR Impact Factor-2019: 2.667; Quartil: Q2)

Luna, J.; Acevedo-Valle, J. M.; Rosanas, N.; Costa-Castelló, R. (2014). Nonlinear predictive control for the four-tanks plant flow regulation.

Acevedo-Valle, J. M.; Puig, V.; Tornil-Sin, S.; Witczak, M.; Rotondo, D. (2015). Predictive fault tolerant control for LPV systems using model reference.

Angulo, C.; Acevedo-Valle, J. M. (2017). On dynamical systems for sensorimotor contingencies. A first approach from control engineering.

AUTHOR:WANG, YE
Title:Advances in State Estimation, Diagnosis and Control of Complex Systems
Reading date:22/10/2018
Director:CEMBRANO GENNARI, M.GABRIELA ELENA
Director:PUIG CAYUELA, VICENÇ
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Wang, Y.; Ocampo-Martinez, C.; Puig, V.; Quevedo, J. (2016). Gaussian-process-based demand forecasting for predictive control of drinking water networks.

Wang, Y. (2016). Economic model predictive control of complex systems including fault-tolerant capabilities.

Wang, Y.; Ocampo-Martinez, C.; Puig, V. (2016). Stochastic model predictive control based on Gaussian processes applied to drinking water networks. - IET control theory and applications, ISSN: 1751-8644 (JCR Impact Factor-2016: 2.536; Quartil: Q1)

Wang, Y.; Salvador, J.; Puig, V.; Cembrano, M. (2017). Periodic nonlinear economic model predictive control with changing horizon for water distribution networks. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Wang, Y.; Wang, Z.; Puig, V.; Cembrano, M. (2017). Zonotopic fault estimation filter design for discrete-time descriptor systems. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Álamo, T.; Wang, Y.; Puig, V.; Cembrano, M. (2017). Distributed zonotopic set-membership state estimation based on optimization methods with partial projection. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Wang, Y.; Blesa, J.; Puig, V. (2017). Robust Periodic Economic Predictive Control based on Interval Arithmetic for Water Distribution Networks. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Wang, Y.; Cembrano, M.; Puig, V.; Romera, J.; Saporta, D.; Valero, J.; Quevedo, J. (2017). Optimal management of barcelona water distribution network using non-linear model predictive control. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Wang, Y.; Puig, V.; Cembrano, M. (2017). Non-linear economic model predictive control of water distribution networks. - Journal of process control, ISSN: 0959-1524 (JCR Impact Factor-2017: 2.787; Quartil: Q2)

Wang, Y.; Álamo, T.; Puig, V.; Cembrano, M. (2018). Economic model predictive control with nonlinear constraint relaxation for the operational management of water distribution networks. - Energies, ISSN: 1996-1073 (JCR Impact Factor-2018: 2.707; Quartil: Q3)

Wang, Y.; Puig, V.; Xu, F.; Cembrano, M. (2018). Zonotopic unknown input observer of discrete-time descriptor systems for state estimation and robust fault detection. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Li, J.; Wang, Z.; Shen, Y.; Wang, Y. (2018). Zonotopic fault detection observer design for Takagi–Sugeno fuzzy systems. - International journal of systems science, ISSN: 0020-7721 (JCR Impact Factor-2018: 2.469; Quartil: Q2)

Darure, T.; Puig, V.; Yamé, J.; Hamelin, F.; Wang, Y. (2018). Distributed model predictive control applied to a VAV based HVAC system based on sensitivity analysis. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Wang, Y.; Muñoz de la Peña , D.; Puig, V.; Cembrano, M. (2018). Robust periodic economic model predictive control using probabilistic set invariance for descriptor systems. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2018: 0.298; Quartil: Q3)

Tang, W.; Wang, Z.; Wang, Y.; Shen, Y. (2018). Fault diagnosis for uncertain systems based on unknown input set-membership filters. - Zidonghua Xuebao/Acta Automatica Sinica, ISSN: 0254-4156 (JCR Impact Factor-2018: 0.377; Quartil: Q2)

Wang, Y.; Puig, V.; Cembrano, M. (2018). Set-membership approach and Kalman observer based on zonotopes for discrete-time descriptor systems. - Automatica, ISSN: 0005-1098 (JCR Impact Factor-2018: 6.355; Quartil: Q1)

Wang, Y.; Salvador, J.; Muñoz de la Peña , D.; Puig, V.; Cembrano, M. (2018). Economic model predictive control based on a periodicity constraint. - Journal of process control, ISSN: 0959-1524 (JCR Impact Factor-2018: 3.316; Quartil: Q2)

Wang, Y.; Wang, Z.; Puig, V.; Cembrano, M. (2018). Zonotopic set-membership state estimation for discrete-time descriptor LPV systems. - IEEE transactions on automatic control, ISSN: 0018-9286 (JCR Impact Factor-2018: 5.093; Quartil: Q1)

Wang, Y.; Puig, V.; Cembrano, M. (2018). Robust fault estimation based on zonotopic Kalman filter for discrete-time descriptor systems. - International journal of robust and nonlinear control, ISSN: 1049-8923 (JCR Impact Factor-2018: 3.953; Quartil: Q1)

Wang, Y.; Muñoz de la Peña , D.; Puig, V.; Cembrano, M. (2019). Robust economic model predictive control based on a periodicity constraint. - International journal of robust and nonlinear control, ISSN: 1049-8923 (JCR Impact Factor-2019: 3.503; Quartil: Q1)

Wang, Y.; Olaru, S.; Valmorbida, G.; Puig, V.; Cembrano, M. (2019). Set-invariance characterizations of discrete-time descriptor systems with application to active mode detection. - Automatica, ISSN: 0005-1098 (JCR Impact Factor-2019: 5.541; Quartil: Q1)

Wang, Y.; Puig, V.; Cembrano, M. (2016). Economic MPC with periodic terminal constraints of nonlinear differential-algebraic-equation systems: Application to drinking water networks.

Wang, Y.; Álamo, T.; Puig, V.; Cembrano, M. (2016). Periodic economic model predictive control with nonlinear-constraint relaxation for water distribution networks.

Wang, Y.; Puig, V. (2016). Zonotopic extended Kalman filter and fault detection of discrete-time nonlinear systems applied to a quadrotor helicopter.

Wang, Y.; Puig, V.; Cembrano, M. (2016). Fault-tolerant periodic economic model predictive control of differential-algebraic-equation systems.

Wang, Y.; Puig, V.; Cembrano, M.; Álamo, T. (2016). Guaranteed state estimation and fault detection based on zonotopes for differential-algebraic-equation systems.

Wang, Y.; Ramírez, A.; Xu, F.; Puig, V. (2016). Nonlinear model predictive control with constraint satisfactions for a quadcopter.

Wang, Y.; Zhou, M.; Puig, V.; Cembrano, M.; Wang, Z. (2017). Zonotopic fault detection observer with H_ performance.

Wang, Y.; Olaru, S.; Valmorbida, G.; Puig, V.; Cembrano, M. (2017). Robust invariant sets and active mode detection for discrete-Time uncertain descriptor systems.

Liu, X.; Wang, Z.; Wang, Y.; Shen, Y. (2018). Dynamic threshold computation in fault detection for discrete-time linear systems.

Wan, Y.; Puig, V.; Ocampo-Martinez, C.; Wang, Y.; Braatz, R. (2018). Probability-guaranteed set-membership state estimation for polynomially uncertain linear time-invariant systems.

Wang, Y.; Álamo, T.; Puig, V.; Cembrano, M. (2018). A distributed set-membership approach based on zonotopes for interconnected systems.

Wang, Y.; Muñoz de la Peña , D.; Puig, V.; Cembrano, M. (2018). A novel formulation of economic model predictive control for periodic operations.

Wang, Y.; Rotondo, D.; Puig, V.; Cembrano, M.; Zhao, Y. (2019). Fault-tolerant control of discrete-time descriptor systems using virtual actuators.

AUTHOR:ZAPLANA AGUT, ISIAH
Title:Solving Robotic Kinematic Problems: Singularities and Inverse Kinematics
Reading date:14/09/2018
Director:BASAÑEZ VILLALUENGA, LUIS
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Lavor, C.; Xambo, S.; Zaplana, I. (2018). A geometric algebra invitation to space-time physics, robotics and molecular geometry.

Zaplana, I. (2014). Solving Robotic Kinematic Problems: Singularities and Inverse Kinematics.

Zaplana, I.; Basañez, L. (2018). A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis. - Mechanism and machine theory, ISSN: 0094-114X (JCR Impact Factor-2018: 3.535; Quartil: Q1)

Zaplana, I.; Claret, J.; Basañez, L. (2018). Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi. - Revista iberoamericana de automática e informática industrial, ISSN: 1697-7912 (JCR Impact Factor-2018: 1.313; Quartil: Q3)

Zaplana, I.; Rosell, J. (2016). Una estrategia docente basada en el flipped classroom para mejorar la enseñanza de contenidos prácticos en asignaturas STEM.

AUTHOR:CARMONA LEYVA, JOSÉ MARÍA
Title:A template based approach for human action recognition
Reading date:19/06/2018
Director:CLIMENT VILARÓ, JUAN
Mention:No
RELATED PUBLICATIONS
Carmona, J. M.; Climent, J. (2018). Human action recognition by means of subtensor projections and dense trajectories. - Pattern recognition, ISSN: 0031-3203 (JCR Impact Factor-2018: 5.898; Quartil: Q1)

Carmona, J. M.; Climent, J. (2017). Action recognition using the Rf Transform on optical flow images.

Carmona, J. M.; Climent, J.; Carmona, J.M. (2017). Temporal segmentation of human actions in video sequences.

AUTHOR:SALAZAR CORTÉS, JEAN CARLO
Title:Contribution to reliable control of dynamic systems
Reading date:30/05/2018
Director:NEJJARI AKHI-ELARAB, FATIHA
Director:SARRATE ESTRUCH, RAMON
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Salazar, J.C.; Weber, P.; Nejjari, F.; Theilliol, D.; Sarrate, R. (2016). MPC framework for system reliability optimization.

Salazar, J.C.; Sarrate, R.; Nejjari, F.; Weber, P.; Theilliol, D. (2017). Reliability computation within an MPC health-aware framework. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Salazar, J.C.; Weber, P.; Nejjari, F.; Sarrate, R.; Theilliol, D. (2017). System reliability aware model predictive control framework. - Reliability engineering and system safety, ISSN: 0951-8320 (JCR Impact Factor-2017: 4.139; Quartil: Q1)

Salazar, J.C.; Weber, P.; Sarrate, R.; Theilliol, D.; Nejjari, F. (2015). MPC design based on a DBN reliability model: Application to drinking water networks.

Salazar, J.C.; Nejjari, F.; Sarrate, R.; Weber, P.; Theilliol, D. (2016). Reliability importance measures for a health-aware control of drinking water networks.

Salazar, J.C.; Sanjuan, A.; Nejjari, F.; Sarrate, R. (2017). Health-aware control of an octorotor UAV system based on actuator reliability.

AUTHOR:SOLDEVILA COMA, ADRIÀ
Title:Robust Leak Localization in Water Distribution Networks Using Machine Learning Techniques
Reading date:23/03/2018
Director:PUIG CAYUELA, VICENÇ
Director:TORNIL SIN, SEBASTIAN
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Soldevila, A.; Blesa, J.; Tornil-Sin, S.; Rosa M. Fernandez-Canti; Puig, V. (2017). Sensor placement for classifier-based leak localization in water distribution networks.

Soldevila, A. (2016). Robust Leak Localization in Water Distribution Networks using Machine Learning Techniques.

Soldevila, A.; Tornil-Sin, S.; Blesa, J.; Duviella, E.; Rosa M. Fernandez-Canti; Puig, V. (2016). Leak localization in water distribution networks using a mixed model-based/data-driven approach. - Control engineering practice, ISSN: 0967-0661 (JCR Impact Factor-2016: 2.602; Quartil: Q2)

Soldevila, A.; Rosa M. Fernandez-Canti; Blesa, J.; Tornil-Sin, S.; Puig, V. (2017). Leak localization in water distribution networks using Bayesian classifiers. - Journal of process control, ISSN: 0959-1524 (JCR Impact Factor-2017: 2.787; Quartil: Q2)

Soldevila, A.; Blesa, J.; Tornil-Sin, S.; Rosa M. Fernandez-Canti; Puig, V. (2018). Sensor placement for classifier-based leak localization in water distribution networks using hybrid feature selection. - Computers & chemical engineering, ISSN: 0098-1354 (JCR Impact Factor-2018: 3.334; Quartil: Q2)

Ferrandez-Gamot, L.; Bousson, P.; Blesa, J.; Tornil-Sin, S.; Puig, V.; Douviella, E.; Soldevila, A. (2015). Leak localization in water distribution networks using pressure residuals and classifiers.

Soldevila, A.; Tornil-Sin, S.; Rosa M. Fernandez-Canti; Blesa, J.; Puig, V. (2016). Optimal sensor placement for classifier-based leak localization in drinking water networks.

Soldevila, A.; Rosa M. Fernandez-Canti; Blesa, J.; Tornil-Sin, S.; Puig, V. (2016). Leak localization in water distribution networks using model-based bayesian reasoning.

Javadiha, M.; Blesa, J.; Soldevila, A.; Puig, V. (2019). Leak localization in water distribution networks using deep learning.

AUTHOR:GARCÍA VALVERDE, DIEGO
Title:Contribution to big data analytics in water networks
Reading date:30/06/2017
Director:PUIG CAYUELA, VICENÇ
Director:QUEVEDO CASIN, JOSEBA-JOKIN
Mention:
RELATED PUBLICATIONS
García, D.; Quevedo, J.; Puig, V.; Saludes, J.; Espín, S.; Roquet, J.; Valero, F. (2014). Automatic validation of flowmeter data in transport water networks: application to the ATLLc water network.

García, D.; Quevedo, J.; Puig, V.; Cugueró, M. (2016). Sensor data validation and reconstruction in water networks : a methodology and software implementation.

Quevedo, J.; García, D.; Puig, V.; Saludes, J.; Cugueró, M.; Espin , S.; Roquet, J.; Valero, F. (2017). Sensor data validation and reconstruction.

García, D.; Puig, V.; Quevedo, J. (2017). Big data analytics and knowledge discovery applied to automatic meter readers.

García, D. (2015). Contribution of Big Data Applied to Water Networks.

Cuguero-Escofet, M.A.; García, D.; Quevedo, J.; Puig, V.; Espin, S.; Roquet, J. (2016). A methodology and a software tool for sensor data validation/reconstruction : application to the Catalonia regional water retwork. - Control engineering practice, ISSN: 0967-0661 (JCR Impact Factor-2016: 2.602; Quartil: Q2)

Cugueró, M.; Quevedo, J.; Alippi, C.; Roveri, M.; Puig, V.; García, D.; Trovò, F. (2016). Model- vs. data-based approaches applied to fault diagnosis in potable water supply networks. - Journal of hydroinformatics, ISSN: 1464-7141 (JCR Impact Factor-2016: 1.634; Quartil: Q2)

García, D.; Creus, R.; Minoves, M.; Pardo, X.; Quevedo, J.; Puig, V. (2017). Data analytics methodology for monitoring quality sensors and events in the Barcelona drinking water network. - Journal of hydroinformatics, ISSN: 1464-7141 (JCR Impact Factor-2017: 1.797; Quartil: Q2)

Cuguero-Escofet, M.A.; Quevedo, J.; Puig, V.; García, D. (2014). Inconsistent sensor data detection/correction: application to environmental systems.

Cuguero-Escofet, M.A.; Christodoulou, M.; Quevedo, J.; Puig, V.; García, D.; Michaelides, M. (2014). Combining contaminant event diagnosis with data validation/reconstruction : application to smart buildings.

García, D.; Quevedo, J.; Puig, V.; Saludes, J.; Espín, S.; Roquet, J.; Valero, F. (2014). Automatic validation of flowmeter data in transport water networks: Application to the ATLLc water network.

Escobet, T.; Puig, V.; Quevedo, J.; García, D. (2014). A methodology for incipient fault detection.

Quevedo, J.; Puig, V.; García, D.; Pascual, J.; Saludes, J.; Espín, S.; Roquet, J.; Valero, F. (2015). Knowledge extraction from raw data in water networks: application to the Barcelona supramunicipal water transport network.

García, D.; González, D.; Quevedo, J.; Puig, V.; Saludes, J. (2015). Water demand estimation and outlier detection from smart meter data using classification and Big Data methods.

García, D.; Creus, R.; Minoves, M.; Pardo, X.; Quevedo, J.; Puig, V. (2016). Prognosis of quality sensors in the Barcelona drinking water network.

AUTHOR:BARREIRO GÓMEZ, JULIÁN
Title:THE ROLE OF POPULATION GAMES IN THE DESIGN OF OPTIMIZATION-BASED CONTROLLERS: A LARGE-SCALE INSIGHT
Reading date:17/05/2017
Director:OCAMPO MARTINEZ, CARLOS AUGUSTO
Co-director:QUIJANO SILVA, NICANOR
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2015). Evolutionary-game-based dynamical tuning for multi-objective model predictive control.

Barreiro, J.; Riaño-Briceño, G.; Ocampo-Martinez, C.; Quijano, N. (2017). Data-driven evolutionary-game-based control for drinking-water networks.

Barreiro, J. (2014). Optimization-based predictive control with population dynamics for large-scale complex systems.

Ibáñez López, Carlos (2015). Modelatge i control de sistemes dinàmics mitjançant Modelica.

Filippi, Sofia (2016). DISTRIBUTED CONTROL BASED ON EVOLUTIONARY GAME THEORY: MULTI-AGENT EXPERIMENT.

García, L.; Barreiro, J.; Escobar, E.; Téllez, D.; Quijano, N.; Ocampo-Martinez, C. (2015). Modeling and real-time control of urban drainage systems : a review. - Advances in water resources, ISSN: 0309-1708 (JCR Impact Factor-2015: 4.349; Quartil: Q1)

Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2016). Constrained distributed optimization : a population dynamics approach. - Automatica, ISSN: 0005-1098 (JCR Impact Factor-2016: 5.451; Quartil: Q1)

Riaño, G.; Barreiro, J.; Ramírez, A.; Quijano, N.; Ocampo-Martinez, C. (2016). MatSWMM - An open-source toolbox for designing real-time control of urban drainage systems. - Environmental modelling & software, ISSN: 1364-8152 (JCR Impact Factor-2016: 4.404; Quartil: Q1)

Barreiro, J.; Obando, G.; Quijano, N. (2017). Distributed population dynamics: Optimization and control applications. - IEEE Transactions on Systems, Man, and Cybernetics. Systems, ISSN: 2168-2216 (JCR Impact Factor-2017: 5.131; Quartil: Q1)

Barreiro, J.; Obando, G.; Quijano, N. (2017). Distributed population dynamics : optimization and control applications. - IEEE Transactions on Systems, Man, and Cybernetics. Systems, ISSN: 2168-2216 (JCR Impact Factor-2017: 5.131; Quartil: Q1)

Quijano, N.; Ocampo-Martinez, C.; Barreiro, J.; Obando, G.; Pantoja, A.; Mojica-Nava, E. (2017). The role of population games and evolutionary dynamics in distributed control systems: the advantages of evolutionary game theory. - IEEE control systems magazine, ISSN: 1066-033X (JCR Impact Factor-2017: 5.06; Quartil: Q1)

Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2017). Dynamical tuning for MPC using population games: a water supply network application. - ISA transactions, ISSN: 0019-0578 (JCR Impact Factor-2017: 3.37; Quartil: Q1)

Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2017). Partitioning for large-scale systems: a sequential distributed MPC design. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2017). On the communication discussion of two distributed population-game approaches for optimization purposes. - IFAC-PapersOnLine, ISSN: 2405-8963 (JCR Impact Factor-2017: 0.26; Quartil: Q3)

Barreiro, J.; Ocampo-Martinez, C.; Quijano, N.; Maestre, J. (2017). Non-centralized control for flow-based distribution networks: a game-theoretical insight. - Journal of the Franklin Institute, ISSN: 0016-0032 (JCR Impact Factor-2017: 3.576; Quartil: Q1)

Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2014). Distributed control of drinking water networks using population dynamics: Barcelona case study.

Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2014). Constrained distributed optimization based on population dynamics.

García, L.; Escobar, E.; Barreiro, J.; Quijano, N.; Ocampo-Martinez, C.; Téllez, D. (2014). On the modeling and real-time control of urban drainage systems: A survey.

Barreiro, J.; Ocampo-Martinez, C.; Bianchi, F.; Quijano, N. (2015). Model-free control for wind farms using a gradient estimation-based algorithm.

Barreiro, J.; Obando, G.; Riaño, G.; Quijano, N.; Ocampo-Martinez, C. (2015). Decentralized control for urban drainage systems via population dynamics : Bogota case study.

Barreiro, J.; Obando, G.; Ocampo-Martinez, C.; Quijano, N. (2015). Making non-centralized a model predictive control scheme by using distributed Smith dynamics.

Riaño, G.; Ramírez, A.; Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2015). Co-simulation for the design of controllers in urban drainage systems.

Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2015). Distributed resource management by using population dynamics : wastewater treatment application.

Barreiro, J.; Ocampo-Martinez, C.; Maestre, J.; Quijano, N. (2015). Multi-objective model-free control based on population dynamics and cooperative games.

Obando, G.; Barreiro, J.; Quijano, N. (2016). A class of population dynamics for reaching epsilon-equilibria : engineering applications.

Barreiro, J.; Mas, I.; Ocampo-Martinez, C.; Sánchez, R.S.; Quijano, N. (2016). Distributed formation control of multiple unmanned aerial vehicles over time-varying graphs using population games.

Barreiro, J.; Quijano, N.; Ocampo-Martinez, C. (2016). Distributed MPC with time-varying communication network: A density-dependent population games approach.

AUTHOR:LUNA PACHO, JULIO ALBERTO
Title:Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems
Reading date:27/02/2017
Director:SERRA PRAT, MARIA
Co-director:HUSAR, ATTILA PETER
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
Luna, J. (2015). Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems.

Luna, J.; Ocampo-Martinez, C.; Serra, M. (2015). Nonlinear predictive control for the concentrations profile regulation under unknown reaction disturbances in a fuel cell anode gas channel. - Journal of power sources, ISSN: 0378-7753 (JCR Impact Factor-2015: 6.333; Quartil: Q1)

Luna, J.; Husar, A.; Serra, M. (2015). Nonlinear distributed parameter observer design for fuel cell systems. - International journal of hydrogen energy, ISSN: 0360-3199 (JCR Impact Factor-2015: 3.205; Quartil: Q2)

Luna, J.; Jemei , S.; Yousfi-Steiner, N.; Husar, A.; Serra, M.; Hissel, D. (2016). Nonlinear predictive control for durability enhancement and efficiency improvement in a fuel cell power system. - Journal of power sources, ISSN: 0378-7753 (JCR Impact Factor-2016: 6.395; Quartil: Q1)

Luna, J.; Usai, E.; Husar, A.; Serra, M. (2016). Nonlinear observation in fuel cell systems: a comparison between disturbance estimation and High-Order Sliding-Mode techniques. - International journal of hydrogen energy, ISSN: 0360-3199 (JCR Impact Factor-2016: 3.582; Quartil: Q1)

Luna, J.; Ocampo-Martinez, C.; Serra, M. (2014). Nonlinear predictive control for the concentrations profile regulation in a PEM fuel cell anode gas channel.

Luna, J.; Husar, A.; Serra, M. (2014). State observers design for PEMFC systems.

Luna, J.; Usai, E.; Husar, A.; Serra, M. (2015). Distributed parameter nonlinear state observer with unmatched disturbance estimation for PEMFC systems.

Luna, J.; Usai, E.; Husar, A.; Serra, M. (2015). State estimation in fuel cell systems : a sliding mode approach.

Luna, J.; Jemei , S.; Yousfi-Steiner, N.; Husar, A.; Serra, M. (2016). Nonlinear model predictive control methodology for efficiency and durability improvement in a fuel cell power system.

Luna, J.; Usai, E.; Husar, A.; Serra, M. (2016). Observation of the electrochemically active surface area in a proton exchange membrane fuel cell.

AUTHOR:FOIX SALMERON, SERGIO
Title:Task-oriented viewpoint planning for free-form objects
Reading date:28/07/2016
Director:ALENYÀ RIBAS, GUILLEM
Co-director:TORRAS GENIS, CARMEN
Mention:Mention de Doctor Internacional
RELATED PUBLICATIONS
García, A.; Alenyà, G.; Foix, S. (2016). Construcció i programació d'un cap robòtic.

AUTHOR:GROSCH OBREGÓN, PATRICK JOHN
Title:Parallel Robots with Unconventional Joints to Achieve Under-Actuation and Reconfigurability
Reading date:23/06/2016
Director:THOMAS ARROYO, FEDERICO
Mention:No
RELATED PUBLICATIONS
Grosch, P.; Thomas, F. (2016). Geometric path planning without maneuvers for nonholonomic parallel orienting robots. - IEEE robotics and automation letters, ISSN: 2377-3766

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01/09/202031/08/2022Desarrollo de sistemas de modelado, identificación y control avanzado (con implementación en tiempo real) para lagestión de la eficiencia energética en sistemas complejos de manufactura flexible.OVAINGURA IIOT SL
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27/12/201927/06/2021Hydrogen lab for the modernisation and technological transformation of the city of BarcelonaINSTITUT DE CULTURA DE BARCELONA
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01/11/201901/04/2020Sistemas recomendadores para el desarrollo de una solución de asignación de evaluadores a proyectos mediante técnicas de Inteligencia Artificial. Proyecto HR2020 de FBLCITHINKUPC, S.L.
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02/04/201931/12/2019Transversal Programme in Medical Image PostProcess, Training Professionals: 3D PrintingEUROPEAN INST OF INNOV.& TECHNOL.
01/04/201931/03/2023AUTONOMOUS INTRALUMINAL SURGERY (ATLAS)Commission of European Communities
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01/01/201931/12/2021Control y gestión de energía en vehículos eléctricos híbridos con pilas de combustibleAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2021001-P-001643_Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021001-P-001643 Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021001-P-001722_ Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021H2020-825619-AI4EU - A European AI On Demand Platform and EcosystemComisión Europea
21/12/201831/07/2019Desenvolupament del projecte de recerca: segona fase del projecte CAR GUARDSEAT, S.A.
01/12/201830/06/2019Servicio de soporte a la convocatoriaHR18 d ela Fundación Bancaria La Caixa (asignación de evaluadores a proyectos mediante técnicas de Inteligencia Artificial y cálculo de notas)ITHINKUPC, S.L.
15/10/201820/12/2020Agreement SiemensSIEMENS SA
01/10/201831/01/2019Organización y gestión del ciclo/'Diálogos sobre robótica y ética/'.CAIXA ESTALVIS I P.BARCELONA
01/09/201831/08/2019Desenvolupament d'un sistema automàtic de reconstrucció de dades de cabalímetres de la xarxa de distribució d'ATLL CGCENS D'ABASTAMENT D'AIGUA TER-LLOBRE
20/07/201831/12/2019Assessoria en el desenvolupament i integració de tècniques específiques a l'àrea de la conducció autònoma de vehiclesIDIADA AUTOMOTIVE TECHNOLOGY, S.A.
01/07/201831/12/2018Coordinació técnica y soporte para la competición Seat Autonomous Driving Cup 2018FUNDACIO C INNOVACIO I TEC CIT UPC
05/06/201805/06/2018Simulating a sentinel lymph node biopsy surgical technique
01/06/201828/02/2019Planificació de l'electrificació rural amb microxarxes i energies renovablesAgència de Gestió d'Ajuts Universitaris i de Recerca (Agaur)
01/06/201831/03/2019Metodologies i aplicatius per a l'elaboració de plans d'electrificació rural i l'avaluació de projectes energètics a l'Amèrica Llatina IICentre de Cooperació per al Desenvolupament , UPC
01/05/201830/06/2018Implementación de un sistema robótico antopomorfo colaborativo para aplicaciones audiovisualesCREATIVA 360 S0
06/03/201806/03/2020Proceso automatizado de detección y clasificación de pieles (Smart Leather Detection)LABCAT INVESTIGACION Y DESARROLLO S
01/03/201828/02/2021Galileo-EGNOS as an Asset for UTM Safety and SecurityCommission of European Communities
01/03/201830/06/2018Desarrollo de una solución de asignación de evaluadores a proyectos mediante inteligencia artificialITHINKUPC, S.L.
01/03/201828/02/2019CCD 2018-O013 Educació i desenvolupament a les escoles Parikrma. Scratch, Robots, Màquines i Mecanismes per ajudar amb les Matemàtiques, la Física, l'Enginyeria i la Tecnologia.Centre de Cooperació per al Desenvolupament , UPC
19/02/201831/12/2018Disseny d'algoritmes de control en el procès de soldaduraJBC SOLDERING SL
01/02/201831/01/2022European Robotics League plus Smart Cities Robot CompetitionsCommission of European Communities
19/01/201819/05/2018RENDIMENT XARXA 2017ATLL Concessionària de Generalitat
01/01/201831/12/2020Smart Autonomous Robotic Assistant SurgeonCommission of European Communities
01/01/201831/12/2020Acció territorial:/'Estratègia de prevenció de caigudes a la comarca del GarrafGENCAT-DEP.GOVERN.I ADMIN.PÚBLIQUES
01/01/201831/07/2019Donació/'Dynamic Systems/'THE MATHWORKS, S.L.
01/01/201801/07/2021Control strategies for high-speed compression systems: application to fuel-cell-based vehiclesAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/01/201831/12/2020Análisis de datos multiescala en cardiología traslacional: de los mecanismos báscios a la contracción cardiacaAGENCIA ESTATAL DE INVESTIGACION
01/01/201831/12/2021Advanced control of on-board dc multibus systems in vehiclesAGENCIA ESTATAL DE INVESTIGACION
01/01/201801/01/2021Supervisión inteligente para el mantenimiento predictivo de Sistemas industrialesCommission of European Communities
01/01/201831/12/2020Seguridad y control en vehiculos autonomosAGENCIA ESTATAL DE INVESTIGACION
01/01/201831/12/2019Barcelona Robotic Urban LabAGENCIA ESTATAL DE INVESTIGACION
13/12/201713/06/2021Optimització de recursos intralogístics en entorns industrials per al seu ús en vehicles autònomsAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/12/201730/11/2021The European Robotics Research Infrastructure NetworkCommission of European Communities
01/12/201730/11/2019Dosimetría personal en linea (on line) utilizando métodos computacionalesAGENCIA ESTATAL DE INVESTIGACION
28/11/201728/11/2020Desarrollo de un sistema integral de control de la producción dotado de inteligencia artificial y capacidad de autodecisionINFUN, S.A.
21/09/201721/09/2019Sistema de climatización inteligente auto-adaptativo a las condiciones del entornoHIPLUS AIRE ACONDICIONADO, S.L.
01/09/201731/07/2020ACTIV4.0: Operació i gestió avnaçada d'actiusACC10
01/09/201731/07/2020Models predictius i gestió de la demanda (modem)ACC10
01/09/201731/07/2020Solucions de seguretat i ciber-seguretat en utilities per a protecció d'infraestructures crítiquesACC10
01/07/201730/06/2021Unidad de Excelencia María de MaeztuMIN DE ECONOMIA Y COMPETITIVIDAD
01/07/201731/12/2017Autonomous Driving Cup-ADC.Coordinación técnica y sopoerte para la competición SEAT AUTONOMOUS.FUNDACIO C INNOVACIO I TEC CIT UPC
02/06/201701/08/2017Estudi i assessorament per al disseny d'un reòmetre: mecànica i actuadors, electrònica de mesura, control i sistemes auxiliars.FUNGILAB, S.A.
01/06/201731/12/2017Metodologies i aplicatius per a l'elaboració de plans d'electrificació rural i l'avaluació de projectes energètics a l'Amèrica LlatinaCentre de Cooperació per al Desenvolupament , UPC
06/05/201706/05/2017Método y circuito electrónico analógico para la detección de fallos en el sistema hidráulico de variación de paso de pala de una turbina eólica
01/03/201731/12/2018Protección de infraestructuras críticas AB: análisis e implementación de mejoras (ICAB)CETAQUA
01/03/201731/12/2018Contribución Cetaqua (PredMan_Cet)CETAQUA
31/01/201731/01/2017The Kautham Project
25/01/201731/12/2017Rendiment xarxa 2016ATLL Concessionària de Generalitat
01/01/201731/01/2021Innovative cost improvements for balance of plant components of automotive PEMFC systemsCommission of European Communities
01/01/201731/12/2018Col.laboració IRI-FICOSA ADAS S.L.U. pel desenvolupament d'un sistema de calibració internaADASENS AUTOMOTIVE, S.L.
01/01/201731/12/2018Red temática de álgebra lineal, análisis matricial y aplicacionesMinisterio de Economía, Industria y Competitividad
30/12/201629/12/2020Inteligencia computacional para el descubrimiento de conocimiento a partir de G protein-coupled receptorsMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201631/12/2020Estructuras matemáticas para la valoración lingüística en procesos de decisión: soluciones avanzadas para la gestión del turismo en las ciudades inteligentes.MIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/03/2020Colaboración robots-humanos para el transporte de productos en zonas urbanasMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/12/2020Robots autónomos diestros como co-trabajadores con operadores humanosMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/12/2019DEOCS: Monitorización, diagnostico y control tolerante a fallos de sistemas ciberfísicos con métodos basados en datosConsejo Superior de Investigaciones Científicas
15/12/201631/07/2017Millora d'algoritmes ATLLATLL Concessionària de Generalitat
13/11/201613/11/2016Dispositivo de aislamiento sísmico con múltiples núcleos y engranajes
01/11/201631/12/2019Combustibles sintèticsACC10
03/10/201611/11/2016Desenvolupament d'un conjunt de tasques per a l'estudi de viabilitat d'una aplicació remota de reconstrucció 3D a partir d'imatges obtingudes amb un dispositiu mòbil.Cavpama 3D Printing Services S.L
15/09/201614/09/2019eHealth EurocampusCommission of European Communities
01/09/201631/10/2019Desarrollo de nuevos sistemas de control aplicables a las nuevas tecnologías de fabricación avanzada que se estan desarrollando dentro de su unidad I+D (Ikergune)ETXE-TAR, S.A.L.
01/08/201630/09/2016Projecte INDRA: Desenvolupament de software per la localització d'avionsIndra Systems S.A.
18/07/201617/07/2017Prestación de servicios de consultoría y asesoramiento en el ámbito de los flujos logísticos en la gestión de los productos de la empresaMELEGHY AUTOMOTIVE BARCELONA SAU
01/07/201631/12/2016Càlcul, disseny i fabricació de l'estructura de la màquina de marcatge amb peces fabricades amb materials no definitius, al tractar-se d'un prototipus.ABETO ROJO MEDITERRÁNEO, SL
20/06/201619/06/2018AQUA Canal Isabel II: Col·laboració en tasques sobre projecte de detectabilitat de fuites i trencaments en sectors de distribucióAQUA-CONSULT INGENIEROS, S.L.
20/06/201631/12/2016Desenvolupament d'un projecte de recerca sobre/'vehicle-robot/'FUNDACIO C INNOVACIO I TEC CIT UPC
01/06/201631/05/2019Reducció energètica i flexibilitat en edificis en rehabilitacióACC10
01/06/201630/11/2016L’H Smart City 2016 (LHSC16)Ajuntament de L'Hospitalet de Llobregat
01/06/201630/09/2017Desenvolupament de metodologies i aplicatius pel disseny de projectes i la planificació energètica amb energies renovables en diferents contextos i països IICentre de Cooperació per al Desenvolupament , UPC
25/05/201624/05/2019Paquete escalable soluciones específicas orientadasCIRCUTOR S.A.
06/05/201630/09/2019Diseño y control de un convertidor cc-ca trifásico, aislado galvánicamente, paralelable y de potencia nominal 6 kVAPREMIUM, S.A.
01/05/201601/05/2019Anàlisis de dades fisiològiques experimentals incloent la detecció de patrons en imatges de microscòpia de fluorescenciaCONSEJO SUPERIOR INVEST. CIENTIFICA
01/03/201631/08/2019Tight integration of EGNSS and on-board sensors for port vehicle automationCommission of European Communities
01/03/201615/10/2018Eines per a la gestionabilitat de les plantes de generació elèctrica amb fonts renovablesACC10
01/03/201629/02/2020and social engagementCommission of European Communities
25/01/201631/12/2016Conveni ATLL - Rendiment xarxa 2015ATLL Concessionària de Generalitat
01/01/201631/07/2019Estrategias distribuidas de control y cooperación persona-robot en entornos asistencialesMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Avances en comunicaciones inalámbricas de muy bajo consumo y su aplicación a la monitorización continua de la marcha humanaMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Optimización de sistemas de electrificación con energías renovables y microrredesMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/12/2018Caracterización y clasificación morfológica de células leucémicas mediante procesamiento digital de imágenes y reconocimiento de patrones para el soporte al diagnósticoMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/12/2019Estimación,diagnosis y control para la mejora de la eficiencia de la vida útil de las pilas de combustible tipo PEM.MIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Educación e innovación social para la sostenibilidad. Formación en las Universidades españolas de profesionales como agentes de cambio para afrontar los retos de la sociedad.MIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/07/2016Urban Robotic Scenarios in Automotive Services.Universitat Politècnica de Catalunya
17/12/201530/06/2018Master services agreement to customization, development and design servicesADASENS AUTOMOTIVE, S.L.
11/12/201511/12/2015Dispositivo para simular una operación endoscópica vía orificio natural
01/12/201530/11/2019Innovative controls for renewable sources Integration into smart energy systemsCommission of European Communities
01/12/201531/05/2016Anàlisi, disseny i programació d'un sistema automàtic de generació de calendaris de treballPARC D'ATRACCIONS TIBIDABO,SA PATSA
01/12/201530/11/2017AVANCES METODOLÓGICOS Y TÉCNOLÓGICOS EN EL ESTUDIO OBSERVACIONAL DEL COMPORTAMIENTO DEPORTIVOMinisterio de Economia y Competitividad
01/10/201530/12/2016ATLL Validació dades ZONA 4a i 5a fase. Estudi, disseny i implantació d'algoritmes i programariATLL Concessionària de Generalitat
01/10/201530/09/2019Investigación en tecnologias habilitadoras de sistemas inteligentes para las fábricas del futuro.LEYTEC METROLOGÍA TRIDIMENSI. SLU
07/09/201507/01/2016Sistema de inspección de tampografía por visión artificial adaptableGRUPO DE DESARROLLO EMPRESARIAL
04/09/201504/09/2016Asesoramiento científico y técnico en el modelado dinámico y diseño de estrategias de control avanzado aplicadas a sistemas de drenaje urbanoUNIVERSIDAD DE LOS ANDES
21/07/201510/08/20153rd International Conference on Control and Fault-Tolerant Systemsn (SysTol'16)CLIENTS DIVERSOS CONGRESOS
01/06/201531/08/2019Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenanceCommission of European Communities
01/06/201531/12/2015Desenvolupament de metodologies i aplicatius pel disseny de projectes i la planificació energètica amb energies renovables en diferents contextos i païsosCentre de Cooperació per al Desenvolupament , UPC
21/05/201511/06/2015Modelització geomètrica d'un robot
12/05/201511/02/2016Casper, cognitive assistive social pet robots for hospitalized childrenAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
14/04/201513/01/2018Unified Long-Term 3D Simultaneous Localization and Mapping for Service RobotsAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
11/03/201511/12/2017Proyecto grupo tractor para elevadores con gestión inteligente de energía integrada 3T-SLTESUMINISTRADORA de ASCENSORES, S.A.
10/03/201510/10/2017Desenvolupament d'un sistema basat en tècniques d'intel.ligència artificial per a la inspeccio de soldadures en línies d'envasat horitzontalVOLPAK, S.A.U.
05/03/201530/09/2018Bloqueig en la malaltia de parkinson:millora de la qualitat de vida amb un sistema de control automàticLA FUNDACIÓ LA MARATÓ DE TV3
01/03/201501/03/2017Desenvolupament projecte/'Recerca de la capacitat de tecnologies de robotització intel.ligent per a la manipulació de masses de panificació altament hidratades -Cristalbread-/'DEXTRA GLOBAL, S.L.
27/02/201531/05/2016WEAM41 Water&Energy Advanced Management for IrrigationADASA SISTEMAS, S.A.
09/02/201508/02/2017Software battery Management Controller (BMC)AGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
02/02/201531/12/2015Conveni ATLL - Rendiment xarxa 2014ATLL Concessionària de Generalitat
01/02/201531/01/2018Global systems Rapid Assessment tools through Constraint FUnctional LanguagesCommission of European Communities
01/01/201530/06/2017Robots manipuladores móviles como co-operarios: autonomía e interacción en la colaboración humano-robotMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201530/06/2018CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOSMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201531/12/2017RobCab: Control strategies for cable-driven robot for low-gravity simulationGobierno de España Ministerio de Ciencia e Innovación
04/01/201406/05/2017Automatic Classification of Digital Images of Peripheral Blood: Application to the Initial Diagnosis of Leukemias and LymphomasFundación GOTEO

Teaching staff and research groups

Teachers

Doctoral Programme teachers:Other teachers linked to the Doctoral Programme:External teachers:

CASAS GUIX, MARC (Barcelona Supercomputing Center (BSC))

DE PRADA GIL, MIKEL (Institut de Recerca en Energia de Catalunya (IREC))

DUVIELLA, ERIC (IMT Lille Douai)

LÓPEZ ESTRADA, FRANCISCO RONAY (Instituto Tecnológico de Tuxtla Gutiérrez)

MIRATS TUR, JOSEP M. (Inloc Robotics)

NA, JING (University of Bristol)

SALOM TORMO, JAUME (Institut de Recerca en Energia de Catalunya (IREC))

SANCHEZ PEÑA, RICARDO (Instituto Tecnológico de Buenos Aires, Argentina)

SANTAMARIA NAVARRO, ANGEL (NASA-JPL)

Research projects

START DATEEND DATEACTIVITYFINANCING ENTITY
01/09/202031/08/2022Desarrollo de sistemas de modelado, identificación y control avanzado (con implementación en tiempo real) para lagestión de la eficiencia energética en sistemas complejos de manufactura flexible.OVAINGURA IIOT SL
15/07/202014/02/2021Uso de algoritmos de aprendizaje por refuerzo en problemas de planificaciónITHINKUPC, S.L.
01/07/202030/06/2023RYC-2018-025169AGENCIA ESTATAL DE INVESTIGACION
01/06/202030/09/2020L’objecte del conveni és la realització per part d’ IRI-UPC a petició de CARNET d’un projecte de desenvolupament sobre Sensorització-Navegació Plataforma Robòtica.OVH unitat: 10%FUNDACIO C INNOVACIO I TEC CIT UPC
01/06/202031/05/2023Colaboración robot-humano para el transporte y entrega de mercancíasAGENCIA ESTATAL DE INVESTIGACION
01/06/202031/05/2023Aprendizaje Automático para la Modelización de la Dinámica Molecular de las Proteinas GPCRAGENCIA ESTATAL DE INVESTIGACION
28/02/202031/12/2023Coordinar l'actuació d'amdues institucions en l'assesorament, intercanvis d'informació i realtizacions d'una valoració sobre valors calcualts del rendiment flobarl de la Xarxa de Distribució d'ATL delENS D'ABASTAMENT D'AIGUA TER-LLOBRE
01/01/202031/12/2021Red Nacional de AutomáticaMinisterio de Ciencia, Innovación y Universidades
01/01/202031/12/2020Transversal Programme in Medical Image Postprocess, Training Professionals: 3D Printing to ResearchEUROPEAN INST OF INNOV.& TECHNOL.
01/01/202031/12/2021Projecte NextGen: Towards a nest generation of water systems and services for the circular economyADASA SISTEMAS, S.A.
27/12/201927/06/2021Hydrogen lab for the modernisation and technological transformation of the city of BarcelonaINSTITUT DE CULTURA DE BARCELONA
01/12/201930/06/2020Desenvolupament dle sistema informàtic per l'automatització del lliurament i preparació de menjar ràpidHEALTHY FOOD IN TIME, S.L.
01/11/201901/04/2020Sistemas recomendadores para el desarrollo de una solución de asignación de evaluadores a proyectos mediante técnicas de Inteligencia Artificial. Proyecto HR2020 de FBLCITHINKUPC, S.L.
15/10/201914/01/2021Sistema de almacenamiento de energía a gran escala mediante batería de flujo redox de vanadio: demostración experimental a escala de 1 kWConsejo Superior de Investigaciones Científicas
14/10/201914/10/2022Real-time robust conrol strategies to improve energy efficiency in smart factoriesAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/10/201930/06/2020CONFIGURACIÓN SOFTWARE Y HARDWARE PARA PLATAFORMA ROBÓTICA PARA NAVEGACIÓN EN ZONAS URBANAS/'FUNDACIO C INNOVACIO I TEC CIT UPC
01/09/201901/09/2022Deep Learning Q-VisionAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/09/201931/08/2020Móduls indústria 4.0 per la plataforma híbrida (EDGE/CLOUD) per a la gestió de plantes industrialsLOGIC&AUTOMATITZACIO, S.L
01/09/201931/08/2022GAVIUS: from reactive to proactive public administrationsCommission of European Communities
15/06/201915/11/2019Integració del simulador hidràulic watergems i el scada de la xarxa de distribució del consorci d'aigües de TarragonaCONSORCI AIGUES DE TARRAGONA
15/06/201915/12/2019Desenvolupament d'un sistema automàtica de validació y reconstrucció de les dades dels cabals i volums temporals d'aigua enregistrats a bases de dades procedents dels cabalímetres de la xarxa de distrCONSORCI AIGUES DE TARRAGONA
01/06/201931/05/2023Active Flow Control system FOR improving HYDRaulic turbine performances at off-design OperationCommission of European Communities
01/05/201931/10/2020Optimització i validació d'un prototip amb base biotecnològica per a la recuperació de metalls valuosos en residus electrònicsAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
02/04/201931/12/2019Transversal Programme in Medical Image PostProcess, Training Professionals: 3D PrintingEUROPEAN INST OF INNOV.& TECHNOL.
01/04/201931/03/2023AUTONOMOUS INTRALUMINAL SURGERY (ATLAS)Commission of European Communities
18/03/201918/03/2019LLULL: librerías de tratamiento de datos, modelado y exploración de procesos industriales
01/01/201931/12/2021A European AI On Demand Platform and EcosystemCommission of European Communities
01/01/201931/12/2020Manteniment equip de control VAOUO3 TÚNELS DE BARCELONA
01/01/201930/06/2019SEAT-SmarT11: Proyecto de optimización de recursos para ajustes de calidadCàtedra SEAT - UPC
01/01/201931/12/2021Mejora del tratamiento de gases de combustion (NOx) mediante biorreactores con transferencia de materia mejorada y el uso de herramientas avanzadas de análisis de biofilmsAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2022Integración de los objetivos para el desarrollo sostenible en la formación en sostenibilidad de las titulaciones universitarias españolasAGENCIA ESTATAL DE INVESTIGACION
01/01/201930/09/2020Teconologías habilitadoras de robot de rango extendido para la factoría altamente flexiblePROMAUT, S.L.
01/01/201931/12/2021Evolving towards DIgital Twins in HealthcareAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2021Optimización de Microrredes con Energías Renovables bajo Incertidumbre y Futura Integración a la RedAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2022Gestión y control de microrredes con vehículos eléctricos y baterías de respaldoAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2022Monitorizacion mEdiante Sensores vestibles de UsuaRios de Andador Robotizado con problemas de movilidadAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2021Control y gestión de energía en vehículos eléctricos híbridos con pilas de combustibleAGENCIA ESTATAL DE INVESTIGACION
01/01/201931/12/2021001-P-001643_Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021001-P-001643 Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021001-P-001722_ Agrupació emergent Looming FactoryGENCAT - DEPT. D'EMPRESA I OCUPACIO
01/01/201931/12/2021H2020-825619-AI4EU - A European AI On Demand Platform and EcosystemComisión Europea
21/12/201831/07/2019Desenvolupament del projecte de recerca: segona fase del projecte CAR GUARDSEAT, S.A.
01/12/201830/06/2019Servicio de soporte a la convocatoriaHR18 d ela Fundación Bancaria La Caixa (asignación de evaluadores a proyectos mediante técnicas de Inteligencia Artificial y cálculo de notas)ITHINKUPC, S.L.
15/10/201820/12/2020Agreement SiemensSIEMENS SA
01/10/201831/01/2019Organización y gestión del ciclo/'Diálogos sobre robótica y ética/'.CAIXA ESTALVIS I P.BARCELONA
01/09/201831/08/2019Desenvolupament d'un sistema automàtic de reconstrucció de dades de cabalímetres de la xarxa de distribució d'ATLL CGCENS D'ABASTAMENT D'AIGUA TER-LLOBRE
20/07/201831/12/2019Assessoria en el desenvolupament i integració de tècniques específiques a l'àrea de la conducció autònoma de vehiclesIDIADA AUTOMOTIVE TECHNOLOGY, S.A.
01/07/201831/12/2018Coordinació técnica y soporte para la competición Seat Autonomous Driving Cup 2018FUNDACIO C INNOVACIO I TEC CIT UPC
05/06/201805/06/2018Simulating a sentinel lymph node biopsy surgical technique
01/06/201828/02/2019Planificació de l'electrificació rural amb microxarxes i energies renovablesAgència de Gestió d'Ajuts Universitaris i de Recerca (Agaur)
01/06/201831/03/2019Metodologies i aplicatius per a l'elaboració de plans d'electrificació rural i l'avaluació de projectes energètics a l'Amèrica Llatina IICentre de Cooperació per al Desenvolupament , UPC
01/05/201830/06/2018Implementación de un sistema robótico antopomorfo colaborativo para aplicaciones audiovisualesCREATIVA 360 S0
06/03/201806/03/2020Proceso automatizado de detección y clasificación de pieles (Smart Leather Detection)LABCAT INVESTIGACION Y DESARROLLO S
01/03/201828/02/2021Galileo-EGNOS as an Asset for UTM Safety and SecurityCommission of European Communities
01/03/201830/06/2018Desarrollo de una solución de asignación de evaluadores a proyectos mediante inteligencia artificialITHINKUPC, S.L.
01/03/201828/02/2019CCD 2018-O013 Educació i desenvolupament a les escoles Parikrma. Scratch, Robots, Màquines i Mecanismes per ajudar amb les Matemàtiques, la Física, l'Enginyeria i la Tecnologia.Centre de Cooperació per al Desenvolupament , UPC
19/02/201831/12/2018Disseny d'algoritmes de control en el procès de soldaduraJBC SOLDERING SL
01/02/201831/01/2022European Robotics League plus Smart Cities Robot CompetitionsCommission of European Communities
19/01/201819/05/2018RENDIMENT XARXA 2017ATLL Concessionària de Generalitat
01/01/201831/12/2020Smart Autonomous Robotic Assistant SurgeonCommission of European Communities
01/01/201831/12/2020Acció territorial:/'Estratègia de prevenció de caigudes a la comarca del GarrafGENCAT-DEP.GOVERN.I ADMIN.PÚBLIQUES
01/01/201831/07/2019Donació/'Dynamic Systems/'THE MATHWORKS, S.L.
01/01/201801/07/2021Control strategies for high-speed compression systems: application to fuel-cell-based vehiclesAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/01/201831/12/2020Análisis de datos multiescala en cardiología traslacional: de los mecanismos báscios a la contracción cardiacaAGENCIA ESTATAL DE INVESTIGACION
01/01/201831/12/2021Advanced control of on-board dc multibus systems in vehiclesAGENCIA ESTATAL DE INVESTIGACION
01/01/201801/01/2021Supervisión inteligente para el mantenimiento predictivo de Sistemas industrialesCommission of European Communities
01/01/201831/12/2020Seguridad y control en vehiculos autonomosAGENCIA ESTATAL DE INVESTIGACION
01/01/201831/12/2019Barcelona Robotic Urban LabAGENCIA ESTATAL DE INVESTIGACION
13/12/201713/06/2021Optimització de recursos intralogístics en entorns industrials per al seu ús en vehicles autònomsAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
01/12/201730/11/2021The European Robotics Research Infrastructure NetworkCommission of European Communities
01/12/201730/11/2019Dosimetría personal en linea (on line) utilizando métodos computacionalesAGENCIA ESTATAL DE INVESTIGACION
28/11/201728/11/2020Desarrollo de un sistema integral de control de la producción dotado de inteligencia artificial y capacidad de autodecisionINFUN, S.A.
21/09/201721/09/2019Sistema de climatización inteligente auto-adaptativo a las condiciones del entornoHIPLUS AIRE ACONDICIONADO, S.L.
01/09/201731/07/2020ACTIV4.0: Operació i gestió avnaçada d'actiusACC10
01/09/201731/07/2020Models predictius i gestió de la demanda (modem)ACC10
01/09/201731/07/2020Solucions de seguretat i ciber-seguretat en utilities per a protecció d'infraestructures crítiquesACC10
01/07/201730/06/2021Unidad de Excelencia María de MaeztuMIN DE ECONOMIA Y COMPETITIVIDAD
01/07/201731/12/2017Autonomous Driving Cup-ADC.Coordinación técnica y sopoerte para la competición SEAT AUTONOMOUS.FUNDACIO C INNOVACIO I TEC CIT UPC
02/06/201701/08/2017Estudi i assessorament per al disseny d'un reòmetre: mecànica i actuadors, electrònica de mesura, control i sistemes auxiliars.FUNGILAB, S.A.
01/06/201731/12/2017Metodologies i aplicatius per a l'elaboració de plans d'electrificació rural i l'avaluació de projectes energètics a l'Amèrica LlatinaCentre de Cooperació per al Desenvolupament , UPC
06/05/201706/05/2017Método y circuito electrónico analógico para la detección de fallos en el sistema hidráulico de variación de paso de pala de una turbina eólica
01/03/201731/12/2018Protección de infraestructuras críticas AB: análisis e implementación de mejoras (ICAB)CETAQUA
01/03/201731/12/2018Contribución Cetaqua (PredMan_Cet)CETAQUA
31/01/201731/01/2017The Kautham Project
25/01/201731/12/2017Rendiment xarxa 2016ATLL Concessionària de Generalitat
01/01/201731/01/2021Innovative cost improvements for balance of plant components of automotive PEMFC systemsCommission of European Communities
01/01/201731/12/2018Col.laboració IRI-FICOSA ADAS S.L.U. pel desenvolupament d'un sistema de calibració internaADASENS AUTOMOTIVE, S.L.
01/01/201731/12/2018Red temática de álgebra lineal, análisis matricial y aplicacionesMinisterio de Economía, Industria y Competitividad
30/12/201629/12/2020Inteligencia computacional para el descubrimiento de conocimiento a partir de G protein-coupled receptorsMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201631/12/2020Estructuras matemáticas para la valoración lingüística en procesos de decisión: soluciones avanzadas para la gestión del turismo en las ciudades inteligentes.MIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/03/2020Colaboración robots-humanos para el transporte de productos en zonas urbanasMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/12/2020Robots autónomos diestros como co-trabajadores con operadores humanosMIN DE ECONOMIA Y COMPETITIVIDAD
30/12/201629/12/2019DEOCS: Monitorización, diagnostico y control tolerante a fallos de sistemas ciberfísicos con métodos basados en datosConsejo Superior de Investigaciones Científicas
15/12/201631/07/2017Millora d'algoritmes ATLLATLL Concessionària de Generalitat
13/11/201613/11/2016Dispositivo de aislamiento sísmico con múltiples núcleos y engranajes
01/11/201631/12/2019Combustibles sintèticsACC10
03/10/201611/11/2016Desenvolupament d'un conjunt de tasques per a l'estudi de viabilitat d'una aplicació remota de reconstrucció 3D a partir d'imatges obtingudes amb un dispositiu mòbil.Cavpama 3D Printing Services S.L
15/09/201614/09/2019eHealth EurocampusCommission of European Communities
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01/08/201630/09/2016Projecte INDRA: Desenvolupament de software per la localització d'avionsIndra Systems S.A.
18/07/201617/07/2017Prestación de servicios de consultoría y asesoramiento en el ámbito de los flujos logísticos en la gestión de los productos de la empresaMELEGHY AUTOMOTIVE BARCELONA SAU
01/07/201631/12/2016Càlcul, disseny i fabricació de l'estructura de la màquina de marcatge amb peces fabricades amb materials no definitius, al tractar-se d'un prototipus.ABETO ROJO MEDITERRÁNEO, SL
20/06/201619/06/2018AQUA Canal Isabel II: Col·laboració en tasques sobre projecte de detectabilitat de fuites i trencaments en sectors de distribucióAQUA-CONSULT INGENIEROS, S.L.
20/06/201631/12/2016Desenvolupament d'un projecte de recerca sobre/'vehicle-robot/'FUNDACIO C INNOVACIO I TEC CIT UPC
01/06/201631/05/2019Reducció energètica i flexibilitat en edificis en rehabilitacióACC10
01/06/201630/11/2016L’H Smart City 2016 (LHSC16)Ajuntament de L'Hospitalet de Llobregat
01/06/201630/09/2017Desenvolupament de metodologies i aplicatius pel disseny de projectes i la planificació energètica amb energies renovables en diferents contextos i països IICentre de Cooperació per al Desenvolupament , UPC
25/05/201624/05/2019Paquete escalable soluciones específicas orientadasCIRCUTOR S.A.
06/05/201630/09/2019Diseño y control de un convertidor cc-ca trifásico, aislado galvánicamente, paralelable y de potencia nominal 6 kVAPREMIUM, S.A.
01/05/201601/05/2019Anàlisis de dades fisiològiques experimentals incloent la detecció de patrons en imatges de microscòpia de fluorescenciaCONSEJO SUPERIOR INVEST. CIENTIFICA
01/03/201631/08/2019Tight integration of EGNSS and on-board sensors for port vehicle automationCommission of European Communities
01/03/201615/10/2018Eines per a la gestionabilitat de les plantes de generació elèctrica amb fonts renovablesACC10
01/03/201629/02/2020and social engagementCommission of European Communities
25/01/201631/12/2016Conveni ATLL - Rendiment xarxa 2015ATLL Concessionària de Generalitat
01/01/201631/07/2019Estrategias distribuidas de control y cooperación persona-robot en entornos asistencialesMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Avances en comunicaciones inalámbricas de muy bajo consumo y su aplicación a la monitorización continua de la marcha humanaMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Optimización de sistemas de electrificación con energías renovables y microrredesMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/12/2018Caracterización y clasificación morfológica de células leucémicas mediante procesamiento digital de imágenes y reconocimiento de patrones para el soporte al diagnósticoMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/12/2019Estimación,diagnosis y control para la mejora de la eficiencia de la vida útil de las pilas de combustible tipo PEM.MIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201630/06/2019Educación e innovación social para la sostenibilidad. Formación en las Universidades españolas de profesionales como agentes de cambio para afrontar los retos de la sociedad.MIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201631/07/2016Urban Robotic Scenarios in Automotive Services.Universitat Politècnica de Catalunya
17/12/201530/06/2018Master services agreement to customization, development and design servicesADASENS AUTOMOTIVE, S.L.
11/12/201511/12/2015Dispositivo para simular una operación endoscópica vía orificio natural
01/12/201530/11/2019Innovative controls for renewable sources Integration into smart energy systemsCommission of European Communities
01/12/201531/05/2016Anàlisi, disseny i programació d'un sistema automàtic de generació de calendaris de treballPARC D'ATRACCIONS TIBIDABO,SA PATSA
01/12/201530/11/2017AVANCES METODOLÓGICOS Y TÉCNOLÓGICOS EN EL ESTUDIO OBSERVACIONAL DEL COMPORTAMIENTO DEPORTIVOMinisterio de Economia y Competitividad
01/10/201530/12/2016ATLL Validació dades ZONA 4a i 5a fase. Estudi, disseny i implantació d'algoritmes i programariATLL Concessionària de Generalitat
01/10/201530/09/2019Investigación en tecnologias habilitadoras de sistemas inteligentes para las fábricas del futuro.LEYTEC METROLOGÍA TRIDIMENSI. SLU
07/09/201507/01/2016Sistema de inspección de tampografía por visión artificial adaptableGRUPO DE DESARROLLO EMPRESARIAL
04/09/201504/09/2016Asesoramiento científico y técnico en el modelado dinámico y diseño de estrategias de control avanzado aplicadas a sistemas de drenaje urbanoUNIVERSIDAD DE LOS ANDES
21/07/201510/08/20153rd International Conference on Control and Fault-Tolerant Systemsn (SysTol'16)CLIENTS DIVERSOS CONGRESOS
01/06/201531/08/2019Aerial robotic system integrating multiple arms and advanced manipulation capabilities for inspection and maintenanceCommission of European Communities
01/06/201531/12/2015Desenvolupament de metodologies i aplicatius pel disseny de projectes i la planificació energètica amb energies renovables en diferents contextos i païsosCentre de Cooperació per al Desenvolupament , UPC
21/05/201511/06/2015Modelització geomètrica d'un robot
12/05/201511/02/2016Casper, cognitive assistive social pet robots for hospitalized childrenAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
14/04/201513/01/2018Unified Long-Term 3D Simultaneous Localization and Mapping for Service RobotsAGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
11/03/201511/12/2017Proyecto grupo tractor para elevadores con gestión inteligente de energía integrada 3T-SLTESUMINISTRADORA de ASCENSORES, S.A.
10/03/201510/10/2017Desenvolupament d'un sistema basat en tècniques d'intel.ligència artificial per a la inspeccio de soldadures en línies d'envasat horitzontalVOLPAK, S.A.U.
05/03/201530/09/2018Bloqueig en la malaltia de parkinson:millora de la qualitat de vida amb un sistema de control automàticLA FUNDACIÓ LA MARATÓ DE TV3
01/03/201501/03/2017Desenvolupament projecte/'Recerca de la capacitat de tecnologies de robotització intel.ligent per a la manipulació de masses de panificació altament hidratades -Cristalbread-/'DEXTRA GLOBAL, S.L.
27/02/201531/05/2016WEAM41 Water&Energy Advanced Management for IrrigationADASA SISTEMAS, S.A.
09/02/201508/02/2017Software battery Management Controller (BMC)AGAUR. Agència de Gestió d'Ajuts Universitaris i de Recerca
02/02/201531/12/2015Conveni ATLL - Rendiment xarxa 2014ATLL Concessionària de Generalitat
01/02/201531/01/2018Global systems Rapid Assessment tools through Constraint FUnctional LanguagesCommission of European Communities
01/01/201530/06/2017Robots manipuladores móviles como co-operarios: autonomía e interacción en la colaboración humano-robotMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201530/06/2018CONTROL BASADO EN LA SALUD Y LA RESILIENCIA DE INFRAESTRUCTURAS CRITICAS Y SISTEMAS COMPLEJOSMIN DE ECONOMIA Y COMPETITIVIDAD
01/01/201531/12/2017RobCab: Control strategies for cable-driven robot for low-gravity simulationGobierno de España Ministerio de Ciencia e Innovación
04/01/201406/05/2017Automatic Classification of Digital Images of Peripheral Blood: Application to the Initial Diagnosis of Leukemias and LymphomasFundación GOTEO

Quality

The Validation, Monitoring, Modification and Accreditation Framework (VSMA Framework) for official degrees ties the quality assurance processes (validation, monitoring, modification and accreditation) carried out over the lifetime of a course to two objectives—the goal of establishing coherent links between these processes, and that of achieving greater efficiency in their management—all with the overarching aim of improving programmes.

Validation

Monitoring

Accreditation

    Registry of Universities, Centers and Degrees (RUCT)

    Indicators

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