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    A Highest order hypothesis compatibility test for monocular SLAM  Open access

     Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni
    International journal of advanced robotic systems
    Date of publication: 2013-08
    Journal article

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    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The Delayed Inverse-Depth technique is used to initialize new features in the system and defines a single hypothesis for the initial depth of features with the use of a stochastic technique of triangulation. The introduced HOHCT method is based on the evaluation of statistically compatible hypotheses and a search algorithm designed to exploit the strengths of the Delayed Inverse- Depth technique to achieve good performance results. This work presents the HOHCT with a detailed formulation of the monocular DI-D SLAM problem. The performance of the proposed HOHCT is validated with experimental results, in both indoor and outdoor environments, while its costs are compared with other popular approaches.

    Simultaneous Location and Mapping (SLAM) is a key problem to solve in order to build truly autonomous mobile robots. SLAM with a unique camera, or monocular SLAM, is probably one of the most complex SLAM variants, based entirely on a bearing-only sensor working over six DOF. The monocular SLAM method developed in this work is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the contribution of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The Delayed Inverse-Depth technique is used to initialize new features in the system and defines a single hypothesis for the initial depth of features with the use of a stochastic technique of triangulation. The introduced HOHCT method is based on the evaluation of statistically compatible hypotheses and a search algorithm designed to exploit the strengths of the Delayed Inverse-Depth technique to achieve good performance results. This work presents the HOHCT with a detailed formulation of the monocular DI-D SLAM problem. The performance of the proposed HOHCT is validated with experimental results, in both in door and outdoor environments, while its costs are compared with other popular approaches.

  • SLAM con mediciones angulares: método por triangulación estocástica

     Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni
    Ingeniería, Investigación y Tecnología
    Date of publication: 2013-04
    Journal article

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    El SLAM (simultaneous localization and mapping) es una técnica en la cual un robot o vehículo autónomo opera en un entorno a priori desconocido, utilizando únicamente sus sensores de abordo, mientras construye un mapa de su entorno, el cual utiliza al mismo tiempo para localizarse. Los sensores tienen un gran impacto en los algoritmos usados en SLAM. Una cámara es un sensor proyectivo que mide el ángulo (bearing) respecto a los elementos de la imagen, por lo que la profundidad o rango no puede ser obtenida mediante una sola medición. Lo anterior ha motivado la aparición de una nueva familia de métodos en SLAM: los métodos de SLAM basados en sensores angulares, los cuales están principalmente basados en técnicas especiales para la inicialización de características en el sistema, permitiendo el uso de sensores angulares (como cámaras) en SLAM. Este artículo presenta un método práctico para la inicialización de nuevas características en sistemas de SLAM basados en sensores angulares.

  • A robust approach for a filter-based monocular simultaneous localization and mapping (SLAM) system

     Munguía Alcalá, Rodrigo Francisco; Castillo Toledo, Bernardino; Grau Saldes, Antoni
    Sensors
    Date of publication: 2013-07-03
    Journal article

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    Simultaneous Localization and Mapping (SLAM) is an important problem to solve in robotics theory in order to build truly autonomous mobile robots. This work presents a novel method for implementing a SLAM system based on a single camera sensor. The SLAM with a single camera, or monocular SLAM, is probably one of the most complex SLAM variants. In this case a single camera, which is freely moving through its environment, represents the sole sensor input to the system. The sensors have a large impact on the algorithm used for SLAM. Cameras are used more frequently, because they provide a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Nevertheless, and unlike range sensors which provide range and angular information, a camera is a projective sensor providing only angular measurements of images features. Therefore depth information (range) cannot be obtained in a single step. In this case especial techniques for feature system-initialization are needed in order to enable the use of angular sensors (as cameras) in SLAM systems. The main contribution of this work is to present a novel and robust scheme for incorporating and measuring visual features in filtering-based monocular SLAM systems. he proposed method is based in a two-step technique, which is intended to exploit all the information available in angular measurements. Unlike previous schemes, the values of parameters used by the initialization technique are derived directly from the sensor characteristics, thus simplifying the tuning of the system. The experimental results show that the proposed method surpasses the performance of previous schemes.

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    Didactical resources for sustainability  Open access

     Grau Saldes, Antoni; Bolea Monte, Yolanda
    International Conference on Thinking
    Presentation's date: 2013-01-23
    Presentation of work at congresses

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    In this paper we discuss the use of computer simulations for sustainable systems. Specifically, we propose laboratory practices for Automatic Control subjects where the plants are sustainable systems. The interest is the simulation of this kind of systems to forecast their behaviour in order to control and actuate over them. In this paper, the use of a didactic material for laboratory practices is explained. This pedagogical resource is published in a web (http://model.upc.edu) where the student can find the practice statements, the explanations and the software to develop sustainable models in form of laboratory practices for the subjects related with simulation and modelling in different engineering degrees, because we have the belief that undergraduate students must receive an Education for Sustainability independently of their career without learning the basic and specifically concepts of the own subject.

    In this paper we discuss the use of computer simulations for sustainable systems. Specifically, we propose laboratory practices for Automatic Control subjects where the plants are sustainable systems. The interest is the simulation of this kind of systems to forecast their behaviour in order to control and actuate over them. In this paper, the use of a didactic material for laboratory practices is explained. This pedagogical resource is published in a web (http://model.upc.edu) where the student can find the practice statements, the explanations and the software to develop sustainable models in form of laboratory practices for the subjects related with simulation and modelling in different engineering degrees, because we have the belief that undergraduate students must receive an Education for Sustainability independently of their career without learning the basic and specifically concepts of the own subject.

  • Power gyrator structures and their use as cells for energy processing in photovoltaic solar facilities

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    Spanish-Portuguese Conference on Electrical Engineering
    Presentation's date: 2013-07-04
    Presentation of work at congresses

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    This paper provides a classification of high efficiency switching power-gyrator structures and their use as cells for energy processing in photovoltaic solar facilities. Having into account the properties of these topologies presented in the article, their inclusion in solar facilities allows increasing the performance of the whole installation. Thus, the design, simulation and implementation of a G-type power gyrator are carried out throughout the text. In addition, in order to obtain the maximum power from the photovoltaic solar panel, a maximum power point tracking (MPPT) is mandatory in the energy processing path. Therefore, the practical implementation carried out includes a control loop of the power gyrator in order to track the aforementioned maximum power point of the photovoltaic solar panel.

  • The use of power gyrator structures for energy processing in photovoltaic solar facilities

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda
    IEEE International Conference on Industrial Informatics
    Presentation's date: 2013-07-30
    Presentation of work at congresses

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    This paper provides a classification of high efficiency switching power-gyrator structures and their use as cells for energy processing in photovoltaic solar facilities. Having into account the properties of these topologies presented in the article, their inclusion in solar facilities allows increasing the performance of the whole installation. Thus, the design, simulation and implementation of a G-type power gyrator are carried out throughout the text. In addition, in order to obtain the maximum power from the photovoltaic solar panel, a maximum power point tracking (MPPT) is mandatory in the energy processing path. Therefore, the practical implementation carried out includes a control loop of the power gyrator in order to track the aforementioned maximum power point of the photovoltaic solar panel.

  • Design of a 4.5-V, 450-mA low-dropout voltage linear regulator based on a cascoded OTA

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2013-11-13
    Presentation of work at congresses

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    This article aims to present the design of a 4.5-V 450-mA low drop-out (LDO) voltage linear regulator based on a two-stage cascoded operational transconductance amplifier (OTA) as error amplifier. The aforementioned two-stage OTA is designed with cascoded current mirroring technique to boost up the output impedance. The proposed OTA has a DC gain of 101 dB under no load condition. The designed reference voltage included in the LDO regulator is provided by a band gap reference with the temperature coefficient (T¿) of 0.025 mV/ºC. The proposed LDO regulator has a maximum drop-out voltage of 0.5 V @ 450 mA of load current, and has the worst case power supply rejection ratio (PSRR) of [54.5 dB, 34.3 dB] @ [100 Hz, 10 kHz] in full load condition. All the proposed circuits are designed using a 0.35 µm CMOS technology. The design is checked in order to corroborate its performance for wide range of input voltage, founding that the circuit design works fine meeting all the initial specification requirements.

  • Batch gating for data association in monocular SLAM

     Munguía Alcalá, Rodrigo Francisco; Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni
    Applied mechanics and materials
    Date of publication: 2013-05-27
    Journal article

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    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse- Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.

    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.

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    Validation of Data Association for Monocular SLAM  Open access

     Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni
    Mathematical problems in engineering
    Date of publication: 2013-05
    Journal article

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    SimultaneousMapping and Localization (SLAM) is amultidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm, the highest order hypothesis compatibility test (HOHCT), against one of the most popular approaches, the JCCB. The HOHCT approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this proposal.

  • EUROPEAN CLEARING HOUSE FOR OPEN ROBOTICS DEVELOPMENT PLUS PLUS

     Sole Parellada, Francesc; Casanovas Garcia, Jose; Grau Saldes, Antoni; Bolea Monte, Yolanda; Puig-pey Claveria, Ana Maria; Sanfeliu Cortes, Alberto
    Participation in a competitive project

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  • MIMO LPV state-space identification of an open-flow irrigation canal for control

     Bolea Monte, Yolanda; Grau Saldes, Antoni; Chefdor, Nicolas
    IEEE International Conference on Industrial Informatics
    Presentation's date: 2012-07-25
    Presentation of work at congresses

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  • Work in progress: A constructivist didactic methodology for a humanoid robotics workshop

     Miranda Añon, Alexandre; Bolea Monte, Yolanda; Grau Saldes, Antoni; Sanfeliu Cortes, Alberto
    Annual Frontiers in Education Conference
    Presentation's date: 2012-10-04
    Presentation of work at congresses

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    This paper presents a constructivist methodology oriented to training Robotics in its wide sense, and its implementation in higher education. A humanoid robotics workshop is included as a part of the curriculum of ‘Industrial Robotics’ in the Industrial Engineering .This workshop covers one third of the laboratory practices of this subject. A constructivist view for learning is adopted, whereby robotic technologies are not seen as mere tools, but rather as potential vehicles of new ways of thinking about teaching, learning and education at large. Students, in a constructivist learning environment, are invited to work on experiments and authentic problem-solving; with selective use of available resources according to their own interests, research and learning strategies. The authors, as trainers of this workshop, chose ROBONOVA humanoid robots, among other devices, which attempt to partner technology with ideas of constructivism. The materials used in the workshop offer building parts, sensors thus connecting a robot with the external environment and programming software with a simple graphical interface intended for the creation of robot behavioral movements. The idea is “learning by design”, which is central in the constructivist pedagogy introduced firstly by Resnick. In this workshop we corroborate this idea through the project-based learning approach in robotics. Learning tasks of the workshop are organized as projects (small and large) that encourage students to develop their own designs. Projects are either instructor led or completely arisen from students.

  • Automation of chlorination process for drinking water treatment plant: Control strategies

     Gamiz Caro, Javier Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni; Gamiz Caro, Juan; Luque, Francisco; Vargas, Jose Manuel
    IEEE International Conference on Industrial Informatics
    Presentation's date: 2012-07-25
    Presentation of work at congresses

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  • Pseudo-measured LPV Kalman filter for SLAM

     Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni
    IEEE International Conference on Industrial Informatics
    Presentation's date: 2012-07-25
    Presentation of work at congresses

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    This paper describes a new approach to the wellknown robotics problem of simultaneous location and mapping (SLAM). The proposed technique introduces a linear varying parameter (LPV) modeling solution for the estimation of nonlinear models in a Kalman Filter based algorithm. In this technique, the estimation model for the robotic device considered is modeled as a quasi-LPV model, which in turn, is linearized around a set of given points of the varying parameter. The observation model is rearranged into a pseudo-measurement model, which is used in form of a pseudo-linear model during the update stage of the Kalman filter. The initial tests and experimentations suggest that this technique can improve Extended Kalman Filter SLAM results by avoiding a great deal of the bias introduced by linearization of nonlinear models into EKF equations.

  • Current-mode one-cycle control applied to linear¿assisted DC/DC converters

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2012-09-18
    Presentation of work at congresses

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    This article shows the proposal of a current-mode one-cycle control for linear-assisted DC/DC converters. Linear-assisted DC/DC converters are structures that allow to take advantages of the two classic alternatives in the design of power supply systems: voltage linear regulators (classic NPN topology or LDO - low dropout -) and switching DC/DC converters. The current-mode one-cycle control technique is proposed in order to obtain the duty cycle of the linear-assisted converter switch. The proposed structure can provide an output with suitable load and line regulations. Thus, the paper shows the design and simulation results of the proposed current-mode one-cycle linear-assisted converter.

    This article shows the proposal of a current-mode one-cycle control for linear-assisted DC/DC converters. Linear-assisted DC/DC converters are structures that allow to take advantages of the two classic alternatives in the design of power supply systems: voltage linear regulators (classic NPN topology or LDO –low dropout–) and switching DC/DC converters. The current-mode onecycle control technique is proposed in order to obtain the duty cycle of the linear-assisted converter switch. The proposed structure can provide an output with suitable load and line regulations. Thus, the paper shows the design and simulation results of the proposed currentmode one-cycle linear-assisted converter.

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    A simplified LPV model for mobile robots navigation with audio features  Open access

     Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni
    International Conference ¿System Identification and Control Problems¿
    Presentation's date: 2012-01-31
    Presentation of work at congresses

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  • Power gyrator structures and their use as cells for energy processing in photovoltaic solar facilities

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2012-09-18
    Presentation of work at congresses

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    This paper provides a classification of high efficiency switching power-gyrator structures and their use as cells for energy processing in photovoltaic solar facilities. Having into account the properties of these topologies presented in the article, their inclusion in solar facilities allows increasing the performance of the whole installation. Thus, the design, simulation and implementation of a G-type power gyrator are carried out throughout the text. In addition, in order to obtain the maximum power from the photovoltaic solar panel, a maximum power point tracking (MPPT) is mandatory in the energy processing path. Therefore, the practical implementation carried out includes a control loop of the power gyrator in order to track the aforementioned maximum power point of the photovoltaic solar panel.

  • SDSIM: a novel simulator for solar drying processes

     Bolea Monte, Yolanda; Grau Saldes, Antoni; Miranda Añon, Alexandre
    IEEE International Conference on Industrial Informatics
    Presentation's date: 2012-07-25
    Presentation of work at congresses

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    SDSim: A novel simulator for solar drying processes  Open access

     Bolea Monte, Yolanda; Grau Saldes, Antoni; Miranda Añon, Alexandre
    Mathematical problems in engineering
    Date of publication: 2012-06
    Journal article

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    SDSim is a novel solar dryer simulator based in a multicrop, inclined multipass solar air heather with in-built thermal storage mathematical model. This model has been developed as a designing and developing tool used to study and forecast the behavior of the system model in order to improve its drying efficiency and achieving a return on the dryer investment. The main feature of this simulator is that most of the parameters are permitted to be changed during the simulation process allowing finding the more suitable system for any specific situation with a user-friendly environment. The model has been evaluated in a real solar dryer system by comparing model estimates to collected data.

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    Monocular SLAM for visual odometry: a full approach to the delayed inverse-depth feature initialization method  Open access

     Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni
    Mathematical problems in engineering
    Date of publication: 2012-09
    Journal article

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    This paper describes in a detailed manner a method to implement a simultaneous localization and mapping SLAM system based on monocular vision for applications of visual odometry, appearance-based sensing, and emulation of range-bearing measurements. SLAM techniques are required to operate mobile robots in a priori unknown environments using only on-board sensors to simultaneously build a map of their surroundings; this map will be needed for the robot to track its position. In this context, the 6-DOF degree of freedom monocular camera case monocular SLAM possibly represents the harder variant of SLAM. In monocular SLAM, a single camera, which is freely moving through its environment, represents the sole sensory input to the system. The method proposed in this paper is based on a technique called delayed inverse-depth feature initialization, which is intended to initialize new visual features on the system. In this work, detailed formulation, extended discussions, and experiments with real data are presented in order to validate and to show the performance of the proposal.

    Copyright 2012: R. Munguía and A. Grau. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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    MIMO LPV state-space identification of open-flow irrigation canal systems  Open access

     Bolea Monte, Yolanda; Chefdor, Nicolas; Grau Saldes, Antoni
    Mathematical problems in engineering
    Date of publication: 2012-11
    Journal article

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    Canal systems are complex nonlinear, distributed parameter systems with changing parameters according to the operating point. In this paper, a linear parameter-varying LPV state-space canal control model is obtained by identification in a local way using a multimodel approach. This LPV identification procedure is based on subspace methods for different operating points of an irrigation canal covering the full operation range. Different subspace algorithms have been used and compared. The model that best represents the canal behavior in a precise manner has been chosen, and it has been validated by error functions and analysis correlation of residuals in a laboratory multireach pilot canal providing satisfactory results

  • On `Discussion on Barkhausen and Nyquist stability criteria¿

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    Analog integrated circuits and signal processing
    Date of publication: 2012-03-01
    Journal article

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  • Parallel linear-assisted DC-DC switching converter

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    Seminar for Advanced Industrial Control Applications
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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    Current-mode one-cycle control applied to linear¿assisted DC/DC converters  Open access

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    Seminar for Advanced Industrial Control Applications
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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    This article shows the proposal of an current-mode one-cycle control for linear-assisted DC/DC converters. Linear-assisted DC/DC converters are structures that allow to take advantages of the two classic alternatives in the design of power supply systems: voltage linear regulators (classic NPN topology or LDO –low dropout–) and switching DC/DC converters. The current-mode one-cycle control technique is proposed in order to obtain the duty cycle of the linear-assisted converter switch. The proposed structure can provide an output with suitable load and line regulations. The paper shows the design and simulation results of the proposed current-mode one-cycle linearassisted converter.

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    LPV model for PV cell and fractional control of DC/DC converter for photovoltaic systems  Open access

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2011-06-28
    Presentation of work at congresses

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    This paper deals with the fractional modelling of a DC-DC converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. A new model for PV cells is proposed in order to obtain a linear equation for V-I characteristic via scheduling dependence of temperature and irradiance. Due to the fractional nature of the ultracapacitors this kind of controller gives a suitable and good performance.

    Postprint (author’s final draft)

  • LPV model for PV cells and fractional control of DC/DC converter for photovoltaic systems

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2011-06-30
    Presentation of work at congresses

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    This paper deals with the fractional modelling of a DC-DC converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. A new model for PV cells is proposed in order to obtain a linear equation for VI characteristic via scheduling dependence of temperature and irradiance. Due to the fractional nature of the ultracapacitors this kind of controller gives a suitable and good performance.

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    Linear-assisted DC-DC switching converter with constant switching frequency  Open access

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Gamiz Caro, Juan
    Seminar for Advanced Industrial Control Applications
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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    This article shows the proposal of a linear–assisted converter or linear–&–switching hybrid converter with a constant switching frequency. The control loop of the system is based on the current–mode technique. The main disadvantage of a converter with current–mode control is the inherent instability of the loop when switch duty ratios are greater than 0.5. In order to make stable the proposed linear–assisted converter, the article shows the technique based on a slope compensation.

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    Buck-boost DC-DC converter with fractional control  Open access

     Martínez García, Herminio; Grau Saldes, Antoni; Bolea Monte, Yolanda; Martinez Gonzalez, Ruben
    Seminar for Advanced Industrial Control Applications
    Presentation's date: 2011-11-07
    Presentation of work at congresses

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    This paper deals with the fractional modeling of a DC-DC buck-boost converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. Although the modeling and design of the controller is carried out for this particular DC-DC converter, it can be easily extended to other kind of switching converter. In addition, the comparison between integer-order plant/controller and fractional-order plants/controller is carried out. The article also shows that, under the same design conditions, the fractional-order controller has a better performance and behaviour than the classical integer-order controller in both situations, that is, with integer-order plant and fractional-order plant models.

  • Simulation and Modeling of Systems in Engineering Education for the Sustainability. The Renewable Energy Case

     Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni
    International Conference on Renewable Energies and Power Quality
    Presentation's date: 2011-04-14
    Presentation of work at congresses

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    In this paper we discuss about the use of computer simulations for sustainable systems. We propose laboratory practices for those subjects taught in the Engineering degrees that use systems or plants in their laboratories. The proposal is to use renewable energy systems for those laboratories. The interest in simulation of this kind of systems is focused to forecast their behavior in order to control and actuate over them wasting the less natural resources as possible. In this paper, the use of a didactic material for laboratory practices is explained. This pedagogical resource is published in a web platform (http://model.upc.edu) where the student can find laboratory practices, the instructor explanations and the software to develop new dynamical models. We have the strong belief that undergraduate students must receive an Education for the Sustainability independently of their career together and transversally with the basic and specifically concepts of the own subject.

  • A novel pedagogical tool integrating sustainability competence into engineering degrees

     Bolea Monte, Yolanda; Grau Saldes, Antoni
    Annual Frontiers in Education Conference
    Presentation's date: 2011-10-13
    Presentation of work at congresses

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    The environmental and social crisis has forced the University to have a considerable influence on the society in an active manner and it faces new challenges such as the need to educate professionals that take respectful decisions towards the environment, the sustainability, the social commitment and human development. Many universities, and specifically the Technical University of Catalonia UPC, have included in their curricula a compulsory competence regarding the Sustainability and the Social Commitment in a transversal way. In this paper authors propose a new pedagogical tool oriented to scientific and technological higher education related with modeling and simulation of dynamic systems. This resource consists of a set of didactic materials divided into different themes (water and waste management, renewable energy...). These materials are in web format, and this tool is aimed at helping faculty to integrate the competence into the specific competences of every subject. This pedagogical tool has been used, tested and assessed in “Dynamic Systems Simulation” subject in the Industrial Engineering Degree at UPC. The use of this pedagogical tool has provided satisfactory and encouraging results at all levels, knowledge, procedures and attitudes.

  • LPV model for PV cell and fractional control of DC-DC converter for photovoltaic systems

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2011-06-28
    Presentation of work at congresses

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    This paper deals with the fractional modelling of a DC-DC converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. A new model for PV cells is proposed in order to obtain a linear equation for V-I characteristic via scheduling dependence of temperature and irradiance. Due to the fractional nature of the ultracapacitors this kind of controller gives a suitable and good performance.

  • ¿Green¿ remote laboratory for chemical engineering degree: A new paradigm for training

     Bolea Monte, Yolanda; Grau Saldes, Antoni
    Annual Frontiers in Education Conference
    Presentation's date: 2011-10-14
    Presentation of work at congresses

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    This paper presents an innovative web-based „green‟ remote process control laboratory focused on the necessity of chemical control education community. The usefulness of the remote laboratory proposed in this paper is justified by two relevant factors: the opportunity of organizing remote experiments, saving students time and money; and the integration of the „Sustainability‟ (transversal competence) in the curricula. A new innovative pedagogical methodology for laboratories is carried out. Furthermore, a set of practices that constitutes the remote lab will be presented covering all the subject of “Chemical Processes Control” in the Chemical Engineering Degree at the Technical University of Catalonia (UPC). Students should achieve chemical control systems (modeling and control design) basic knowledge and skills as well as the necessary concepts, real world situation vision and awareness in order to take decisions in their professional live taking into account the Sustainability, economy and efficiency.

  • New approach on bearing-only SLAM for indoor environments

     Guerra Paradas, Edmundo; Bolea Monte, Yolanda; Grau Saldes, Antoni; Munguia Alcala, Rodrigo Francisco
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2011-09-07
    Presentation of work at congresses

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    In this paper a novel Simultaneous Localization and Mapping (SLAM) is presented. Using the sound as the input signal, instead of the classical vision or laser systems, leads to a SSLAM (sound SLAM) with a new features, such as the use of a Linear Parameter Varying (LPV) Kalman filter rather than the classical Extended Kalman filter. The other novelty is the modeling of sound reverberation using LPV models. The work is an extension under development from previous research group’s works. The experimental partial results and the theoretical developments encourage authors to follow this unexplored line of SSLAM.

  • An attitude and heading reference system (AHRS) based in a dual filter

     Munguia Alcala, Rodrigo Francisco; Grau Saldes, Antoni
    IEEE International Conference on Emerging Technologies and Factory Automation
    Presentation's date: 2011-09-06
    Presentation of work at congresses

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    This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on a Dual Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. Attitude determination systems are essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms become necessary for an acceptable performance. For the proposed approach, a low cost Inertial Measurement Unit (IMU), formed by 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer, provides the input measurements. Experimental results with real data show that the proposed algorithm is able to maintain an accurate and drift-free attitude and heading estimation.

  • Attitude and heading system based on EKF total state configuration

     Munguia Alcala, Rodrigo Francisco; Grau Saldes, Antoni
    IEEE International Symposium on Industrial Electronics
    Presentation's date: 2011-07-27
    Presentation of work at congresses

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    This paper describes the design, analysis, and experimental results of an Attitude and Heading System based on total state (direct) Extended Kalman Filtering technique. The presented scheme is suitable for implementation using low cost sensors. Attitude determination systems are essential for real time vehicle navigation, guidance and control applications. When low cost sensors are used, efficient and robust algorithms become necessary for an acceptable performance. For the proposed approach, a low cost Inertial Measurement Unit (IMU), formed by 3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer, provides the input measurements. A Kalman Filter, in direct configuration, estimates the state of the system, which is formed by a quaternion, representing the body 3D orientation, and the biases of gyros. Experimental results with real data show that the proposed algorithm is able to maintain an accurate and drift-free attitude and heading estimation.

  • Fractional DC-DC converter in solar-powered electrical generation systems

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    International Journal of Electrical Energy Systems
    Date of publication: 2011
    Journal article

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    This paper deals with the fractional modeling of a DC-DC buck-boost converter, suitable in solar-powered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. Although the modeling and design of the controller is carried out for this particular DC-DC converter, it can be easily extended to other kind of switching converter. In addition, the comparison between integer-order plan/controller and fractional-order plants/controller is carried out. The article also shows that, under the same design conditions, the fractional-order controller has a better performance and behaviour than the classical integer-order controller in both situations, that is, with integer-order plant and fractional-order plant models.

  • Robust audio localization for mobile robots in industrial environments

     Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni
    Date of publication: 2011-04
    Book chapter

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  • AERIAL ROBOTICS COOPERATIVE ASSEMBLY SYSTEM

     Andrade Cetto, Juan; Grau Saldes, Antoni; Alquezar Mancho, Renato; Moreno Noguer, Francesc d'Assis; Villamizar Vergel, Michael Alejandro; Sanfeliu Cortes, Alberto
    Participation in a competitive project

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  • Cooperación Robots Humanos en Àreas Urbanas

     Bolea Monte, Yolanda; Gamiz Caro, Juan; Climent Vilaro, Juan; Grau Saldes, Antoni; Sanfeliu Cortes, Alberto
    Participation in a competitive project

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  • Organización del IEEE International Conference on Computer Vision ICCV2011

     Grau Saldes, Antoni
    Participation in a competitive project

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  • Organització del 13th IEEE International Conference on Computer Vision 2011

     Grau Saldes, Antoni
    Participation in a competitive project

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  • Etude d'un canal d'irrigation MIMO

     Chefdor, Nicolas; Bolea Monte, Yolanda; Grau Saldes, Antoni
    Date: 2011-09-30
    Report

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    Treball de recerca fet per l'alumne Nicolas Chefdor durant la seva estada al laboratori de recerca VIS-ESAII a la UPC. Dirigit pels Dr. Yolanda Bolea i Dr. Antoni Grau. Estada del 1/06/2011-30/09/2011

  • Access to the full text
    Buck-boost converter with fractional control for electric vehicles  Open access

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    International Conference on Renewable Energies and Power Quality
    Presentation's date: 2010-03-23
    Presentation of work at congresses

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    In this paper, non-integer order control is applied to improve the performance of a buck-boost dc-dc power converter with ultracapacitor based on state feedback techniques. The approach is based on stabilization in the Lyapunov's sense for linear rational-order systems. The ultracapacitor can overcome the classical problems of energy losses due to the use of batteries, giving more accuracy, autonomy and efficiency to the electrical vehicles.

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    FIDD bearing-only SLAM  Open access

     Munguia Alcala, Rodrigo Francisco; Grau Saldes, Antoni
    Annual Conference of the IEEE Industrial Electronics Society
    Presentation's date: 2010-07-05
    Presentation of work at congresses

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    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. In this work a novel method, called Filtered Inverse Depth Delayed (FIDD) Initialization which is intended for initializing new features in Bearing-Only SLAM systems. Unlike range sensors which provide range and angular information, a bearing sensor (e.g. cameras) measures only the bearing (angular information) of features. Therefore depth information (range) cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras) in SLAM systems. The proposed approach is based in an inverse depth parameterization and delayed initialization scheme. The main idea is to incorporate to the SLAM process, an extra uncorrelated filter, which progressively incorporates the new bearing measurements needed to estimate the full state of each new feature. Several simulations are given in order to show the performance of the proposed approach.

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    An identified LPV model for mobile robots navigation with audio features  Open access

     Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni
    IEEE International Conference on Industrial Electronics
    Presentation's date: 2010-11-09
    Presentation of work at congresses

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    Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot’s position in indoor spaces using as sound sources industrial machines. A novel model is build to locate the robot under different spaces. An identification process is used to obtain the LPV model and it is validated using a real robot. Some uncertainties due to the robot motion and other factors have been taken into account when determining the robot’s position and the obtained results demonstrate the validity of the model.

  • An LPV Fractional Hayami Model for Canal Control

     Bolea Monte, Yolanda; Martinez Gonzalez, Ruben; Grau Saldes, Antoni; Martínez García, Herminio
    IFAC International Conference on Methods and Models in Automation and Robotics
    Presentation's date: 2010-08-25
    Presentation of work at congresses

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  • Fractional DC/DC converter in solar-powered electrical generation systems

     Martínez González, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    Jornadas de Automatica
    Presentation's date: 2010-09-09
    Presentation of work at congresses

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    This paper deals with the fractional modelling of a DC-DC buck-boost converter, suitable in solarpowered electrical generation systems, and the design of a fractional controller for the aforementioned switching converter. Although the modelling and design of the controller is carried out for this particular DC-DC converter, it can be easily extended to other king of switching converter. In addition, the comparison between integer-order plant/controller and fractional-order plants/controller is carried out. The article also shows that, under the same design conditions, the fractional-order controller has a better performance and behaviour than with classical integer-order controller in both situations, that is, with integer-order plant and fractional-order plant models.

  • Virtual laboratory for simulation and modeling systems in engineering degree: a sustainable approach

     Bolea Monte, Yolanda; Grau Saldes, Antoni
    IEEE International Conference on E-Learning in Industrial Electronics
    Presentation's date: 2010-11-09
    Presentation of work at congresses

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    Concurrent initialization for Bearing-Only SLAM  Open access

     Munguia Alcala, Rodrigo Francisco; Grau Saldes, Antoni
    Sensors
    Date of publication: 2010-03-01
    Journal article

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    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. Early SLAM approaches focused on the use of range sensors as sonar rings or lasers. However, cameras have become more and more used, because they yield a lot of information and are well adapted for embedded systems: they are light, cheap and power saving. Unlike range sensors which provide range and angular information, a camera is a projective sensor which measures the bearing of images features. Therefore depth information (range) cannot be obtained in a single step. This fact has propitiated the emergence of a new family of SLAM algorithms: the Bearing-Only SLAM methods, which mainly rely in especial techniques for features system-initialization in order to enable the use of bearing sensors (as cameras) in SLAM systems. In this work a novel and robust method, called Concurrent Initialization, is presented which is inspired by having the complementary advantages of the Undelayed and Delayed methods that represent the most common approaches for addressing the problem. The key is to use concurrently two kinds of feature representations for both undelayed and delayed stages of the estimation. The simulations results show that the proposed method surpasses the performance of previous schemes.

  • Fractional DC/DC converter in solar-powered electrical generation systems

     Martinez Gonzalez, Ruben; Bolea Monte, Yolanda; Grau Saldes, Antoni; Martínez García, Herminio
    International Journal of Electrical Energy Systems
    Date of publication: 2010
    Journal article

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