The increasing use of DC electronic devices connected to mains lead to numerous complications of harmonic distortion and efficiency reduction in electrical energy transmission. These devices behave as a marked non linear lads, which behavior lie in their topology and structure, but also in mains impedance as well as the neighbor loads impedance. In order to correct this situation, these loads can be modified or filters can be introduced. Filters are usually connected in parallel to de loads, to reduce harmonic generation. These filters can be active or passive. This thesis is devoted to parallel active filter topology and control method study; it also analyses and the filter behavior as soon as they are connected to the mains. More specifically, the thesis is focused in to hybrid filters study, coupled to the mains by a passive LC filter. The main contributions of this thesis, one and all supported by publications, are: a) Filter Topology: Various filter topologies show several problems, which are explained in detail on the document. Hybrid filter coupled to the mains by passive LC filters is adopted in this thesis and a new topology called "Neutral to Negative" (NtN) is proposed. This topology uses only one capacitor in the DC bus and therefore removes the DC balance requirement characteristic of split capacitors VSI topologies. b) Control and PWM modulation techniques: In these area contributions are concentrated in two features; a transformation based on 60º angles is proposed by contrast of the classic aß orthogonal transformation. This adaptation considerably simplifies to procure the VSI stages in case of systems without neutral wire. Furthermore a current controller and modulation technique has been developed to follow current track, in three and four-wire mains. c) Leading current control: A new method to reduce leading current in low load conditions has been developed. This method regulates the available voltage across coupling capacitors in order to obtain a specific di/dt; and is operational without losing filter properties. d) Non linear loads model: Harmonic filter introduction in power lines disturbs non-linear-loads (NLL) behavior and produce some harmonic amplification problems introduced in the last chapter. This chapter is devoted to obtain a NLL model in order to predict the load response when a filter is introduced. A model based in Neural Networks (NN) has been developed. This model is created making use of measure collection made where the filter is going to be connected. This NN model has been completed with an iterative method allowing to predict harmonic current changes in NLL when an active filter is connected. / La proliferación de equipos electrónicos alimentados en CC, conectados a la red, provoca multitud de problemas de distorsión armónica y una reducción de la eficiencia en la transmisión de la energía eléctrica. Estos equipos se comportan como cargas fuertemente no lineales, cuyo comportamiento depende de su topología y estructura, pero también de la impedancia de la red que los alimenta y de otras posibles cargas en paralelo, alimentadas por la misma red. Para corregir esta situación se puede optar por modificar las cargas o por introducir filtros, generalmente en paralelo con las mismas, para reducir la generación de armónicos. Los filtros para corregir esta situación pueden ser de dos tipos: activos o pasivos. La tesis se ha centrado en el estudio de la topología, los métodos de control y el comportamiento una vez conectados a la red de los filtros activos paralelo, denominados también APLC (Active Power Line Conditioners). Más concretamente, la tesis está centrada en el estudio de filtros híbridos, acoplados a red mediante un filtro pasivo LC serie. Las aportaciones básicas de la tesis, todas ellas avaladas por publicaciones, son las siguientes: a) Topología del filtro: Distintas topologías de filtros presentan diversos problemas, que se explican detalladamente en la memoria. En la tesis se ha optado por utilizar filtros híbridos acoplados a la red mediante un conjunto LC y se propone una nueva topología llamada "Neutro a Negativo" (NtN). La topología propuesta utiliza un solo condensador en el bus de CC y por tanto elimina la necesidad de equilibrar la tensión respecto a otras topologías basadas en convertidores VSI con bus de continua partido. b) Control y técnicas de modulación PWM: En el apartado de control, la tesis hace aportaciones en dos aspectos: Por una parte se ha introducido una transformación basada en ejes de referencia a 60º, en vez de la clásica descomposición en ejes ortogonales ( , ).Este cambio simplifica enormemente la obtención de los estados del VSI cuando el sistema al que va destinado es un filtro que no dispone de neutro. Por otra parte se ha desarrollado un regulador de corriente, y una nueva técnica de modulación para seguimiento rápido de la consigna, desarrollada para trabajar con redes de 3 y 4 hilos. c) Control de la corriente reactiva: Se ha desarrollado un nuevo método que permite reducir la corriente reactiva capacitiva que requiere el filtro híbrido en condiciones de poca carga. El método regula la tensión disponible en el condensador de acoplo, adaptándolo a la necesidad de crear un determinado di/dt. El método es aplicable sin pérdida de prestaciones del filtro. d) Modelado de cargas: La inserción de filtros de armónicos en la red, altera el funcionamiento de las cargas no lineales que los producen y genera ciertos problemas de amplificación que se han tratado en el último capítulo de la tesis, dedicado a obtener un modelo de dichas cargas no lineales y a poder predecir los resultados de la inserción de los filtros. Se ha desarrollado un modelo de las cargas basado en Redes Neuronales, que permite predecir el fenómeno de amplificación. El modelo se genera a partir de un conjunto de medidas tomadas en el punto donde se pretende conectar el filtro activo. Este modelo se ha completado con un método iterativo que permite predecir la variación de las corrientes armónicas consumidas por las cargas no lineales cuando se introduce un filtro activo en una instalación

This thesis covered the modeling, simulation as well as the design of a control law for a coupled inductor Boost converter. In particular, from the point of view of modeling, we focused on the use of averaged modeling and linear complementarity systems (LCS), in order to obtain the dynamic of a coupled inductor Boost converter, which works in discontinuous conduction mode (DCM). The analysis of the converter was performed assuming ideal voltage-current characteristics in the switch and the diodes. In addition, those models were validated through simulation with the model of the converter obtained from the simulation tool for electrical circuits Psim. The interest in researching this converter topology was mainly due to its high efficiency and high conversion rate without extreme duty cycle values. Moreover, from the point of view of control we have proposed a cascade control architecture. The inner loop is a sliding mode current control loop, while the outer one is a PI controller that tunes the current reference to regulate the output voltage to a reference value. The performance and the effectiveness of the feedback control was validated under the presence of load disturbances and input voltage variations through computer simulations by using the linear complementarity model as well as experimentally. Additionally from the linear complementarity model of the converter, it was performed an analysis of the ideal dynamic that takes place when occurs sliding motions in the converter and numerical stability analysis was also carried out. / La presente tesis abarca el modelado, simulación y diseño de una ley de control para un convertidor Boost de inductancias acopladas. En particular, desde el punto de vista de modelado, nos enfocamos en las teoíıas de modelos promediados y sistemas lineales complementarios (LCS), para obtener la dinámica del convertidor Boost de inductancias acopladas, el cual trabaja en modo discontinuo de conducción (DCM). El análisis del convertidor se lleva a cabo asumiendo características ideales de tensión-corriente en el interruptor y los diodos. Además, los modelos obtenidos son validados mediante simulación con el modelo del convertidor proporcionado por la herramienta de simulación para circuitos eléctricos Psim. El interés en la topología de este convertidor se debe principalmente a su alta eficiencia y su elevada tasa de conversión sin necesidad de ciclos de trabajos extremos. Por otra parte, desde el punto de vista de control se propone una arquitectura de control en cascada. El lazo interno del control se compone de una estrategia de control no lineal, similar a la teoría de control en modo de deslizamiento, mientras que para el lazo externo se diseña un control de tipo PI. El principal objetivo del control diseñado es regular el voltaje de salida del convertidor a el valor de referencia deseado. La efectividad y desempeño del controlador diseñado es validada tanto en simulación como experimentalmente ante diferentes escenarios que incluyen perturbaciones en la carga y el voltaje de entrada. Adicionalmente a partir del modelo lineal complementario del convertidor, se lleva a cabo un análisis de la dinámica ideal de deslizamiento y un análisis numérico de la estabilidad cuando se tiene modo de deslizamiento.

Hybrid systems play an important role in the modeling of complex systems since they take into account the interaction between both continuous dynamics and discrete events. Complex systems are subject to changes in the dynamics due to several factors such as nonlinearities, changes in the parameters, disturbances, faults, discrete events and controller actions among others. These facts lead to the need to develop a diagnostic system for hybrid systems improving the diagnostic precision. Hybrid systems allow to combine the classic fault detection and isolation approaches and a diagnoser based on discrete event models. Hence, a design methodology and implementation architecture for diagnosers in the framework of hybrid systems is proposed. The design methodology is based on the hybrid automaton model that represents the system behavior by means of the interaction of continuous dynamics and discrete events. The architecture is composed of modules which carry out mode recognition and diagnostic tasks interacting each other, since the diagnosis module adapts accordingly to the current hybrid system mode. The mode recognition task involves detecting and identifying a mode change by determining the set of residuals that are consistent with the current hybrid system mode. On the other hand, the diagnostic task involves detecting and isolating two type of faults: structural and non-structural faults. In the first case, structural faults are represented by a dynamic model as in the case of nominal modes. Hence they are identified by consistency checking through the set of residuals. In the second case, non-structural faults do not change the structure of the model, therefore, they are identified by a proper residual pattern. %the set of of residuals that can explain this inconsistency. Discernibility is the main property used in hybrid systems diagnosis. Through the concept of discernibility it is possible to predict whether modes changes (faulty or nominal) in the hybrid model can be detected and isolated properly. This concept can be applied in practice, evaluating a set of mathematical properties derived from residual expressions, which can be obtained from input-output models or parity space equations. General properties are derived to evaluate the discernibility between modes in the hybrid automaton model. The diagnoser is built through propagation algorithms developed for discrete models represented by automata. The automaton employed to build the diagnoser for a hybrid system is named behaviour automaton. It gathers all information provided by discernibility properties between modes and observable events in the system, increasing the system diagnosability. % in the system. Diagnosis for hybrid systems can be divided in two stages: offline and online. Moreover, it can be carried out twofold: in a non-incremental and an incremental form. In the non-incremental form, algorithms are executed taking into account global models, unlike incremental form that leads to building the useful parts of the diagnoser, only developing the branches that are needed to explain the occurrence of incoming events. The resulting diagnoser adapts to the system operational life and it is much less demanding in terms of memory storage than building the full diagnoser offline. The methodology is validated by the application to a case study based on a representative part of the Barcelona sewer network by means of a tool implemented in Matlab.

The village paradigm presents some benefits compared with the library paradigm; people can adapt the answer content as a function of who is requesting the information, or furthermore, people can perform clarifications of the answer content; at the same time, the explanations in documents remain static and are the same for all of the readers, and no clarifications can be performed. The proliferation of online social networks along with the advances in artificial intelligence allow us to consider village paradigm automation. The contributions of this doctoral dissertation are the following: to analyze the village paradigm, seeking the aspects that might be automated; the Asknext social search protocol, which uses stop messages; to study the effect of social network topologies on the proposed protocol; the algorithm Question Waves, which contributes in improving the relevance of the received answers / El paradigma del poble presenta alguns beneficis enfront al de la biblioteca, com que les persones poden adaptar el contingut de la resposta en funció de qui tenen davant o fins i tot poden fer aclariments sobre el contingut, mentre el contingut dels textos es manté estàtic. La proliferació de les xarxes socials, conjuntament amb els avenços en intel·ligència artificial, permeten considerar l’automatització del paradigma del poble. Les contribucions d’aquesta tesi són: analitzar el paradigma del poble per veure quins aspectes són automatitzables; el protocol de cerca social Asknext, que utilitza missatges d’aturada; estudiar l’efecte de les característiques de les topologies de les xarxes socials en el protocol Asknext; l’algorisme Question Waves, que contribueix en millorar la rellevància de les respostes rebudes en el procés de cerca

Equipped with appropriate control strategies, permanent magnet (PM) machines are becoming one of the most flexible types of actuators for many industrial applications. Among different types of PM machines, five-phase BLDC machines are very interesting in fault tolerant applications of PM drives. Torque improvement in five-phase BLDC machines can be accomplished by optimizing their mechanical structure or by enhancing their controlling methods. New current controllers are proposed in this thesis to improve the quality of generated torque under normal operations of five-phase BLDC machines. Proposed current controllers are based on combination of predictive deadbeat controlling strategy and Extended Kalman Filter estimation. These controllers will be the basis for accurate faulty operation of the motor. Operation of five-phase BLDC machines under faulty conditions has also been considered in this study. To improve the generated torque under faulty conditions, both amplitude and phase angle of fundamental and third current harmonics are globally optimized for the remaining healthy phases. Under faulty conditions, appropriate reference currents of a five-phase BLDC machine have oscillating dynamics both in phase and rotating reference frames. As a result, the implemented current controllers under these conditions should be robust and fast. Predictive deadbeat controllers are also proposed for faulty conditions of five-phase BLDC machines. Fault tolerant five-phase BLDC machines are very interesting in automotive applications such as electrical vehicles and more electric aircraft. In addition, these devices are gaining more importance in other fields such as power generation in wind turbines. In all of these applications, the efficiency of PM machine is of most importance. The efficiency of a typical five-phase BLDC machine is evaluated in this thesis for normal and different faulty conditions. Experimental evaluations are always conducted to verify the theoretical developments. These developments include proposed controlling methods, optimized reference currents, and simulated efficiency of five-phase BLDC machine under different operational conditions.

The present work composes a contribution towards the Construction of World models for its implementation in 'Agile Manufacturing Architectures', aiming to take a step further the control programs for manufacturing systems, making it go from being mere tasks implementers to be entities with 'intelligence' that allow them to decide for themselves what is the best strategy to approach a certain given task. In other words, the input information to the production system should stop being a deterministic sequence of commands to become a specification of initial and final states. The work builds on previous results of Gomà and Vivancos to build logical models of simple systems and enunciates some corollaries relating to its operation. Then, it develops new algorithms based on the main stages of World Exploration and Tasks Implementation; initially only for Worlds populated by binary variables and later with the introduction of the treatment of continuous variables. These algorithms, innovative as they introduce the possibility of applying logical prejudices about the world, can apply different strategies to build world models. To evaluate the applicability of these algorithms it is programmed in C+ an experimentation platform for particularised systems and a specification according to the variables that should be utilised in the implementation of these algorithms in different types of manufacturing equipment (Machine tools for Subtractive methods and Additive Manufacturing systems) as well as in complex systems such as the 'Agile Manufacturing Architectures', that have been studied and materialized in works in the context of the present Thesis. In recent years, the paradigm of manufacturing has changed. China and Asia have become the factory of the world and all developed countries have had to began aggressive reindustrialization campaigns to relocate the industry lost. In some cases, particularly relevant sectors 'like the biomedical sector, the Toys case and the Consumer products-, have been presented as a golden opportunity to achieve promising results and have been the subject of an in-depth analysis in this work. Meanwhile, during these years, research and development of manufacturing systems have not been stopped; in fact, it has emerged a new community called 'Makers', built upon very well trained users, motivated by non-profit aspirations that are making to change the game rules. Soon, the personal digital fabrication and the virtual generation and sharing of content will end up to change the way of producing products (and therefore to conceive, to transport, to use and to trade with them), making possible a movement that is being considered as the 'Democratization of the production'. The algorithms presented are intended to maintain a high level of abstraction. 'Action' and 'detection' are internally treated as entirely independent processes, so the system must necessarily learn by an internal logical process. Moreover, beyond the scope of the contribution of this Thesis, the aim of this work is being able to provide a functional specification that can be made available to the community and may serve as a seed to allow the development of intelligent manufacturing paradigms (iCAM) in truly Agile Manufacturing Architectures. / La present Tesi Doctoral realitza una contribució a la Construcció de Models del Món per a la implementació en Arquitectures Àgils de Fabricació, amb la intenció de portar un pas més enllà els programes de control dels sistemes de fabricació, tot fent que passin de ser simples executors de tasques a ser elements amb 'intel·ligència' que els permeti decidir per ells mateixos quina és la millor estratègia per abordar una tasca encomanada. Dit d'altra manera, la informació d'entrada al sistema de fabricació ha de deixar de ser una seqüència determinista de comandes per convertir-se en una especificació d'Estats inicial i final. El treball parteix dels treballs previs de Gomà i Vivancos per construir models lògics de sistemes senzills i n'enuncia uns corol·laris relatius al seu funcionament. A continuació, desenvolupa nous algoritmes basats en les etapes principals d'Exploració del Món i d'Execució de Tasques; primer per móns només poblats per variables binàries i més tard amb la introducció del tractament de contínues. Aquests algoritmes, innovadors, ja que introdueixen la possibilitat d'aplicar prejudicis lògics sobre el món, permeten aplicar diferents estratègies de construcció de Models del Món. Per a avaluar la bona aplicabilitat d¿aquests algoritmes, es realitza la programació d'una plataforma d¿experimentació en llenguatge C+ i es particularitza una especificació de sistemes segons les seves variables per tal d'interpretar com hauria de ser la implementació d'aquests en diferents tipologies de Màquina (Fabricació per arrencament de ferritja i Fabricació Additiva), així com en sistemes complexos com les Arquitectures Àgils de Fabricació que han estat objecte d'estudi i de materialització en treballs a l'entorn de la present Tesi Doctoral. Durant els darrers anys, el paradigma de la fabricació ha canviat. Xina i l'Àsia s'han convertit en la fàbrica de tot el món i els països desenvolupats han hagut de començar campanyes de reindustrialització molt agressives per relocalitzar la industria perduda. En alguns casos, sectors especialment rellevants -com el cas biomèdic, el cas de la joguina i els productes de consum- s'han presentat com a oportunitats daurades per assolir resultats esperançadors i han estat objecte d'un anàlisi en profunditat en el present treball. Paral·lelament, durant aquests anys, la recerca i el desenvolupament de sistemes de fabricació no han estat aturats; de fet ha aflorat amb força una nova comunitat anomenada 'Makers', formada per usuaris molt ben capacitats moguts per interessos no lucratius que estan fent canviar les regles del joc. Aviat, amb la fabricació digital personal i la generació i compartició de continguts de manera virtual, canviaran la manera de produir productes (i per tant de concebre'ls, transportar-los, utilitzar-los i de comerciar amb ells), tot fent possible el moviment que ja es considera com la 'Democratització de la producció'. Els algoritmes presentats pretenen mantenir un nivell d'abstracció elevat. 'Acció' i 'detecció' es tracten com a processos desacoblats internament, de manera que el sistema hagi de fer necessàriament un procés d'aprenentatge lògic. Més enllà de l'abast de la contribució de la present Tesi Doctoral, la intenció d'aquest treball és haver pogut aportar unes especificacions funcionals que podran ser posades a l'abast de la comunitat i que podran servir de llavor per permetre el desenvolupament de nous paradigmes de fabricació intel·ligent (iCAM) en veritables Arquitectures Àgils de Fabricació

Al llarg dels darrers anys, els sistemes de detecció humana basats en visió per computador han començat a exercir un paper clau en diverses aplicacions lligades a l’assisténcia a la conducció, la videovigilància, la robòtica i la domòtica. Detectar persones és, sens cap dubte, una de les tasques més difícils en el camp de la Visió per Computador. Aixó es deu principalment al grau de variabilitat en l’aparenc¸a humana associada a la roba, postura, forma i grandària. A més, altres factors com escenaris amb molts elements, oclusions parcials o condicions ambientals poden fer que la tasca de detecció sigui encara més difícil. Els mètodes més prometedors a l’estat de la q¨uestió es basen en models d’aprenentatge discriminatius que són entrenats amb exemples positius (vianants) i negatius (no vianants). El conjunt d’entrenament és un dels elements més rellevants a l’hora de construir un detector que faci front a la citada gran variabilitat. Per tal de crear el conjunt d’entrenament es requereix supervisió humana. L’inconvenient en aquest punt és el gran esforc¸ que suposa haver d’anotar, així com la tasca de cercar l’esmentada variabilitat. En aquesta tesi abordem dos problemes recurrents a l’estat de la q¨uestió. En la primera etapa, es pretén reduir l’esforc¸ d’anotar mitjanc¸ant l’ús de gràfics per computador. Més concretament, desenvolupemun escenari urbà permés endavant generar un conjunt d’entrenament. Tot seguit, entrenem un detector usant aquest conjunt, i finalment, avaluem si aquest detector pot ser aplicat amb èxit en un escenari real. En la segona etapa, ens centrem en millorar la robustesa dels nostres detectors en el cas en que els vianants es trobin parcialment ocluids. Més concretament, presentem un nou mètode de tractament d’oclusions que consisteix en millorar la detecció de sistemes holístics en cas de trobar un vianant parcialment ocluid. Per dur a terme aquesta millora, fem ús de classificadors (experts) locals a través d’un mètode anomenat random subspace method (RSM). Si el sistema holístic infereix que hi ha un vianant parcialment ocluid, aleshores s’aplica el RSM, el qual ha estat entrenat prèviament amb un conjunt que contenia vianants parcialment ocluids. L’últim objectiu d’aquesta tesi és proposar un detector de vianants fiable basat en un conjunt d’experts locals. Per aconseguir aquest objectiu, utilitzem el mètode anomenat random forest, a on els arbres es combinen per classificar i cada node és un expert local. En particular, cada expert local es centra en realitzar una classificació robusta de zones del cos. Cal remarcar, a més, que el nostre mètode presenta molta menys complexitat a nivell de disseny que altres mètodes de l’estat de la q¨uestió, alhora que ofereix una eficiència computacional raonable i una major precisió. / During the last decade vision-based human detection systems have started to play a key role in multiple applications linked to driver assistance, surveillance, robot sensing and home automation. Detecting humans is by far one of the most challenging tasks in Computer Vision. This is mainly due to the high degree of variability in the human appearance associated to the clothing, pose, shape and size. Besides, other factors such as cluttered scenarios, partial occlusions, or environmental conditions can make the detection task even harder. Most promising methods of the state-of-the-art rely on discriminative learning paradigms which are fed with positive and negative examples. The training data is one of the most relevant elements in order to build a robust detector as it has to cope the large variability of the target. In order to create this dataset human supervision is required. The drawback at this point is the arduous effort of annotating as well as looking for such claimed variability. In this PhD thesis we address two recurrent problems in the literature. In the first stage, we aim to reduce the consuming task of annotating, namely, by using computer graphics. More concretely, we develop a virtual urban scenario for later generating a pedestrian dataset. Then, we train a detector using this dataset, and finally we assess if this detector can be successfully applied in a real scenario. In the second stage, we focus on increasing the robustness of our pedestrian detectors under partial occlusions. In particular, we present a novel occlusion handling approach to increase the performance of block-based holistic methods under partial occlusions. For this purpose, we make use of local experts via a RandomSubspaceMethod (RSM) to handle these cases. If the method infers a possible partial occlusion, then the RSM, based on performance statistics obtained from partially occluded data, is applied. The last objective of this thesis is to propose a robust pedestrian detector based on an ensemble of local experts. To achieve this goal, we use the random forest paradigm, where the trees act as ensembles an their nodes are the local experts. In particular, each expert focus on performing a robust classification of a pedestrian body patch. This approach offers computational efficiency and far less design complexity when compared to other state-of-the-artmethods, while reaching better accuracy.

Although the term “domotics” is not absolutely unknown, there are a great number of cases where this term has been associated with a complicated and luxury technology, intended to ease life in houses and buildings but that finally does not work. The manufacturers have dedicated big efforts to improve their products, considering today that these new technologies are mature from a technological point of view, installers have been trained and they are more familiar with new technologies. They necessary know them and have passed from install simple electromechanical devices (switches, plugs, protections) to program more complex electronic systems, evolution that has been needed to be adapted to a more competitive market and, unfortunately, smaller and complicated due to the crisis effect that we are living. Other efforts, less known and probably more important than already shown, have been made and are made in this sense. There are many works directed to standardize and regulate this technology in order to create a profitable market. This type of actions allows us to define correctly what domotics means (and other expressions) and how it should be defined and installed in order that users could enjoy with guarantees this technology. Its performances have been defined and they are not only focused in luxury, that now is known as “comfort”, but security, communications and energy management. This documents shows the works that the author has made o where he has participated, that define, standardize even regulate those works that allows develop this market. / Aunque el término domótica no es absolutamente desconocido son muchos los casos en que, de forma despectiva, se ha asociado este término a una tecnología complicada y de lujo, que intenta hacer la vida más fácil en las viviendas y edificios pero que, al final, no funciona. Los fabricantes han dedicado grandes esfuerzos para mejorar sus productos considerando que, hoy en día desde el punto de vista tecnológico, estas tecnologías son maduras. Se ha formado a los instaladores quienes cada vez están más familiarizados con las nuevas tecnologías y quienes en un salto generacional ya las dominan, de forma necesaria, pasando de instalar simples elementos electromecánicos en las viviendas (interruptores, enchufes, protecciones, etc.) a programar sistemas electrónicos más complejos, evolución necesaria para adaptarse a un mercado cada vez más competitivo y por desgracia, menos amplio y castigado por efecto de la crisis en la que estamos actualmente inmersos. Otros esfuerzos menos conocidos y probablemente más importantes que los anteriores han sido los numerosos trabajos realizados para reglamentar y normalizar esta tecnología con el objetivo último de crear un mercado rentable. Este tipo de de acciones permiten definir correctamente qué se entiende por domótica (y otras acepciones similares) y cómo debe definirse e instalarse para que el usuario disfrute con garantías de esta tecnología. Se han definido sus utilidades ya no solamente dirigidas al lujo o lo que hoy llamamos con mayor precisión “confort” sino aquellas que hacen referencia a la seguridad, las comunicaciones y la gestión energética. Este documento pretende mostrar los trabajos que el autor ha realizado/participado y que han servido para definir, normalizar y regular, y que finalmente contribuyen a desarrollar este sector.

This thesis presents the development of a localization and mapping algorithm for an autonomous underwater vehicle (AUV). It is based on probabilistic scan matching of raw sonar scans within a pose-based simultaneous localization and mapping(SLAM) framework / Aquesta tesis presenta el desenvolupament d’un algoritme de localització i mapeig per un vehicle submarí autònom (AUV). L’algoritme es basa en tècniques probabilístiques de scan matching utilitzant scans de sonar dins un sistema de localització i construcció simultània de mapes (SLAM) basat en posició

This dissertation formulates a proposal for a real time implementable energy management strategy (EMS) for plug-in hybrid electric vehicles. The EMS is developed to minimize vehicle fuel consumption through the utilisation of stored electric energy and high-efficiency operation of powertrain components. This objective is achieved through the development of a predictive EMS, which, in addition to fuel efficiency, is optimized in terms of computational cost and drivability. The requirement for an EMS in hybrid powertrain vehicles stems from the integration of two energy stores and converters in the powertrain; in the case of hybrid electric vehicles (HEVs) usually a combustion engine and one or more electric machines powered by a battery. During operation of the vehicle the EMS controls power distribution between engine and electric traction motor. Power distribution is optimized according to the operating point dependent efficiencies of the components, energy level of the battery and trip foreknowledge. Drivability considerations, e.g. frequency of engine starts, can also be considered. Due to high oil prices and legislative requirements caused by the environmental impact of greenhouse emissions, fuel economy has gained importance in recent years. In addition to increased fuel economy, powertrain hybridization permits the substituton of fuel for electrical energy by implementing an external recharging option for the battery. This vehicle class, incorporating a battery rechargeable via the electrical grid, is known as a plug-in HEV (PHEV). PHEV share characteristics of both HEVs and all-electric vehicles combining several advantages of both technologies. The rechargeable battery feature of the PHEVs makes their EMS development espe-cially challenging. For minimal fuel consumption, the battery is discharged optimally over the whole trip length, prioritising electrical energy when driving conditions are such that its use maximises the fuel saving that can be achieved. Therefore, an EMS for a PHEV depends heavily on the availability of a priori knowledge about the trip, i.e. the knowledge about future vehicle speed and road grade. This requires the driver to indi-cate the route before trip start. The route knowledge in combination with GPS or Galileo based next generation navigation systems using information from a geographic in-formation system (GIS) about terrain height profile, road type (e.g. motorway or country road), and legal speed limits can be evaluated by a speed prediction algorithm including information about the driver's behaviour for a detailed prediction of the trip. These navigation systems and algorithms in combination with expected future advances and the deployment of technologies such as intelligent transport systems (ITS) and vehicle-to-vehicle communication (V2V), will make more exact traffic information available to further improve prediction. Despite expected advances in prediction quality, inaccuracy of prediction data has to be considered and is therefore regarded in this work. The EMS proposed in this dissertation combines different approaches which are exe-cuted step by step. A first approximation of the energy distribution during the trip is based on a mixed integer linear program (MILP), which gives the optimal energy state of the battery during the trip. This is especially important for trips with long uphill, downhill or urban phases, i.e. sections with a particularly high or lower power requirement. The results from MILP are then used by a dynamic programming (DP) algorithm to calculate optimal torque and gear using a receding prediction horizon. Using a receding prediction horizon, an important reduction of computational cost is achieved. Lastly, from the DP results a rule-based strategy is extracted using a support vector machine (SVM). This last step is necessary to ensure the drivability of the vehicle also for inaccurate prediction data.