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 ...
    • 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 Guix, 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 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 ...
    • 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 ...
    • 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 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 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 ...
    • GIS map based mobile robot navigation in urban environments 

      Mirats Tur, Josep Maria; Zinggerling, Claudio; Corominas Murtra, Andreu (___, 2009-06-30)
      Conference report
      Open Access
      Mobile robots need information about its spatial environment to solve any task in a robust, reliable and continuous form. This is usually encoded in a so-called map. We propose the use of a standard, human-readable existing ...