Now showing items 1-20 of 39

    • A comprehensive dynamic model for class-1 tensegrity systems based on quaternions 

      Cefalo, Massimo; Mirats Tur, Josep Maria (2011)
      Article
      Open Access
      In this paper we propose a new dynamic model, based on quaternions, for tensegrity systems of class-1. Quaternions are used to represent orientations of a rigid body in the 3-dimensional space eliminating the problem of ...
    • A decision support system for on-line leakage localization 

      Meseguer Amela, Jordi; Mirats Tur, Josep Maria; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Pérez Magrané, Ramon; Sanz Estapé, Gerard; Ibarra Gómez, David (Elsevier, 2014-10-01)
      Article
      Restricted access - publisher's policy
      This paper describes a model-driven decision-support system (software tool) implementing a model-based methodology for on-line leakage detection and localization which is useful for a large class of water distribution ...
    • A method to generate stable, collision free configurations for tensegrity based robots 

      Hernández, Sergi; Mirats Tur, Josep Maria (IEEE, 2008)
      Conference report
      Open Access
      Tensegrity structures appeared in the science community about half a century ago, but they have already been applied to several heterogeneous research fields, such as architecture, civil engineering, space and even biology. ...
    • A method to generate stable, collision free configurations for tensegrity based robots 

      Hernández Juan, Sergi; Mirats Tur, Josep Maria (2008)
      Conference report
      Restricted access - publisher's policy
    • A three-dof actuated robot 

      Mirats Tur, Josep Maria; Camps Sala, Josep (2011)
      Article
      Open Access
      This article presents the realization of a tensegrity-based robot composed of a three-bar symmetric prismlike minimal tensegrity configuration. Statics and kinematics are studied presenting the workspace for the designed ...
    • Abnormal quality detection and isolation in water distribution networks using simulation models 

      Nejjari Akhi-Elarab, Fatiha; Pérez Magrané, Ramon; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria (2011)
      Conference report
      Restricted access - author's decision
    • Action evaluation for mobile robot global localization in cooperative environments 

      Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008-01)
      Article
      Open Access
      This work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot or team of robots in the map reference ...
    • Autoencoders for semi-supervised water level modeling in sewer pipes with sparse labeled data 

      Plana Rius, Ferran; Philipsen, Mark P.; Mirats Tur, Josep Maria; Moeslund, Thomas; Angulo Bahón, Cecilio; Casas, Marc (2022-01-24)
      Article
      Open Access
      More frequent and thorough inspection of sewer pipes has the potential to save billions in utilities. However, the amount and quality of inspection are impeded by an imprecise and highly subjective manual process. It ...
    • Autonomous navigation for urban service mobile robots 

      Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Sandoval Torres, Óscar; Perez Ibarz, Joan; Vasquez, Dizan; Mirats Tur, Josep Maria; Ferrer Sumsi, Miquel; Sanfeliu Cortés, Alberto (2010)
      Conference report
      Open Access
      We present to the robotic community a fully autonomous navigation solution for mobile robots operating in urban pedestrian areas. We introduce our robots and the experimental zone, overview the architecture of the navigation ...
    • Chlorine decay model calibration and comparison: application to a real water network 

      Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç; Pérez Magrané, Ramon; Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria (2013)
      Conference report
      Open Access
      This work presents a methodology to efficiently calibrate chlorine decay models. The calibration consists in estimating the unknown parameters by comparing the measured and simulated chlorine concentrations at the monitored ...
    • Chlorine decay model calibration and comparison: application to a real water network 

      Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç; Pérez Magrané, Ramon; Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Sanz Estapé, Gerard; Mirats Tur, Josep Maria (2013)
      Conference report
      Restricted access - publisher's policy
      This work presents a methodology to efficiently calibrate chlorine decay models. The calibration consists in estimating the unknown parameters by comparing the measured and simulated chlorine concentrations at the monitored ...
    • Communication to: Close form for expressing the uncertainty in odometry position estimate. Application to an autonomous vehicle 

      Mirats Tur, Josep Maria; Albores Borja, Carlos; Gordillo, Jose Luís (IEEE, 2007)
      Article
      Open Access
      The uncertainty of the odometry position estimate for a given vehicle can be obtained from the definition of the covariance matrix by using its kinematic model as well as its sensory system data. This communication item ...
    • Control and simulation of a tensegrity-based mobile robot 

      Graells Rovira, Albert; Mirats Tur, Josep Maria (2009)
      Article
      Restricted access - publisher's policy
      Tensegrity structures can provide a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures ...
    • Convolutional neural network training with dynamic epoch ordering 

      Plana Rius, Ferran; Angulo Bahón, Cecilio; Casas, Marc; Mirats Tur, Josep Maria (IOS Press, 2019)
      Conference lecture
      Restricted access - publisher's policy
      The paper presented exposes a novel approach to feed data to a Convolutional Neural Network (CNN) while training. Normally, neural networks are fed with shuffled data without any control of what type of examples contains ...
    • Decentralized Sensor Fusion for Ubiquitous Networking Robotics in Urban Areas 

      Spaan, Matthijs T.J.; Sequeira, Joao; Ollero, A.; Moreno, Plinio; Mirats Tur, Josep Maria; Merino, Luis; Sanfeliu Cortés, Alberto; Andrade-Cetto, Juan; Barbosa, Marco; Bowden, Richard; Capitan, Jesus; Corominas Murtra, Andreu; Gilbert, Andrew; Illingworth, John (2010-03)
      Article
      Open Access
      In this article we explain the architecture for the environment and sensors that has been built for the European project URUS (Ubiquitous Networking Robotics in Urban Sites), a project whose objective is to develop an ...
    • Dynamic equations of motion for a 3-bar tensegrity based mobile robot 

      Mirats Tur, Josep Maria; Hernández, Sergi; Graells, Albert (IEEE, 2007)
      Conference report
      Open Access
      Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that ...
    • Dynamic equations of motion for a 3-bar tensegrity based mobile robot 

      Mirats Tur, Josep Maria; Hernández Juan, Sergi; Graells Rovira, Albert (2007)
      Conference report
      Open Access
      Tensegrity structures can give a new approach to the construction of mobile robots with different shapes and properties that usual robots, wheeled or legged, do not have. Tensegrity are light, deformable structures that ...
    • Efficient active global localization for mobile robots operating in large and cooperative environments 

      Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008)
      Conference report
      Open Access
      This paper presents a novel and efficient framework to the active map-based global localization problem for mobile robots operating in large and cooperative environments. The paper proposes a rational criteria to select ...
    • Efficient active global localization for mobile robots operating in large and cooperative environments 

      Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (IEEE, 2008)
      Conference report
      Open Access
      This paper presents a novel and efficient framework to the active map-based global localization problem for mobile robots operating in large and cooperative environments. The paper proposes a rational criteria to select ...
    • Efficient use of 3d environment models for mobile robot simulation and localization 

      Corominas Murtra, Andreu; Trulls Fortuny, Eduard; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (Springer Verlag, 2010)
      Conference report
      Open Access
      This paper provides a detailed description of a set of algorithms to efficiently manipulate 3D geometric models to compute physical constraints and range observation models, data that is usually required in real-time mobile ...