En esta tesis se estudia el problema de la planificación del movimiento para múltiples robots manipuladores que operan en un mismo entorno de trabajo estructurado con obstáculos fijos. El objetivo es especificar caminos y trayectorias para cada uno de los robots, de forma que no se produzcan colisiones entre los robots ni con los obstáculos...
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November 27, 2014 (v1)PublicationUploaded on: March 27, 2023
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January 28, 2022 (v1)Publication
This paper focuses on designing a robust control law to manage the demand response of islanded microgrids composed of shifting and adjusting loads. On one side, Hybrid Dynamical System theory is suited here, because the microgrid model is composed of continuous-time dynamics (the energy stored in the battery and the adjustable loads), and...
Uploaded on: December 4, 2022 -
October 14, 2020 (v1)Publication
La microrred como elemento agregador de fuentes de generación, cargas y sistemas de almacenamiento de energía aparece como tecnología clave para dotar a los sistemas eléctricos de suficiente flexibilidad para una transición energética basada en fuentes renovables. Sin embargo, el problema de control para la gestión de energía se vuelve complejo...
Uploaded on: March 26, 2023 -
July 4, 2019 (v1)Publication
In this paper, an optimal procedure for the economic schedule of a network of interconnected microgrids with hybrid energy storage system is carried out through a control algorithm based on distributed model predictive control (DMPC). The algorithm is specifically designed according to the criterion of improving the cost function of each...
Uploaded on: March 27, 2023 -
April 22, 2020 (v1)Publication
This work shows a control policy based on MPC and applied to project risk management. MPC has been applied due the properties that presents such as the easy constraint treatment or the extension to multivariable case. The control actions are the mitigation actions to execute in order to reduce the risk exposure. Stochastic variables have been...
Uploaded on: December 4, 2022 -
April 23, 2020 (v1)Publication
Este trabajo presenta un sistema de soporte de decisión para proporcionar ayuda en la fase de ofertas, caracterizada por un alto nivel de incertidumbres. La preparación de la propuesta involucra un coste considerable, sumado a una gran movilización de recursos. En la práctica, usualmente las ofertas son evaluadas en base a diferentes criterios...
Uploaded on: March 25, 2023 -
April 22, 2020 (v1)Publication
This work presents a Decision Support System to provide help in bidding processes. This phase of the project is characterised by a high level of uncertainty and it involves a huge expense in the preparation of the proposal and important mobilization of resources. In industrial practice, bids are usually evaluated on the basis of multiple...
Uploaded on: March 27, 2023 -
April 21, 2020 (v1)Publication
This work presents a technique for optimal scheduling of projects in terms of time and cost, taking into account risk assessment. Tasks are characterized by p-timed Petri nets, where places have assigned an execution time. The proposed technique minimizes the time execution and the cost of the whole project taking into account the Petri nets...
Uploaded on: December 4, 2022 -
April 22, 2020 (v1)Publication
This article has been developed in the frame of an IST European Project where Companies and Universities of several countries of Europe have collaborated. The work presents a Decision Support System (DSS) to provide help in the bidding process. Critical decisions as bid/no bid make/buy or decision of best final proposal have been realised. The...
Uploaded on: March 25, 2023 -
April 14, 2020 (v1)Publication
This paper presents an algorithm for optimizing the energy operating costs in multi-fluid transportation systems. The algorithm works in two steps. The first one consists of the computation of a function that measures the estimated minimum cost to the goal node. This computation involves the use of Bellman's optimality principle and some...
Uploaded on: December 4, 2022