Recent Submissions

  • Knowledge representation and reasoning for perception-based manipulation planning 

    Diab, Mohammed (Universitat Politècnica de Catalunya, 2021-01-22)
    Doctoral thesis
    Open Access
    This thesis develops a series of modeling and reasoning tools for knowledge-oriented manipulation planning in semi/unstructured environments. The main idea is to use high-level knowledge-based reasoning to capture a rich ...
  • The robot null space : new uses for new robotic systems 

    Claret Robert, Josep Arnau (Universitat Politècnica de Catalunya, 2019-10-02)
    Doctoral thesis
    Open Access
    This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic systems. In particular, new uses of the ...
  • Combining task and motion planning for mobile manipulators 

    Akbari, Aliakbar (Universitat Politècnica de Catalunya, 2020-04-04)
    Doctoral thesis
    Open Access
    This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple ...
  • Motion planning using synergies : application to anthropomorphic dual-arm robots 

    García Hidalgo, Néstor (Universitat Politècnica de Catalunya, 2019-10-08)
    Doctoral thesis
    Open Access
    Motion planning is a traditional field in robotics, but new problems are nevertheless incessantly appearing, due to continuous advances in the robot developments. In order to solve these new problems, as well as to improve ...
  • Solving robotic kinematic problems : singularities and inverse kinematics 

    Zaplana Agut, Isiah (Universitat Politècnica de Catalunya, 2018-09-14)
    Doctoral thesis
    Open Access
    Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of ...
  • Modeling and control of PEM fuel cells 

    Sarmiento Carnevali, María Laura (Universitat Politècnica de Catalunya, 2017-09-22)
    Doctoral thesis
    Open Access
    In recent years, the PEM fuel cell technology has been incorporated to the R&D plans of many key companies in the automotive, stationary power and portable electronics sectors. However, despite current developments, the ...
  • Advanced digital resonant control techniques for grid-connected voltage source converters 

    Orellana Barceló, Marcos (Universitat Politècnica de Catalunya, 2019-02-06)
    Doctoral thesis
    Open Access
    It is a fact that the presence of power distributed generation sources in the electrical sector is growing exponentially worldwide. This can mainly be explained by the increase of renewable energy production, which involves ...
  • Vision based sensor substitution in robotic assisted surgery 

    Marbán González, Arturo (Universitat Politècnica de Catalunya, 2018-02-12)
    Doctoral thesis
    Open Access
    Perceiving and understanding the world represents a long-term goal in the field of Artificial Intelligence (AI). In recent years, advances in the field of Machine Learning (ML), and specifically in Deep Learning (DL), have ...
  • Physics-based motion planning for grasping and manipulation 

    Ud Din, Muhayy (Universitat Politècnica de Catalunya, 2018-12-04)
    Doctoral thesis
    Open Access
    This thesis develops a series of knowledge-oriented physics-based motion planning algorithms for grasping and manipulation in cluttered an uncertain environments. The main idea is to use high-level knowledge-based reasoning ...
  • Fault detection and fault tolerant control in wind turbines 

    Tutivén Gálvez, Christian (Universitat Politècnica de Catalunya, 2018-09-27)
    Doctoral thesis
    Open Access
    Renewable energy is an important sustainable energy in the world. Up to now, as an essential part of low emissions energy in a lot of countries, renewable energy has been important to the national energy security, and ...
  • A template based approach for human action recognition 

    Carmona Leyva, Josep Maria (Universitat Politècnica de Catalunya, 2018-06-19)
    Doctoral thesis
    Open Access
    Visual analysis of human movements concerns the understanding of human activities from image sequences. The goal of the action/gesture recognition is to recognize the label that corresponds to an action or gesture made by ...
  • Bimanual robot skills: MP encoding, dimensionality reduction and reinforcement learning 

    Colomé Figueras, Adrià (Universitat Politècnica de Catalunya, 2017-07-14)
    Doctoral thesis
    Open Access
    In our culture, robots have been in novels and cinema for a long time, but it has been specially in the last two decades when the improvements in hardware - better computational power and components - and advances in ...

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