Now showing items 21-37 of 37

  • Leakage detection and localization method based on a hybrid inverse/direct modelling approach suitable for handling multiple-leak scenarios 

    Meseguer Amela, Jordi; Mirats Tur, Josep Maria; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç; Bonada Cruells, Eduard (2014)
    Conference report
    Open Access
    When an accurate hydraulic network model is available, direct modeling techniques are very straightforward and reliable for on-line leakage detection and localization applied to large class of water distribution networks. ...
  • Leakage location in water distribution networks based on correlation measurement of pressure sensors 

    Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Pérez Magrané, Ramon; Nejjari Akhi-Elarab, Fatiha; Puig Cayuela, Vicenç; Mirats Tur, Josep Maria (Internatinal Water Association (IWA), 2011)
    Conference report
    Restricted access - confidentiality agreement
    Leaks are present to some extent in all water-distribution systems. This paper proposes a leakage localisation method based on the pressure measurements and pressure sensitivity analysis of nodes in a water distribution ...
  • Leak detection and localization using models: field results 

    Mirats Tur, Josep Maria; Jarrige, Pierre Antoine; Meseguer Amela, Jordi; Cembrano Gennari, Gabriela (2013)
    Conference report
    Open Access
    This paper presents the practical results obtained on the field from two different methods for identifying and locating leaks in water distribution systems using network modeling based algorithms. Both methods are based ...
  • Leak localization in water networks: a model-based methodology using pressure sensors applied to a real network in Barcelona 

    Pérez Magrané, Ramon; Sanz Estapé, Gerard; Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Cugueró Escofet, Miquel Àngel; Nejjari Akhi-Elarab, Fatiha; Meseguer, Jordi; Cembrano Gennari, Gabriela; Mirats Tur, Josep Maria; Sarrate Estruch, Ramon (2014-08-01)
    Article
    Restricted access - publisher's policy
    The efficient distribution of water is a subject of major concern for water utilities and authorities [1]. While some leaks in water distribution networks (WDNs) are unavoidable, one of the main challenges in improving the ...
  • Map format for mobile robot map-based autonomous navigation 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria (2007)
    External research report
    Open Access
    This technical report defines the spatial representation and the map file format used in a mobile robot map-based autonomous navigation system designed to be deployed in urban areas. After a discussion about common ...
  • Model-based monitoring techniques for leakage localization in distribution water networks 

    Meseguer Amela, Jordi; Mirats Tur, Josep Maria; Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç (2015)
    Conference report
    Open Access
    This paper describes an integrated model-based monitoring framework for leakage localization in district-metered areas (DMA) of water distribution networks, which takes advantage of the availability of a hydraulic model ...
  • Onto computing the uncertainty for the odometry pose estimate of a mobile robot 

    Mirats Tur, Josep Maria (IEEE, 2007)
    Conference report
    Open Access
    Solving the navigation issue for a mobile robot in a 2D space requires using internal and external sensors, so researchers try to fuse data from different sensors using methods as for example Kalman filtering. Those methods ...
  • Optimizing operating rules of multiple source water supply systems in terms of system reliability and resulting operating costs 

    Meseguer Amela, Jordi; Cembrano Gennari, Gabriela; Mirats Tur, Josep Maria; Bonada Cruells, Eduard (2014)
    Conference report
    Open Access
    Management and operation of a multiple-objective multisource water supply system from the point of view of the conjunctive use of water sources is a very complex problem whose solution is not just obtained using analytical ...
  • Outdoor robot navigation based on a probabilistic data fusion scheme 

    Mirats Tur, Josep Maria; Albores Borja, Carlos (IEEE, 2007)
    Conference report
    Open Access
    This article presents a data fusion method which seeks to obtain better pose estimation of a mobile robot through obtaining a more accurate covariance uncertainty matrix. We seek to compute the state covariance without ...
  • Proyecto EFFINET: Integración de la monitorización y control eficiente en tiempo real de redes de agua potable 

    Puig Cayuela, Vicenç; Quevedo Casín, Joseba Jokin; Mirats Tur, Josep Maria; Meseguer, Jordi; Termes, Montserrat; Cembrano Gennari, Gabriela; López, Silvia; Charalambous, Solomos; Ariño, Ramon (Grupo Tecnipublicaciones, 2014-02)
    Article
    Restricted access - publisher's policy
    El proyecto europeu Effinet (2012-2015) tiene como objetivo desarrollar una plataforma informática que permita la integración de la monitorización y control para una gestión eficiente en tiempo real de redes de agua potable. ...
  • Real-time monitoring and control for efficient management of drinking water networks: Barcelona case study 

    Cembrano Gennari, Gabriela; Puig Cayuela, Vicenç; Ocampo-Martínez, Carlos; Quevedo Casín, Joseba Jokin; Mirats Tur, Josep Maria; Meseguer Amela, Jordi; Ariño Tarrago, Ramon; López Martínez, Silvia (2014)
    Conference report
    Open Access
    Drinking water utilities in urban areas are facing new challenges in their real-time operation: limited water resources, intensive energy requirements, a growing population, a costly and ageing infrastructure, increasingly ...
  • Real-time self-collision detection algorithms for tensegrity systems 

    Mirats Tur, Josep Maria; Cefalo, Massimo (2010-06-15)
    Article
    Restricted access - confidentiality agreement
    This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is a ...
  • Real-time self-collision detection algorithms for tensegrity systems 

    Cefalo, Massimo; Mirats Tur, Josep Maria (2010-06-05)
    Article
    Restricted access - publisher's policy
    This work addresses the problem of real-time self-collision detection for a movable tensegrity structure. We show that it can be tackled as the collision detection between two generic cylinders moving in R3. It is a ...
  • Real-time software for mobile robot simulation and experimentation in cooperative environments 

    Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sandoval Torres, Óscar; Sanfeliu Cortés, Alberto (Springer Verlag, 2008)
    Part of book or chapter of book
    Open Access
    This paper presents the software being developed at IRI (Institut de Robotica i Informatica Industrial) for mobile robot autonomous navigation in the context of the European project URUS (Ubiquitous Robots in Urban Settings). ...
  • State your position: Accurate position estimation and propagation in autonomous vehicles 

    Albores Borja, Carlos; Mirats Tur, Josep Maria; Gordillo, Jose Luís (2009)
    Article
    Open Access
    This article is centered on how we can accurately estimate the robot pose uncertainty and how this uncertainty is propagated to future states (the robot state, in this context, is its pose). Some attention has been paid ...
  • Tensegrity frameworks: dynamic analysis review and open problems 

    Mirats Tur, Josep Maria; Hernández Juan, Sergi (2009-01)
    Article
    Restricted access - publisher's policy
    The main objective of this paper is twofold. First, to conclude the overview about tensegrity frameworks, started by the same authors in a previous work, covering the most important dynamic aspects of such structures. ...
  • Tensegrity frameworks: static analysis review 

    Hernández, Sergi; Mirats Tur, Josep Maria (Elsevier, 2008)
    Article
    Open Access
    This paper hands in a review of the basic issues about the statics of tensegrity structures. Definitions and notation for the most important concepts, borrowed from the vast existing literature, are summarized. All of these ...