Recent Submissions

  • Economic model predictive control with nonlinear constraint relaxation for the operational management of water distribution networks 

    Wang, Ye; Álamo Cantarero, Teodoro; Puig Cayuela, Vicenç; Cembrano Gennari, Gabriela (2018)
    Article
    Open Access
    This paper presents the application of an economic model predictive control (MPC) for the operational management of water distribution networks (WDNs) with periodic operation and nonlinear constraint relaxation. In addition ...
  • Teaching a robot the semantics of assembly tasks 

    Savarimuthu, Thiusius Rajeeth; Anders, Buch; Schlette, Christian; Wantia, Nils; Rossmann, Jürgen; Martinez Martinez, David; Alenyà Ribas, Guillem; Torras, Carme; Ales, Ude; Bojan, Nemec; Aljaž, Kramberger; Worgotter, Florentin; Eren Erdal, Aksoy; Papon, Jeremie; Haller, Simon; Piater, Justus; Krüger, Norbert (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data ...
  • Multi–layer health–aware economic predictive control of a pasteurization pilot plant 

    Karimi Pour, Fatemeh; Puig Cayuela, Vicenç; Ocampo-Martínez, Carlos (2018)
    Article
    Open Access
    This paper proposes two different health-aware economic predictive control strategies that aim at minimizing the damage of components in a pasteurization plant. The damage is assessed with a rainflow-counting algorithm ...
  • A scalable, efficient, and accurate solution to non-rigid structure from motion 

    Agudo Martínez, Antonio; Moreno-Noguer, Francesc (2018)
    Article
    Open Access
    Most Non-Rigid Structure from Motion (NRSfM) solutions are based on factorization approaches that allow reconstructing objects parameterized by a sparse set of 3D points. These solutions, however, are low resolution and ...
  • Robot motion adaptation through user intervention and reinforcement learning 

    Jevtic, Aleksandar; Colomé Figueras, Adrià; Alenyà Ribas, Guillem; Torras, Carme (Elsevier, 2018-04-01)
    Article
    Open Access
    Assistant robots are designed to perform specific tasks for the user, but their performance is rarely optimal, hence they are required to adapt to user preferences or new task requirements. In the previous work, the potential ...
  • Task-driven active sensing framework applied to leaf probing 

    Foix Salmerón, Sergi; Alenyà Ribas, Guillem; Torras, Carme (2018-04-01)
    Article
    Open Access
    This article presents a new method for actively exploring a 3D workspace with the aim of localizing relevant regions for a given task. Our method encodes the exploration route in a multi-layer occupancy grid map. This map, ...
  • Graph SLAM sparsification with populated topologies using factor descent optimization 

    Vallvé Navarro, Joan; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Article
    Open Access
    Current solutions to the simultaneous localization and mapping (SLAM) problem approach it as the optimization of a graph of geometric constraints. Scalability is achieved by reducing the size of the graph, usually in two ...
  • Teaching robot's proactive behavior using human assistance 

    Garrell Zulueta, Anais; Villamizar Vergel, Michael Alejandro; Moreno-Noguer, Francesc; Sanfeliu Cortés, Alberto (2017-04-01)
    Article
    Open Access
    In recent years, there has been a growing interest in enabling autonomous social robots to interact with people. However, many questions remain unresolved regarding the social capabilities robots should have in order to ...
  • Observer-based sensor fault detectability: about robust positive invariance approach and residual sensitivity 

    Rahman Kodakkadan, Abid; Pourasgharlafmejani, Masoud; Puig Cayuela, Vicenç; Olaru, Sorin; Ocampo-Martínez, Carlos; Reppa, Vasso (2017-07-01)
    Article
    Open Access
    This paper considers detectability of deviation of sensors from their nominal behavior for a class of linear time-invariant discrete-time systems in the presence of bounded additive uncertainties. Detectable sensor faults ...
  • Combined production of electricity and hydrogen from solar energy and its use in the wine sector 

    Carroquino, Javier; Roda Serrat, Vicente; Mustata, Radu; Yago, Jesús; Valiño, Luis; Lozano, Antonio; Barreras Toledo, Felix Manuel (2018)
    Article
    Open Access
    In the present research, the energy demanded by the wastewater treatment plant of a winery and the pumping station of the irrigation system of a vineyard is supplied by a stand-alone renewable energy system formed by three ...
  • Detection and positioning of pipes and columns with autonomous multicopter drones 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (2018-06-21)
    Article
    Open Access
    A multimodal sensory array to accurately position aerial multicopter drones with respect to pipes has been studied, and a solution exploiting both LiDAR and vision sensors has been proposed. Several challenges, including ...
  • Reduced-order interval-observer design for dynamic systems with time-invariant uncertainty 

    Pourasgharlafmejani, Masoud; Puig Cayuela, Vicenç; Ocampo-Martínez, Carlos; Zhang, Qinghua (2017-07-01)
    Article
    Open Access
    This paper addresses the design of reduced-order interval-observers for dynamic systems with time-invariant uncertainty. Because of the limitations of using the set-based approach to preserve the time dependency of parameter ...

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