{"id":69388,"date":"2018-03-09T23:13:51","date_gmt":"2018-03-09T23:13:51","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/tecnicas-avanzadas-para-el-control-visual-de-robots-basadas-en-caracteristicas-de-la-imagen-aplicacion-a-la-solucion-de-posibles-singularidades\/"},"modified":"2018-03-09T23:13:51","modified_gmt":"2018-03-09T23:13:51","slug":"tecnicas-avanzadas-para-el-control-visual-de-robots-basadas-en-caracteristicas-de-la-imagen-aplicacion-a-la-solucion-de-posibles-singularidades","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/miguel-hernandez-de-elche\/tecnicas-avanzadas-para-el-control-visual-de-robots-basadas-en-caracteristicas-de-la-imagen-aplicacion-a-la-solucion-de-posibles-singularidades\/","title":{"rendered":"Tecnicas avanzadas para el control visual de robots basadas en caracteristicas de la imagen. aplicacion a la solucion de posibles singularidades"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Nicolas Manuel Garcia Aracil <\/strong><\/h2>\n<p>El control visual es un tema de investigaci\u00f3n mutidisciplinar, ya que engloba conocimientos de diversos campos, como son: la visi\u00f3n artificial, la rob\u00f3tica y el control. Las t\u00e9cnicas de control visual son \u00fatiles en un amplio rango de aplicaciones y son usadas para controlar diferentes sistemas din\u00e1micos (manipuladores, robots m\u00f3viles, veh\u00edculos submarinos aut\u00f3nomos, aeronaves, etc).  sin embargo, existen muchos problemas sin resolver y que hacen que no exista todav\u00eda un sistema de control visual totalmente fiable. Esta tesis doctoral contribuye a hacer las t\u00e9cnicas de control visual basadas en caracter\u00edsticas de la imagen un poco m\u00e1s robustas. Para ello, primero se propone una soluci\u00f3n particular basada en un esquema de control visual cooperativo que permite  solucionar los problemas de singularidad de la tarea, errores en la extracci\u00f3n de caracter\u00edsticas, desaparici\u00f3n de caracter\u00edsticas  en el plano de la imagen, etc propios de las t\u00e9cnicas de control visual de robots basadas en caracter\u00edsticas de la imagen.  tambi\u00e9n se presenta en esta tesis una novedosa soluci\u00f3n general a la restricci\u00f3n de visibilidad impuesta a todas las t\u00e9cnicas de  control visual basadas directa o indirectamente en caracter\u00edsticas de la imagen. Esta soluci\u00f3n permite la variaci\u00f3n en la visibilidad de las caracter\u00edsticas durante la ejecuci\u00f3n de la tarea de control frente a las soluciones propuestas hasta la fecha que se basaban en evitar a toda costa la p\u00e9rdida de visibilidad de las caracter\u00edsticas durante el control.  teniendo presente este concepto se han definido y desarrollado las bases te\u00f3ricas de una aproximaci\u00f3n al control visual estable y continua que permitiera la presencia temporal de caracter\u00edsticas en la imagen. Se ha reformulado, utilizando las bases te\u00f3ricas desarrolladas, la aproximaci\u00f3n al control visual en el espacio invariante respecto a los par\u00e1metros intr\u00ednsecos de la c\u00e1mara para adaptarlo a la variabili<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Tecnicas avanzadas para el control visual de robots basadas en caracteristicas de la imagen. aplicacion a la solucion de posibles singularidades<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Tecnicas avanzadas para el control visual de robots basadas en caracteristicas de la imagen. aplicacion a la solucion de posibles singularidades <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Nicolas Manuel Garcia Aracil <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Miguel hern\u00e1ndez de elche<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 13\/07\/2004<\/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>Rafael Aracil Santonja<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: agustin Jimenez avello <\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<li>Antonio Gabaldon marin (vocal)<\/li>\n<li>  (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Nicolas Manuel Garcia Aracil El control visual es un tema de investigaci\u00f3n mutidisciplinar, ya que engloba conocimientos [&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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