Recent Submissions

  • Distributed high temperature PEM fuel cell modelling 

    Sanz i López, Víctor; Costa Castelló, Ramon; Batlle Arnau, Carles (2019)
    Conference report
    Open Access
    In this article, an HT-PEMFC model based on partial differential equations of fluid dynamics and heat transfer, i.e. distributed model, is defined and introduced as well as the hypoteses assumed for its design. Its ...
  • Input design for active detection of integrity attacks using set-based approach 

    Trapiello Fernández, Carlos; Puig Cayuela, Vicenç (2020)
    Conference report
    Open Access
    This paper presents the design of an input sequence in order to actively guarantee detectabilityof integrity attacks. The design of the input sequence is formulated as an optimization problemwhere the performance ...
  • Multi-task closed-loop inverse kinematics stability through semidefinite programming 

    Martí Saumell, Josep; Santamaria Navarro, Àngel; Ocampo-Martínez, Carlos; Andrade-Cetto, Juan (2020)
    Conference report
    Open Access
    Today’s complex robotic designs comprise in some cases a large number of degrees of freedom, enabling for multi-objective task resolution (e.g., humanoid robots or aerial manipulators). This paper tackles the stability ...
  • Squash-box feasibility driven differential dynamic programming 

    Martí Saumell, Josep; Solà Ortega, Joan; Mastalli, Carlos; Santamaria Navarro, Àngel (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Open Access
    Recently, Differential Dynamic Programming (DDP) and other similar algorithms have become the solvers of choice when performing non-linear Model Predictive Control (nMPC) with modern robotic devices. The reason is that ...
  • STRIPS action discovery 

    Suárez Hernández, Alejandro; Segovia Aguas, Javier; Torras, Carme; Alenyà Ribas, Guillem (2020)
    Conference report
    Open Access
    The problem of specifying high-level knowledge bases for planning becomes a hard task in realistic environments. This knowledge is usually handcrafted and is hard to keep updated, even for system experts. Recent approaches ...
  • A project-oriented course on guidance and control of autonomous aerial vehicles 

    Nejjari Akhi-Elarab, Fatiha; Morcego Seix, Bernardo; Puig Cayuela, Vicenç; Trapiello Fernández, Carlos (Elsevier, 2020)
    Conference report
    Open Access
    In this paper, a project oriented course on guidance and control of autonomous aerial vehicles (UAVs) is presented. The paper describes the di erent modules of the course and how they are addressed using the project oriented ...
  • First results in leak localization in water distribution networks using graph-based clustering and deep learning 

    Romero, Luis; Blesa Izquierdo, Joaquim; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela; Trapiello Fernández, Carlos (2020)
    Conference report
    Open Access
    This paper presents a methodology for the localization of leaks in water distribution networks (WDNs) by means of the combination of a deep learning (DL) approach and a graph-based clustering technique. A data set for all ...
  • PEMFC state and parameter estimation through a high-gain based adaptive observer 

    Cecilia Piñol, Andreu; Serra, Maria; Costa Castelló, Ramon (2020)
    Conference lecture
    Open Access
    This work presents the design of an adaptive observer to estimate the cathode catalytic layer's water content of a polymer electrolyte membrane fuel cell and some of the parameters related to its water dynamics. However, ...
  • Input design for active dectection of integrity attacks using set-based approach 

    Trapiello Fernández, Carlos; Puig Cayuela, Vicenç (2020)
    Conference report
    Open Access
    This paper presents the design of an input sequence in order to actively guarantee detectability of integrity attacks. The design of the input sequence is formulated as an optimization problemwhere the performance ...
  • Contextual policy search for micro-data robot motion learning through covariate Gaussian process latent variable models 

    Delgado Guerrero, Juan Antonio; Colomé Figueras, Adrià; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Open Access
    In the next few years, the amount and variety of context-aware robotic manipulator applications is expected to increase significantly, especially in household environments. In such spaces, thanks to programming by ...
  • Estimación experimental de la rugosidad y del factor de fricción en una tubería 

    Santos Ruiz, Ildeberto de los; Bermúdez Hernández, José Roberto; López Estrada, Francisco Ronay; Puig Cayuela, Vicenç; Torres Ortiz, Flor Lizeth (2018)
    Conference report
    Open Access
    El presente trabajo tiene dos propósitos. (1) Presentar la evaluación númerica y experimental de algunos métodos propuestos para estimar el factor de fricción en régimen turbulento, entre ellos una solución explícita ...
  • Leveraging multiple environments for learning and decision making: a dismantling use case 

    Suárez Hernández, Alejandro; Gaugry, Thierry; Segovia Aguas, Javier; Bernardin, Antonin; Torras, Carme; Marchal, Maud; Alenyà Ribas, Guillem (Institute of Electrical and Electronics Engineers (IEEE), 2020)
    Conference report
    Restricted access - publisher's policy
    Learning is usually performed by observing real robot executions. Physics-based simulators are a good alternative for providing highly valuable information while avoiding costly and potentially destructive robot executions. ...

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