Browsing by Contributor "Alberich Carramiñana, Maria"
Now showing items 1-20 of 23
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A learning approach to the FOM problem
(Universitat Politècnica de Catalunya, 2017-05)
Bachelor thesis
Open Access
Covenantee: Massachusetts Institute of TechnologyHogan recently provided an heuristic technique called family of modes (FOM) to solve model predictive control (MPC) problems under hybrid constraints and underactuation. The goal of this study is to further develop this ... -
A Reactive Planning Framework for Dexterous Robotic Manipulation
(Universitat Politècnica de Catalunya, 2019-05-30)
Bachelor thesis
Open Access
Covenantee: Massachusetts Institute of TechnologyThis thesis investigates a reactive motion planning and controller framework that enables robots to manipulate objects dexterously. We develop a robotic platform that can quickly and reliably replan actions based on sensed ... -
Bernstein-Sato polynomial of plane curves and Yano's conjecture
(Universitat Politècnica de Catalunya, 2020-04-16)
Doctoral thesis
Open AccessThe main aim of this thesis is the study of the Bernstein-Sato polynomial of plane curve singularities. In this context, we prove a conjecture posed by Yano about the generic b-exponents of a plane irreducible curve. In ... -
Classification of plane germs: metric and valorative properties
(Universitat Politècnica de Catalunya, 2008-06)
Master thesis (pre-Bologna period)
Open AccessIn this memory we follow the geometric approach of Casas’ boof [1] for studying of the singularities of plane germs of curves, which updates Enriques’ works to modern standards and reviews the modern development of the ... -
Dificultades de aprendizaje de la geometría por parte de alumnos del primer ciclo de la ESO
(Universitat Politècnica de Catalunya, 2014-06-25)
Master thesis
Open AccessEl objetivo principal de este trabajo es investigar qué dificultades se encuentran los alumnos del primer ciclo de la ESO en el aprendizaje de la geometría, y cómo se puede incidir para ayudarlos en la superación de estas ... -
Effective computation of base points of two-dimensional ideals
(Universitat Politècnica de Catalunya, 2015-10)
Master thesis
Open AccessThis works focus on computational aspects of the theory of singularities of plane algebraic curves. We show how to use the Puiseux factorization of a curve, computed through the Newton-Puiseux algorithm, to study the ... -
Geometria de la Grassmanniana de rectes de l'espai i aplicacions a robòtica
(Universitat Politècnica de Catalunya, 2013-03)
Master thesis (pre-Bologna period)
Open AccessMesurar la proximitat a les configuracions singulars dels manipuladors paral·lels pot ser útil per evitar el mal comportament que es dóna quan el manipulador es mou en un entorn d'una singularitat. Alguns dels índexos que ... -
Human motion dataset in the wild (MAT)
(Universitat Politècnica de Catalunya, 2019-03-07)
Bachelor thesis
Open AccessThe popularity of wearable cameras is steadily increasing, both for entertainment and productivity purposes. Understanding the footage and inferring the body pose of the camera wearer can be of great importance in many ... -
Learning graph-based event representations for unconstrained video segmentation
(Universitat Politècnica de Catalunya, 2021-05)
Master thesis
Restricted access - confidentiality agreement
Covenantee: Institut de Robòtica i Informàtica IndustrialRecent research has shown that, in particular domains, unsupervised learning algorithms are achieving on par, or even better performance than fully supervised algorithms, avoiding the need of human labelled data. The ... -
Local geometry of analytic planar morphisms
(Universitat Politècnica de Catalunya, 2017-07)
Master thesis
Open AccessThis work focuses in the study of local geometry of analytic planar morphisms. First, we introduce the basic concepts that will be needed to present the main part of the work. Secondly, we study the effect of analytic ... -
Machine Learnig for Robotic Manipulation in cluttered environments
(Universitat Politècnica de Catalunya, 2016-05)
Bachelor thesis
Open Access
Covenantee: Massachusetts Institute of TechnologyIn this thesis we focus on designing the planner for MIT s entry in the Amazon Picking Challenge, a robotic competition aiming at pushing the frontiers of manipulation until robots can substitute human pickers in warehouses. ... -
Material didàctic perquè els alumnes de 2n d’ESO puguin treballar el tema de geometria de forma no presencial
(Universitat Politècnica de Catalunya, 2013-06-27)
Master thesis
Open AccessL’institut on he estat de pràctiques ha constatat el baix nivell dels alumnes en geometria. A més, és un temari al qual els professors no dediquen gaires classes per manca de temps. És per això que el departament de ... -
Mesura d'àrees a l'aula
(Universitat Politècnica de Catalunya, 2022-07)
Bachelor thesis
Open AccessMalgrat ser un concepte intuïtiu, com mesurar àrees no és evident. En aquest treball proposem una manera d'introduir aquest problema a alumnes de secundària i una solució versàtil: el planímetre. A tal efecte, presentem ... -
Mesures de proximitat a les singularitats d'un robot amb ndexos de rendiment vectorial
(Universitat Politècnica de Catalunya, 2013-07)
Master thesis (pre-Bologna period)
Open AccessLes con guracions singulars dels robots s on situacions complicades de predir i de localitzar de manera anticipada i, en general, associades a un mal comportament, tot i que tamb e s'apro ta el factor d'ampli caci o que ... -
Multiplier ideals of plane curves
(Universitat Politècnica de Catalunya, 2012-10)
Master thesis
Restricted access - author's decisionMultiplier ideals and their corresponding jumping numbers have been revealed as a fundamental tool to measure the singularity of plane curves. There are approaches to these objects from both Commutative Algebra and Algebraic ... -
On the relative position of two coplanar ellipses
(Universitat Politècnica de Catalunya, 2014-10)
Master thesis
Restricted access - author's decisionThis work solves the problem of computing the relative position of two affine coplanar ellipses in terms of the coefficients that deffine their equations without solving the quartic equation for the intersection points. ... -
Parallel Tracking and Mapping for Manipulation Applications with Golem Krang
(Universitat Politècnica de Catalunya, 2019-07)
Bachelor thesis
Open Access
Covenantee: Georgia Institute of TechnologyImplementing a simultaneous localization and mapping system and an image semantic segmentation method on a mobile manipulation. The application of the SLAM is working towards navigating among obstacles in unknown environments. ... -
Polar germs and singularity invariants
(Universitat Politècnica de Catalunya, 2009-07)
Master thesis
Open AccessIn this work we obtain an algorithm which explicitly recovers the cluster of singular points a germ of curve from the cluster of base points of the polar germs of the curve. To achieve this, we reinterpret the problem in ... -
Probabilistic data-driven models for the pushing problem
(Universitat Politècnica de Catalunya, 2016-01)
Bachelor thesis
Open AccessPushing actions are common mechanisms present in most human and industry manipulations. Nevertheless, finding a precise description for the motion of pushed objects is still an open problem. In this work, we will develop ... -
Robotic manipulation of cloth: mechanical modeling and perception
(Universitat Politècnica de Catalunya, 2023-03-30)
Doctoral thesis
Open Access(Eng) In this work we study various mathematical problems arising from the robotic manipulation of cloth. First, we develop a locking-free continuous model for the physical simulation of inextensible textiles. We present ...
