Institut d'Organització i Control de Sistemes Industrials
Recent Submissions
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Técnicas de control para la mejora de la estabilidad en redes eléctricas DC con convertidores operando a potencia constante
(Universitat Politècnica de Catalunya, 2022-05-18)
Doctoral thesis
Open AccessSome electrical devices in direct current (DC) networks, under certain operating characteristics, behave as constant power loads (CPLs). This behavior is defined by presenting negative incremental resistance, compromising ... -
Object manipulation based on tactile information
(Universitat Politècnica de Catalunya, 2021-03-18)
Doctoral thesis
Open AccessIn-hand dexterous manipulation of an object is the ability to change the configuration (position and/or orientation) of an object held in the hand. This is an ability that has allowed humans to use tools and interact with ... -
Knowledge representation and reasoning for perception-based manipulation planning
(Universitat Politècnica de Catalunya, 2021-01-22)
Doctoral thesis
Open AccessThis 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
(Universitat Politècnica de Catalunya, 2019-10-02)
Doctoral thesis
Open AccessThis 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
(Universitat Politècnica de Catalunya, 2020-04-04)
Doctoral thesis
Open AccessThis 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
(Universitat Politècnica de Catalunya, 2019-10-08)
Doctoral thesis
Open AccessMotion 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
(Universitat Politècnica de Catalunya, 2018-09-14)
Doctoral thesis
Open AccessKinematics 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
(Universitat Politècnica de Catalunya, 2017-09-22)
Doctoral thesis
Open AccessIn 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
(Universitat Politècnica de Catalunya, 2019-02-06)
Doctoral thesis
Open AccessIt 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
(Universitat Politècnica de Catalunya, 2018-02-12)
Doctoral thesis
Open AccessPerceiving 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
(Universitat Politècnica de Catalunya, 2018-12-04)
Doctoral thesis
Open AccessThis 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
(Universitat Politècnica de Catalunya, 2018-09-27)
Doctoral thesis
Open AccessRenewable 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 ...
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