{"id":105251,"date":"2018-03-11T10:28:43","date_gmt":"2018-03-11T10:28:43","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sistema-de-exploracion-de-terrenos-con-robots-moviles-aplicacion-en-tareas-de-deteccion-y-localizacion-de-minas-antipersonales\/"},"modified":"2018-03-11T10:28:43","modified_gmt":"2018-03-11T10:28:43","slug":"sistema-de-exploracion-de-terrenos-con-robots-moviles-aplicacion-en-tareas-de-deteccion-y-localizacion-de-minas-antipersonales","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/sistema-de-exploracion-de-terrenos-con-robots-moviles-aplicacion-en-tareas-de-deteccion-y-localizacion-de-minas-antipersonales\/","title":{"rendered":"Sistema de exploraci\u00f3n de terrenos con robots m\u00f3viles: aplicaci\u00f3n en  tareas de detecci\u00f3n y localizaci\u00f3n de minas antipersonales."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Roberto Carlo Ponticelli Lima <\/strong><\/h2>\n<p>En esta memoria de tesis doctoral se presentan los sistemas y algoritmos obtenidos durante el desarrollo de un sistema autom\u00e1tico de exploraci\u00f3n de terrenos para tareas de desminado humanitario. El sistema propuesto est\u00e1 embarcado en un robot m\u00f3vil y  tiene como objetivo localizar alarmas de minas y simult\u00e1neamente determinar algunas caracter\u00edsticas de la superficie del terreno, como la posici\u00f3n de los obst\u00e1culos y el perfil del terreno. Esta informaci\u00f3n del terreno sirve de base para la operaci\u00f3 n del propio sistema de exploraci\u00f3n y del controlador del sistema del robot m\u00f3vil con la que determina las trayectorias \u00f3ptimas de su desplazamiento. Las alarmas de minas se detectan empleando un detector de metales convencional, integrado dentro del  sistema de exploraci\u00f3n de terrenos. Con los datos capturados durante el barrido se construyen dos mapas, uno con la ubicaci\u00f3n del contorno de los obst\u00e1culos y otro con la elevaci\u00f3n del terreno. Mediante una serie de experimentos espec\u00edficamente dise \u00f1ados para este sistema de exploraci\u00f3n se verifica el funcionamiento de cada subsistema y algoritmo.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sistema de exploraci\u00f3n de terrenos con robots m\u00f3viles: aplicaci\u00f3n en  tareas de detecci\u00f3n y localizaci\u00f3n de minas antipersonales.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sistema de exploraci\u00f3n de terrenos con robots m\u00f3viles: aplicaci\u00f3n en  tareas de detecci\u00f3n y localizaci\u00f3n de minas antipersonales. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Roberto Carlo Ponticelli Lima <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Complutense de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 29\/11\/2010<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Pablo Gonzalez De Santos<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Antonio Hern\u00e1ndez cachero <\/li>\n<li>joaqu\u00edn Aranda almansa (vocal)<\/li>\n<li>h\u00e9ctor Montes franceschi (vocal)<\/li>\n<li>Manuel angel Armada rodriguez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Roberto Carlo Ponticelli Lima En esta memoria de tesis doctoral se presentan los sistemas y algoritmos obtenidos [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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