Treballs de màsters i postgraus: Enviaments recents
Ara mostrant els elements 1-20 de 843
Joint underwater mapping with acoustic and optical Iimages
This thesis is developed within the context of the IURBI project [1], which seeks to develop an intelligent AUV capable of real-time seafloor analysis and adaptive mission planning (Figure 1.1). A fundamental prerequisite ...
Globally consistent mapping in indoor and outdoor environments using hybrid LiDAR SLAM
imultaneous Localization and Mapping (SLAM) is a foundational component of autonomous robotic systems, enabling them to navigate and interact with unknown environments. While LiDAR-based SLAM methods offer high-precision ...
Urban object detection using sensor fusion for autonomous navigation
Urban object detection remains an important challenge for autonomous naviga tion, particularly in accurately identifying and locating thin and small structures such as poles. These structures are often difficult to detect ...
Enhancing indoor mapping and localization in specular rich environments using deep learning and sensor fusion
Robotic indoor mapping and localization are significantly challenged in environ ments with highly reflective or specular surfaces, which are common in hospitals and industrial settings. Specular reflections introduce ...
Deep Reinforcement Learning for robot manipulation
Robotic manipulation continues to be an active area of research due to its broad range of real-world applications. Among its benchmark tasks, the peg-in hole problem remains particularly challenging, requiring high-precision ...
LiDAR odometry and mapping beyond RTK accuracy
Out of the five basic senses that humans use to experience the world, vision accounts for 80% of the information input that our brains operate with [1]. Naturally, robotics research aims to replicate this and develop ...
Deep Reinforcement Learning for drone obstacle avoidance
Unmanned Aerial Vehicles (UAVs) are increasingly deployed in autonomous mis sions across complex, cluttered environments where reliable obstacle avoidance is crit ical. Traditional navigation frameworks rely on modular ...
Vision-Based Tracking and Following of a Moving Target Using an Unmanned Aerial Vehicle
This work introduces an autonomous system for mobile target tracking and follow ing using vision-based (RGB) uni-modal data, specifically designed for unmanned aerial vehicles (UAVs) and enhanced by multi-target information. ...
A Multi-Tool Allocation Approach for Optimized Weed Removal in Autonomous Agriculture
Hand weeding has traditionally been a labor-intensive and time consuming task, making it an ideal candidate for automation. However, fields with high weed density remain a challenge for autonomous sys tems. In such ...
Connectivity maintenance in ad-hoc UAV networks for multi-robot missions
Connectivity maintenance is an important problem in multi-robot systems, which requires designing control algorithms to maintain network connectivity at a desired level. This work implements connectivity control algorithms ...
Deep Reinforcement Learning for Autonomous Navigation
Autonomous navigation in GPS denied environments poses significant challenges environmental knowledge in limited. Conventional path optimization methods struggle with these complexities. The motivation for this thesis ...
Autonomous valve turning with an optimization-based whole-body kinematic control algorithm
This thesis presents an optimization-based whole-body kinematic control algorithm that is val idated on an autonomous valve-turning application with the dual-arm Girona1000 Intervention Autonomous Underwater Vehicle ...
Dynamic robotic grasping: A combination of real-time trajectory planning and ML-Based novel object pose detection
This thesis investigates the integration of real-time grasping and 6 Degrees of Freedom (6-DoF) pose estimation and tracking with online trajectory optimization, focusing on enhancing grasping performance under challenging ...
Selective scan matching techniques for enhanced graph slam in autonomous underwater vehicle localization
This thesis investigates the performance of four prominent scan-matching algorithms— Iterative Closest Point (ICP), Generalized Iterative Closest Point (GICP), Gaussian Mix ture Model (GMM), and Probabilistic Iterative ...
La Democràcia: un concepte a l'abast acadèmic i pedagògic dels alumnes d'ESO
Aquest Treball de Final de Màster és una investigació plantejada com a una programació singular la qual es planteja el repte d’ensenyar el concepte i els valors democràtics als alumnes de primer cicle d’ESO a través d’una ...
Efecte de la inhibició dels canals de clorur en la criopreservació espermàtica
La criopreservació de semen porcí és una eina clau per a la conservació del material genètic i la millora dels programes d'inseminació artificial. No obstant això, els espermatozoides porcins presenten una baixa supervivència ...
Creatina en Ciclistas: Análisis Integral del Proceso Industrial de Producción, Uso, Percepción y Efectos
En el context de l’augment de l’ús de suplements nutricionals per optimitzar el rendiment esportiu, la creatina ha esdevingut un dels compostos més estudiats i utilitzats a escala global per la seva contribució al metabolisme ...
Enhancing phthalate and phenol degradation in environmental bacteria via pSEVA428-ACBE3 induced random mutagenesis
La industria del plástico ha crecido considerablemente en las últimas décadas, generando una gran cantidad de residuos. Entre los más preocupantes se encuentran el fenol y los ftalatos (plastificantes), estos últimos ...
Fàbrica d'esports : nou parc esportiu al polígon industrial Torroella-Nestlé
Aquest projecte proposa una transformació estratègica del Polígon Industrial Torroella Nestlé per convertir-lo en un espai més verd, més humà i millor connectat amb el seu entorn. L’actuació combina intervencions ...
Una plaça pel poble : Conservació del patrimoni com a monument i la seva dualitat com a espai públic
El treball se situa en el nucli històric de Sant Julià de Llor, un petit indret a la vora del riu Ter on es conserva un pont romànic del segle XI. Aquest pont, avui inaccessible i sense aigua, havia estat temps enrere ...
