{"id":83954,"date":"2018-03-10T00:08:08","date_gmt":"2018-03-10T00:08:08","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/supervision-deteccion-diagnosis-y-recuperacion-de-fallos-en-robots-moviles-autonomos\/"},"modified":"2018-03-10T00:08:08","modified_gmt":"2018-03-10T00:08:08","slug":"supervision-deteccion-diagnosis-y-recuperacion-de-fallos-en-robots-moviles-autonomos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/supervision-deteccion-diagnosis-y-recuperacion-de-fallos-en-robots-moviles-autonomos\/","title":{"rendered":"Supervision, deteccion, diagnosis y recuperacion de fallos en robots moviles autonomos."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Joaquin Lopez Fernandez <\/strong><\/h2>\n<p>La autonom\u00eda de los robots m\u00f3viles aut\u00f3nomos dado que este es un factor clave para obtener rentabilidad de los mismos. Esta tesis trata el estudio de nuevos m\u00e9todos para aumentar la autonom\u00eda de los robots m\u00f3viles basandose en t\u00e9cnicas de supervisi\u00f3n y tratamiento de situaciones de excepci\u00f3n. Se plantean dos nuevos m\u00e9todos en funci\u00f3n de la incertidumbre que el robot tiene acerca de su estado. En la primera (determinista) se utiliza un sistema jerarquico de monitores. Adem\u00e1s se presenta un conjunto original de estos para detectar situaciones de excepci\u00f3n durante la navegaci\u00f3n.  en la segunda soluci\u00f3n se usa un modelo estoc\u00e1stico que tiene en cuenta la incertidumbre acerca del estado del sistema proveniente del ruido asociado a las observaciones y la incertidumbre en el resultado de las acciones. para ello, utilizando como observadores los monitores ya desarrollados, se ha construido un modelo en procesos de markov parcialmente observables.  por otra parte, se han desarrollado nuevos m\u00e9todos de soluci\u00f3n aproximada para la obtenci\u00f3n de la pol\u00edtica o plan de decisi\u00f3n delos pomdp basados en los m\u00e9todos heur\u00edsticos. Dichos m\u00e9todos se han comparado con los m\u00e9todos eur\u00edsticos existentes sobre un conjunto de problemas de referencia utilizados por otros investigadores obteniendo considerables mejoras.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Supervision, deteccion, diagnosis y recuperacion de fallos en robots moviles autonomos.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Supervision, deteccion, diagnosis y recuperacion de fallos en robots moviles autonomos. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Joaquin Lopez Fernandez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Vigo<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 29\/03\/2000<\/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 Sanz Dominguez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal:  Salichs sanchez Miguel angel <\/li>\n<li>enrique Paz domonte (vocal)<\/li>\n<li>alfonso Jos\u00e9 Garcia cerezo (vocal)<\/li>\n<li>gordon Simmons reid (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Joaquin Lopez Fernandez La autonom\u00eda de los robots m\u00f3viles aut\u00f3nomos dado que este es un factor clave [&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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