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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

https://arv.phd.upc.edu/

idPD: 1183 - cp: 1043

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

No hi ha registres per mostrar.

Last update: 26/11/2020 06:11:22.

List of lodged theses

  • 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 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: Confidentiality
    Deposit date: 18/11/2020
    Reading date: pending
    Reading time: pending
    Reading place: pending
    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.
  • SHARAFELDEEN, MOHAMMED DIAB ELSAYED: Knowledge Representation and Reasoning for Perception-based Manipulation Planning
    Author: SHARAFELDEEN, MOHAMMED DIAB ELSAYED
    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 Industrial and Control Engineering (IOC)
    Mode: Temporary seizure
    Deposit date: 25/11/2020
    Reading date: pending
    Reading time: pending
    Reading place: pending
    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.

Last update: 26/11/2020 06:10:03.

List of defended theses by year

  • ALCALÁ BASELGA, EUGENIO: Advances in planning and control for autonomous vehicles
    Author: ALCALÁ BASELGA, EUGENIO
    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: 24/03/2020
    Thesis director: PUIG CAYUELA, VICENÇ | QUEVEDO CASIN, JOSEBA-JOKIN

    Committee:
         PRESIDENT: MARTENSSON, JONAS
         SECRETARI: SANFELIU CORTES, ALBERTO
         VOCAL: LINIGER, ALEXANDER
    Thesis abstract: This thesis presents some advances to the state of the art of state estimation, automatic control and trajectory planning fields applied to autonomous vehicles.Such contributions have a common aspect throughout the thesis, all of them are model-based techniques.The Linear Parameter Varying (LPV) Takagi-Sugeno (TS) theory are used to generate control-oriented models by using the non-linear embedding approach. Several vehicle models are proposed depending on lhe application and estimation -control -planning technique. First, non-linear vehicle formulations are presented. Later, the same models are represented in the LPV form. In the area of control and estimation, the thesis shows different approaches for diferent applications: normal and racing driving modes.First, for normal driving, gain scheduling (GS) LPV state feedback techniques are developed.In the first instance, an LPV-Linear Quadratic Regulator (LQA) design via Linear Matrix lnequality (LMI) formulation is stated for control at low velocities. Later, a cascade scheme including kinematic and dynamic control layers is presented to improve the last design. Here, both controller designs are set up using the LPV-LQR design via LMI formulation and a LPV-Unknown Input Observer (UIO) is presented for estimating vehicle states and exogenous friction force. Second, for racing driving, optimal techniques are explored leading to introduce the Model Predictive Control (MPC) technique as a basis for racing behaviours. In the first instance, the cascade scheme is maintained where the outer control layer is governed by a TS -MPC controller.At this point, an advanced estimation technique is presented, the TS-Moving Horizon Estimator-UIO (TS-MHE-UIO). lt is shown that by using the TS formulation both optimal-based controller and estimator reduce greatly the computational effort in comparison to their non-linear formulation. Then, the idea of designing a unique controller is explored through the LPV-MPC technique. In this case, it is shown the potential of this strategy being able to be executed in real time in small embedded platforms for controlling the vehicle in racing situations.Finally, an online robust MPC is considered that aims at improving the computational load using zonotope theory while preservin high levels of robustness and performance in racing scenarios.In the area or planning, the thesis focuses on trajectory planning approaches from the optimal point of view.First, the non-linear MPC is formulated as a planner (NL-MPP) in space domain where the goal is the minimization of the total lap time.Later, an innovative real time solution is explored leading to a LPV-MPP.The method follows the structure of the model predictive optimal strategy where the main objective is to maximize the velocity while fulfilling varying constraints. In particular, the aim is on reformulating the non-linear original problem into a pseudo-linear problem by convexifying the objective function and making use of the LPV vehicle formulation.

  • CANAL CAMPRODON, GERARD: Adapting robot behavior to user preferences in assistive scenarios
    Author: CANAL CAMPRODON, GERARD
    Thesis link: http://hdl.handle.net/10803/669799
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Institute of Robotics and Industrial Informatics (IRI)
    Mode: Temporary seizure
    Reading date: 09/03/2020
    Thesis director: ALENYÀ RIBAS, GUILLEM | TORRAS GENIS, CARMEN

    Committee:
         PRESIDENT: ANGULO BAHON, CECILIO
         SECRETARI: DEMIRIS, YIANNIS
         VOCAL: LEE, DONGHEUI
    Thesis abstract: Robotic assistants have inspired numerous books and science fiction movies.In the real world, these kinds of devices are a growing need in amongst the elderly, who while life continue requiring more assistance. While life expectancy is increasing, life quality is not necessarily doing so. Thus, we may find ourselves and our loved ones being dependent and needing another person to perform the most basic tasks, which has a strong psychological impact. Accordingly, assistive robots may be the definitive tool to give more quality of life by empowering dependent people and extending their independent living.Assisting users to perform daily activities requires adapting to them and their needs, as they might not be able to adapt to the robot.This thesis tackles adaptation and personalization issues through user preferences. We 'focus on physical tasks that involve close contact, as these present interesting challenges, and are of great importance for he user. Therefore, three tasks are mainly used throughout the thesis: assistive feeding, shoe fitting, and jacket dressing. We first describe a framework for robot behavior adaptation that illustrates how robots should be personalized for and by end- users or their assistants. Using this framework,non-technical users determine how !he robot should behave. Then, we define the concept of preference for assistive robotics scenarios and establish a taxonomy, which includes hierarchies and groups of preferences, grounding definitions and concepts. We then show how the preferences in the taxonomy are used with Al planning systems to adapt the robot behavior to the preferences of the user obtained from simple questions. Our algorithms allow for long-term adaptations as well as to cope with misinformed user models. We further integrate the methods with low-level motion primitives that provide a more robust adaptation and behavior while lowering the number of needed actions and demonstrations. Moreover, we perform a deeper analysis in Planning and preferences with the introduction of new algorithms to provide preference suggestions in planning domains. The thesis then concludes with a user study that evaluates the use of the preferences in the three real assistive robotics scenarios. The experiments show a clear understanding of the preferences of users, who were able to assess the impact of their preferences on the behavior of the robot.In summary, we provide tools and algorithms to design the robotic assistants of the future. Assistants that should be able to adapt to the assisted user needs and preferences, just as human assistants do nowadays.

  • DERAY, JEREMIE: Robust Navigation for Industrial Service Robots
    Author: DERAY, JEREMIE
    Thesis link: http://hdl.handle.net/10803/669875
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Institute of Robotics and Industrial Informatics (IRI)
    Mode: Normal
    Reading date: 29/09/2020
    Thesis director: ANDRADE CETTO, JUAN | SOLÀ ORTEGA, JOAN

    Committee:
         PRESIDENT: LACROIX, SIMON
         SECRETARI: SANFELIU CORTES, ALBERTO
         VOCAL: CABALLERO BENITEZ, FERNANDO
    Thesis abstract: Robust, reliable and safe navigation is one of the fundamental problems of robotics. Throughout the present thesis, we tackle the problem of navigation for robotic industrial mobile-bases. We identify its components and analyze their respective challenges in order to address them. The research work presented here ultimately aims at improving the overall quality of the navigation stack of a commercially available industrial mobile-base.To introduce and survey the overall problem we first break down the navigation framework into clearly identified smaller problems. We examine the Simultaneous Localization and Mapping (SLAM) problem, recalling its mathematical grounding and exploring the state of the art. We then review the problem of planning the trajectory of a mobile-base toward a desired goal in the generated environment representation. Finally we investigate and clarify the use of the subset of the Lie theory that is useful in robotics.The first problem tackled is the recognition of place for closing loops in SLAM. Loop closure refers to the ability of a robot to recognize a previously visited location and infer geometrical information between its current and past locations. Using only a 2D laser range finder sensor, we address the problem using a technique borrowed from the field of Natural Language Processing (NLP) which has been successfully applied to image-based place recognition, namely the Bag-of-Words. We further improve the method with two proposals inspired from NLP. Firstly, the comparison of places is strengthened by considering the natural relative order of features in each individual sensor reading. Secondly, topological correspondences between places in a corpus of visited places are established in order to promote together instances that are `close¿ to one another.We then tackle the problem of motion model calibration for odometry estimation. Given a mobile-base embedding an exteroceptive sensor able to observe ego-motion, we propose a novel formulation for estimating the intrinsic parameters of an odometry motion model. Resorting to an adaptation of the pre-integration theory initially developed for inertial motion sensors, we employ iterative nonlinear on-manifold optimization to estimate the wheel radii and wheel separation. The method is further extended to jointly estimate both the intrinsic parameters of the odometry model together with the extrinsic parameters of the embedded sensor. The method is shown to accommodate to variation in model parameters quickly when the vehicle is subject to physical changes during operation.Following the generation of a map in which the robot is localized, we address the problem of estimating trajectories for motion planning. We devise a new method for estimating a sequence of robot poses forming a smooth trajectory. Regardless of the Lie group considered, the trajectory is seen as a collection of states lying on a spline with non-vanishing n-th derivatives at each point. Formulated as a multi-objective nonlinear optimization problem, it allows for the addition of cost functions such as velocity and acceleration limits, collision avoidance and more. The proposed method is evaluated for two different motion planning tasks, the planning of trajectories for a mobile-base evolving in the SE(2) manifold, and the planning of the motion of a multi-link robotic arm whose end-effector evolves in the SE(3) manifold.From our study of Lie theory, we developed a new, ready to use, programming library called `manif¿. The library is open source, publicly available and is developed following good software programming practices. It is designed so that it is easy to integrate and manipulate, and allows for flexible use while facilitating the possibility to extend it beyond the already implemented Lie groups.

  • DÍAZ CASTAÑEDA, JENNY LORENA: Advanced Energy Management/Control Strategies for Smart Manufacturing Systems
    Author: DÍAZ CASTAÑEDA, JENNY LORENA
    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: 27/03/2020
    Thesis director: OCAMPO MARTINEZ, CARLOS AUGUSTO

    Committee:
         PRESIDENT: NÚÑEZ VICENCIO, ALFREDO ANTONIO
         SECRETARI: TORNIL SIN, SEBASTIAN
         VOCAL NO PRESENCIAL: TEDESCO, FRANCESCO
    Thesis abstract: This thesis is devoted to the study of the optimisation-based control techniques for the design of control strategies that contribute to improve the energy efficiency of smart manufacturing systems. Currently, manufacturing industry is suffering a transformation towards smart, flexible, and energy-efficient manufacturing systems. This transformation requires modularised and reconfigurable manufacturing systems to respond to changes in productions programs and to the time-varying pieces demand while keeping an energy-efficient operation. Thus, suitable control systems should be designed to satisfy the requirements of this transformation while minimising the energy consumption and maximising the plant profit. In this regard, optimisation-based controllers are suitable for the design of control systems that minimise the total energy consumption of such systems while remaining their productivity taking into account the operational conditions and the factors that affect them. First, this dissertation presents how optimisation-based control techniques can contribute to face the challenges of the smart manufacturing systems. Based on this review, manufacturing industry is classified by levels, i.e., machine, process line, and plant levels, for the design of optimisation-based controllers. Besides, to design control strategies that do not affect plant productivity, manufacturing systems are also classified according to the operations performed. Based on these classifications, control strategies are proposed to minimise either the total energy consumption of manufacturing systems or the energy costs related to the operation of such systems. At both machine and process line levels, control strategies are designed based on model predictive control approach to minimise their energy consumption. The underlying idea behind the proposed control strategies consists of managing independently those devices (or systems) that are not directly involved in the machining operations. Thus, energy consumption models are required to predict the total energy consumption profile of manufacturing systems and, based on this, to select the activation/deactivation instants of the manipulated devices that minimise their energy consumption and guarantee their proper operation. Next, due to at the process line level the size and complexity of manufacturing systems increases, a control strategy based on two control modes is proposed to reduce the computational burden of such controllers by switching from a control mode based on online optimisation to an autonomous control mode without solving an optimisation problem.Since the need for flexible and reconfigurable manufacturing systems, non-centralised control strategies are proposed at higher industrial levels to minimise their energy consumption. Thus, both cooperative and non-cooperative local controllers are designed considering a fixed system partitioning and using alternative direction methods of multipliers to solve the optimisations problems in a distributed fashion. Besides, due to the nature of the proposed control objectives, a way to define the consensus stage among the local controllers with coupled dynamics is proposed. Finally, the control strategies designed at plant level are based on the economic model predictive control approach to maximise the plant profit and minimise the operational costs related to the plant operation. At this level, control objectives are focused on determining the economic-optimal production programming of the plant that the control strategies at lower levels should follow. In this regard, the production programming of the plant is determined taking into account the pieces demand, the energy consumption of manufacturing systems, and the current energy market and their fluctuations. All control strategies proposed in this thesis are tested in simulation considering different scenarios designed based on the real operation of an automotive part manufacturing plant.

  • KARIMI POUR, FATEMEH: Health-aware Predictive Control Schemes Based on Industrial Processes
    Author: KARIMI POUR, FATEMEH
    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: 24/07/2020
    Thesis director: PUIG CAYUELA, VICENÇ | CEMBRANO GENNARI, M.GABRIELA ELENA

    Committee:
         PRESIDENT: STANCU, ALEXANDRU STELIAN
         SECRETARI: NEJJARI AKHI-ELARAB, FATIHA
         VOCAL: PONSART, JEAN-CHRISTOPHE
    Thesis abstract: The research is motivated by real applications, such as pasteurization plant, water networks and autonomous system, which each of them require a specific control system to provide proper management able to take into account their particular features and operating limits in presence of uncertainties related to their operation and failures from component breakdowns. According to that most of the real systems have nonlinear behaviors, it can be approximated them by polytopic linear uncertain models such as Linear Parameter Varying (LPV) and Takagi-Sugeno (TS) models. Therefore, a new economic Model Predictive Control (MPC) approach based on LPV/TS models is proposed and the stability of the proposed approach is certified by using a region constraint on the terminal state. Besides, the MPC-LPV strategy is extended based on the system with varying delays affecting states and inputs. The control approach allows the controller to accommodate the scheduling parameters and delay change. By computing the prediction of the state variables and delay along a prediction time horizon, the system model can be modified according to the evaluation of the estimated state and delay at each time instant. To increase the system reliability, anticipate the appearance of faults and reduce the operational costs, actuator health monitoring should be considered. Regarding several types of system failures, different strategies are studied for obtaining system failures. First, the damage is assessed with the rainflow-counting algorithm that allows estimating the component¿s fatigue and control objective is modified by adding an extra criterion that takes into account the accumulated damage. Besides, two different health-aware economic predictive control strategies that aim to minimize the damage of components are presented. Then, economic health-aware MPC controller is developed to compute the components and system reliability in the MPC model using an LPV modeling approach and maximizes the availability of the system by estimating system reliability. Additionally, another improvement considers chance-constraint programming to compute an optimal list replenishment policy based on a desired risk acceptability level, managing to dynamically designate safety stocks in flowbased networks to satisfy non-stationary flow demands. Finally, an innovative health-aware control approach for autonomous racing vehicles to simultaneously control it to the driving limits and to follow the desired path based on maximization of the battery RUL. The proposed approach is formulated as an optimal on-line robust LMI based MPC driven from Lyapunov stability and controller gain synthesis solved by LPV-LQR problem in LMI formulation with integral action for tracking the trajectory.

  • PÉAN, THIBAULT QUENTIN: Heat pump controls to exploit the energy flexibility of building thermal loads
    Author: PÉAN, THIBAULT QUENTIN
    Thesis link: http://hdl.handle.net/10803/669805
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Department of Automatic Control (ESAII)
    Mode: Temporary seizure
    Reading date: 24/01/2020
    Thesis director: COSTA CASTELLO, RAMON | SALOM TORMO, JAUME

    Committee:
         PRESIDENT: HEISELBERG, PER KVOLS
         SECRETARI: OCAMPO MARTINEZ, CARLOS AUGUSTO
         VOCAL: MOIÀ POL, ANDREU ANTONI
    Thesis abstract: Smart controls for heat pumps are required to harness the full energy flexibility potential of building thermal loads. A literature review revealed that most strategies used for this purpose can be classified in two categories: simpler rule-based control (RBC), and model predictive control (MPC), a more complex strategy based on optimization and requiring a prior model of the systems. Both RBC and MPC can use external penalty signals to prompt their actions. The price of electricity is most often used for this purpose, leading to strategies of cost reduction. As an alternative penalty signal, a novel marginal CO2 emissions signals was also conceived.In this thesis, both an RBC and an MPC controllers were developed as supervisory controls for an air-to-water heat pump supplying the heating and cooling needs of a residential building type from the Mediterranean area of Spain. The RBC strategy modulates the temperature set-points, while the MPC strategy minimizes the overall summed penalties (costs or emissions) due to the heat pump use, while balancing with comfort constraints and a proper operation of the systems. The MPC controller in particular required the development of a simplified model of the building envelope and of the heat pump performance, both adjusted differently for heating or cooling. The MPC included several novelties, such as the mixed-integer formulation, the heat pump simplified model based on experimental data and the consideration of its computational delay.The developed controllers were then tested, firstly in an experimental ¿hardware-in-the-loop¿ setup, with a real heat pump installed in the laboratory facilities, and connected to thermal benches that emulated the loads from a building model. Implementing the control strategies on a real heat pump enabled to highlight some practical challenges such as model mismatch in the MPC, communication issues, interfacing and control conflicts with the heat pump local controller. Secondly, a simulation-only framework was developed to test other configurations of the controllers, with TRNSYS as the main dynamic building simulation tool, coupled with MATLAB for the MPC controller. In that case, the real heat pump was replaced by a detailed model which was specially developed for this purpose. It is based on static tests performed in the laboratory, and therefore reproduces the dynamic behavior of the heat pump with high fidelity.The results from experimental and simulation studies revealed the ability of both types of controllers to shift the building loads towards periods of cheaper or less CO2-emitting electricity, these two objectives being in fact contradictory. In the cases where the reference control presented a large margin for improvements, the RBC and MPC controllers performed equally and provided important savings: around 15% emissions savings in heating mode, and 30% cost savings in cooling mode. In the cases where the reference control already performed close to optimally, the RBC controller failed to provide improvements, while the MPC benefitted from its stronger optimization and prediction features, reaching 5% cost savings in heating mode and 10% emissions savings in cooling mode.The research carried out in this thesis covered many aspects of energy flexibility in buildings: creation of input penalty signals, graphical representation of flexibility, development of controllers, performance in realistic experimental setup, fitting of appropriate models and compared performance in heating and cooling. The development efforts and barriers hindering the deployment of MPC controllers at large scale for building climate control have additionally been discussed. The performance of the developed controllers was evidenced in the thesis, proving their potential for load-shifting incentivized by different penalty signals: they could become a strong asset to unlock demand-side flexibility and in fine, help integrating a larger share of RES in the grid.

  • RAVEENDRAN NAIR, UNNIKRISHNAN: Control and management of energy storage systems in microgrids
    Author: RAVEENDRAN NAIR, UNNIKRISHNAN
    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: 23/07/2020
    Thesis director: COSTA CASTELLO, RAMON

    Committee:
         PRESIDENT: VIDAL IDIARTE, ENRIQUE
         SECRETARI: GRIÑO CUBERO, ROBERTO
         VOCAL: GROS, SÉBASTIEN
    Thesis abstract: The rate of integration of the renewable energy sources in modern grids have significantly increased in the last decade. These intermittent, non-dispatchable renewable sources, though environment friendly tend to be grid unfriendly. This is precisely due to the issues pertaining to grid congestion, voltage regulation and stability of grids being reported as a result of the incorporation of renewable sources. In this scenario, the use of energy storage systems (ESS ) in electric grids is being widely proposed to overcome these issues. However, integrating energy storage systems alone will not compensate for the issue created by renewable generation. The control and management of the ESS should be done optimally so that their full capabilities are exploited to overcome the issues in the power grids and to ensure their lower cost of investment by prolonging ESS lifetime through minimising degradation.Motivated by this aspect this Ph.D work focusses on developing an efficient, optimal control and management strategy for ESS in a microgrid, especially hybrid ESS. The Ph.D work addresses this issue by proposing a hierarchical control scheme comprising of a lower power management and higher energy management stage with contributions in each stage. In the power management stage this work focusses on improving aspects of real time control of power converters interfacing ESS to grid and the microgrid system as whole. The work proposes control systems with improved dynamic behaviour for power converters based on the reset control framework. In the microgrid control the work presents a primary+secondary control scheme with improved voltage regulation performance under disturbances, using an observer. The real time power splitting strategies among hybrid ESS accounting for the ESS operating efficiencies and degradation mechanisms will also be addressed in the primary+secondary control of power management stage. The design criteria, stability and robustness analysis will be carried out, along with simulation or experimental verifications.In the higher level energy management stage, the contribution of this work involves application of an economic MPC framework for the management of ESS in microgrids. The work specifically addresses the problems of mitigating grid congestion from renewable power feed-in, minimising ESS degradation and maximising self consumption of generated renewable energy using the MPC based energy management system. A survey of the forecasting methods that can be used for MPC will be carried out and a neural network based forecasting unit for time series prediction will be developed. The practical issue of accounting for forecasting error in the decision making of MPC will be addressed and impact of the resulting conservative decision making on the system performance will be analysed. The improvement in performance with the proposed energy management scheme will be demonstrated and quantified.

  • REPISO POLO, ELY: Collaborative Social Robot Navigation in Accompanying and Approaching Tasks.
    Author: REPISO POLO, ELY
    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: 23/09/2020
    Thesis director: SANFELIU CORTES, ALBERTO | GARRELL ZULUETA, ANAÍS

    Committee:
         PRESIDENT: ALAMI, RACHID
         SECRETARI: ANGULO BAHON, CECILIO
         VOCAL: MERINO CABAÑAS, LUIS
    Thesis abstract: Our society is evolving to include robots in our daily lives. Therefore, it is necessary to develop robots capable of collaborating with people to carry out daily tasks, for example: accompanying, searching, transporting, among others. In this thesis, the main objective has been to develop new methods of accompanying and approaching people by robots. The first of the methods developed to accomplish this objective has been a side-by-side accompaniment of one person, where the robot navigates while accompanying the person. This navigation has been studied in static environments (of buildings, streets, lampposts, etc.) and in dynamic environments, where there are pedestrians and other personal vehicles (bikes, scooters, etc.) that move around. In order for these models to take people into account, some studies have been carried out to accompany people, and they have been used to design the side-by-side"navigation model for robots. Furthermore, two methods have been developed to accompany groups of people: the first one allows the robot to accompany them using a V-formation, and the second allows the robot to accompany them using a side-by-side formation. Various skills were also implemented so that the robot can react to unexpected behaviors of people in the environment. Finally, three user studies were carried out that demonstrate the acceptability of the volunteers towards both accompaniments of the robot, as well as a comparison of both methods. In addition, a people approach method has been implemented that allows the robot a more natural approach, by combining G^2-Splines and the Extended Social Force Model. Finally, both tasks have been combined: accompaniment and approach. Developing two new methods: a simpler one that allows the robot to approach using the intersection of the paths between the group and the approached person; and another method where the robot finds the optimal meeting point between the person and the group, in addition to positioning itself in a triangle formation with both people at the meeting point. For the more complex method, a user study has been carried out to find the acceptability of the method by people. In addition, for all the methods, we developed several metrics of performance based on "proxemics", to achieve a socially accepted behavior by humans. Also, all methods were tested in simulation and urban areas.

  • ROSERO CHANDI, CARLOS XAVIER: Active power sharing and frequency regulation in inverter-based islanded microgrids subject to clock drifts, damage in power links and loss of communications
    Author: ROSERO CHANDI, CARLOS XAVIER
    Thesis link: http://hdl.handle.net/10803/668863
    Programme: DOCTORAL DEGREE IN AUTOMATIC CONTROL, ROBOTICS AND VISION
    Department: Department of Automatic Control (ESAII)
    Mode: Article-based thesis
    Reading date: 06/02/2020
    Thesis director: VELASCO GARCIA, MANUEL | MARTI COLOM, PAU

    Committee:
         PRESIDENT: GARCIA DE VICUÑA MUÑOZ DE LA NAVA, JOSE LUIS
         SECRETARI: FIGUERES AMORÓS, EMILIO
         VOCAL: BLASCO GIMÉNEZ, RAMÓN MANUEL
    Thesis abstract: Microgrids (MGs) are small-scale power systems containing storage elements, loads and distributed generators that are interfaced with the electric network via power electronic inverters. When an MG is in islanded mode, its dynamics are no longer dominated by the main grid. Then, inverters, driven by digital processors that may exchange data over digital communication, must act as voltage source inverters (VSIs) to take coordinated actions to ensure power quality and supply. The scope of this thesis is bounded to control strategies for active power sharing and frequency regulation in islanded MGs. The focus is on the analysis of prototype control policies when operating conditions are no longer ideal. In particular, the thesis covers the effect that a) clock drifts of digital processors, b) damage in power transmission lines, and c) failures in digital communications have in control performance. The work is submitted as a compendium of publications, including journal and international conference papers, where two main areas of research can be distinguished.The first area refers to the analysis of the effect that clock drifts have on frequency regulation and active power sharing. VSIs digital processors are equipped with oscillators, which run at not necessarily identical frequencies. As consequence, the local clocks in the physically distributed VSIs may differ. This part, reported in two conference papers and one journal paper, investigates state-of-the-art control policies when clocks of the computational devices drift. The contributions related to this part are a) the reformulation of existing control policies in terms of clock drifts, b) the steady-state analysis of these policies that offers analytical expressions to quantify the impact that drifts have on frequency and active power equilibrium points, c) the closed-loop model capable of accommodating all the policies, d) the stability analysis of the equilibrium points, and e) the experimental results.The second area copes with the analysis of the effect that electrical and communication failures have on frequency regulation and active power sharing. This investigation focuses on distributed/cooperative control policies where each inverter control action is computed using both local measures and data received from other inverters within the MG. This part, reported in one conference paper and two journal papers, investigates two control policies when the considered failures in terms of damage in power links and/or loss of communication between inverters provoke partitions within the MG. The contributions related to this part are a) the formulation of the MG as two connected graphs corresponding to the electrical and communication networks where both type of failures lead to disconnected electrical/communication sub-graphs, named partitions, that co-exist within the MG, b) the closed-loop model integrating the two graph Laplacian matrices, c) the stability analysis that identifies which type of partitions may lead to MG instability, d) the steady-state analysis that indicates how to compute the equilibrium points for the case of stable dynamics, e) a new control strategy based on switched control principles that permits avoiding the instability scenario, and f) the experimental results.For the purpose of verifying the operational performance of the analytical results, diverse experiments on a laboratory MG have been performed. The outcomes obtained are discussed and analyzed in terms of the objectives sought. Finally, conclusions and future research lines complete the thesis.

  • TREJO RAMÍREZ, KARLA ANDREA: 3D Partial Scans Models for People Recognition With A RGB-D Sensor
    Author: TREJO RAMÍREZ, KARLA ANDREA
    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: 22/01/2020
    Thesis director: ANGULO BAHON, CECILIO

    Committee:
         PRESIDENT: CASAS PLA, JOSEP RAMON
         SECRETARI: RADUCANU, BOGDAN
         VOCAL NO PRESENCIAL: SHIMADA, ATSUSHI
    Thesis abstract: Research developed in this thesis is motivated by a vision of a future where social activities and personalized services are delivered in intelligent environments, entering a new era of more natural and wholesome human-machine interactions. While people are moving freely within these environments, individuals should be recognized by an artificial agent through a wide range of diverse tasks: detection, identification, re-identification and tracking. In this context, facial features are not enough and thus a need appears about finding new sources of descriptive human information to support those actions.Novel approaches in people recognition using human bodies as the main target are introduced throughout this dissertation. Our proposals intend to take full advantage of the powerful capabilities of one device only, regardless of whether the technology exploited is 2D (simple camera) or 3D (RGB-D sensor), favoring the effective use of minimum resources and combining less intensive measures. Applications start with the automatic landmarking of human shapes by learning a small dataset, upgraded by on-line 3D body shape contour tracking with an RGB-D sensor; next, groups of people are categorized and tracked in a public space and studied as a cognitive emulation of human behavior towards relationships generated through spatial and motion interactions; finally, a natural user interface is created with a RGB-D sensor for the identification and re-identification of individuals on the scene in real-time.By employing practical computer vision and machine learning techniques, experimental evaluation will show fair and adequate performance of the introduced systems, comparable to other more complex ones. All this implementation is carried out with due respect for human perception and the quality of their interaction with the intelligent agents. Always bearing in mind that their application goes hand in hand with the idea of eventually incorporating them in smart environments and robotic platforms.

  • VAQUERO GÓMEZ, VÍCTOR: Lidar-Based Scene Understanding for Autonomous Driving Using Deep Learning
    Author: VAQUERO GÓMEZ, VÍCTOR
    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: 25/02/2020
    Thesis director: SANFELIU CORTES, ALBERTO | MORENO NOGUER, FRANCESC D'ASSIS

    Committee:
         PRESIDENT: LOPEZ PENA, ANTONIO MANUEL
         SECRETARI: ANGULO BAHON, CECILIO
         VOCAL: SANTOS VÍCTOR, JOSÉ
    Thesis abstract: With over 1.35 million fatalities related to traffic accidents worldwide, autonomous driving was foreseen at the beginning of this century as a feasible solution to improve security in our roads. Nevertheless, it is meant to disrupt our transportation paradigm, allowing to reduce congestion, pollution, and costs, while increasing the accessibility, efficiency, and reliability of the transportation for both people and goods. Although some advances have gradually been transferred into commercial vehicles in the way of Advanced Driving Assistance Systems (ADAS) such as adaptive cruise control, blind spot detection or automatic parking, however, the technology is far from mature. A full understanding of the scene is actually needed so that allowing the vehicles to be aware of the surroundings, knowing the existing elements of the scene, as well as their motion, intentions and interactions.In this PhD dissertation, we explore new approaches for understanding driving scenes from 3D LiDAR point clouds by using Deep Learning methods. To this end, in Part I we analyze the scene from a static perspective using independent frames to detect the neighboring vehicles. Next, in Part II we develop new ways for understanding the dynamics of the scene. Finally, in Part III we apply all the developed methods to accomplish higher level challenges such as segmenting moving obstacles while obtaining their rigid motion vector over the ground.More specifically, in Chapter 2 we develop a 3D vehicle detection pipeline based on a multi-branch deep-learning architecture and propose a Front (FR-V) and a Bird¿s Eye view (BE-V) as 2D representations of the 3D point cloud to serve as input for training our models. Later on, in Chapter 3 we apply and further test this method on two real uses-cases, for pre-filtering movingobstacles while creating maps to better localize ourselves on subsequent days, as well as for vehicle tracking. From the dynamic perspective, in Chapter 4 we learn from the 3D point cloud a novel dynamic feature that resembles optical flow from RGB images. For that, we develop a new approach to leverage RGB optical flow as pseudo ground truth for training purposes but allowing the use of only 3D LiDAR data at inference time. Additionally, in Chapter 5 we explore the benefits of combining classification and regression learning problems to face the optical flow estimation task in a joint coarse-and-fine manner. Lastly, in Chapter 6 we gather the previous methods and demonstrate that with these independent tasks we can guide the learning of higher challenging problems such as segmentation and motion estimation of moving vehicles from our own moving perspective.

Last update: 26/11/2020 06:08:48.

Theses related publications

AUTHOR:VAQUERO GÓMEZ, VÍCTOR
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
RELATED PUBLICATIONS
Vaquero, V. (2020). Lidar-Based Scene Understanding for Autonomous Driving Using Deep Learning.

AUTHOR:PÉAN, THIBAULT QUENTIN
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
RELATED PUBLICATIONS
Péan, T. (2020). Heat pump controls to exploit the energy flexibility of building thermal loads.

Péan, T.; Salom, J. (2020). Evaluation of energy flexibility of low-energy residential buildings connected to district heating. (JCR Impact Factor-2019: 0.0; Quartil: )

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. (2019). Advanced wind farm control strategies for enhancing grid support.

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.

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.; Pippia, Tomas Manuel; Ocampo-Martinez, C.; Sijs, J.; De Schutter, B. (2019). Online partitioning method for decentralized control of linear switching large-scale systems. (JCR Impact Factor-2018: 3.653; Quartil: Q1)

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.

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. (2019). Model-Based Control And Diagnosis Of Inland Navigation Networks.

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: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. (2019). On the fault diagnosis of dynamic systems using set-based approaches.

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

Akbari, A. (2019). Combining task and motion planning for mobile manipulators.

Akbari, A.; Lagriffoul, F.; Rosell, J. (2019). Combined heuristic task and motion planning for bi-manual robots. (JCR Impact Factor-2017: 2.244; Quartil: Q2)

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. (2019). Information Metrics for Localization and Mapping.

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). A Contribution to the Incorporation of Sociability and Creativity Skills to Computers and Robots.

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..

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. (2018). Sensorimotor exploration: constraint awareness and social reinforcement in early vocal development.

Acevedo-Valle, J. M.; Hafner, V.; Angulo, C. (2019). Social reinforcement in artificial prelinguistic development : a study using intrinsically motivated exploration architectures. (JCR Impact Factor-2017: 1.952; Quartil: Q2)

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. (2018). Advances in State Estimation, Diagnosis and Control of Complex Systems.

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. (JCR Impact Factor-2018: 2.707; Quartil: Q3)

Tang, W.; Wang, Z.; Wang, Y.; Shen, Y. (2018). Fault diagnosis for uncertain systems based on unknown input set-membership filters. (JCR Impact Factor-2018: 0.377; Quartil: Q2)

Wang, Y.; Muñoz de la Peña , D.; Puig, V.; Cembrano, M. (2019). Robust economic model predictive control based on a periodicity constraint. (JCR Impact Factor-2018: 3.953; Quartil: Q1)

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

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. (2018). A template based approach for human action recognition.

Carmona, J. M.; Climent, J. (2018). Human action recognition by means of subtensor projections and dense trajectories. (JCR Impact Factor-2018: 5.898; Quartil: Q1)

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. (2018). Contribution to reliable control of dynamic systems.

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. (2018). Robust leak localization in water distribution networks using machine learning techniques.

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
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. (2017). Contribution to big data analytics in water networks.

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

Barreiro, J. (2017). The role of population games in the design of optimization-based controllers: a large-scale insight.

Barreiro, J.; Obando, G.; Quijano, N. (2017). Distributed population dynamics: Optimization and control applications. (JCR Impact Factor-2017: 5.131; Quartil: Q1)

Barreiro, J.; Ocampo-Martinez, C.; Quijano, N. (2017). Dynamical tuning for MPC using population games: a water supply network application. (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. (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. (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. (JCR Impact Factor-2017: 3.576; Quartil: Q1)

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. (2017). Development of control systems and state observers for efficiency and durability improvement in PEM fuel cell based systems.

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.

Foix, S. (2016). Task-oriented viewpoint planning for free-form objects.

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. (2016). Parallel Robots with Unconventional Joints to Achieve Under-Actuation and Reconfigurability.

Grosch, P.; Thomas, F. (2016). Geometric path planning without maneuvers for nonholonomic parallel orienting robots.

Research projects

START DATEEND DATEACTIVITYFINANCING ENTITY
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
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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

Research projects

START DATEEND DATEACTIVITYFINANCING ENTITY
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
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15/09/201614/09/2019eHealth EurocampusCommission of European Communities
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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
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01/03/201629/02/2020and social engagementCommission of European Communities
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01/01/201631/07/2019Estrategias distribuidas de control y cooperación persona-robot en entornos asistencialesMIN DE ECONOMIA Y COMPETITIVIDAD
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01/01/201630/06/2019Optimización de sistemas de electrificación con energías renovables y microrredesMIN DE ECONOMIA Y COMPETITIVIDAD
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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
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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
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27/02/201531/05/2016WEAM41 Water&Energy Advanced Management for IrrigationADASA SISTEMAS, S.A.
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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

    Registry of Universities, Centers and Degrees (RUCT)

    Indicators

    Up