One of the main research areas in robotics is navigating autonomously through the environment. Although this problem has been solved in different manners using highly demanding metric approaches that require multi-sensor data fusion, the topological paradigm is a more natural and compact solution that scales better with the size of the environment. Vision has always been regarded as the ideal sensor technology and several methods have been proposed in the literature using cameras, but they are either timeconsuming, require plenty of different sensors, or are very sensitive to illumination changes in the environment, all of which limit their application scope. This paper presents a fast-to-compute and moderately light-insensitive procedure based exclusively on monocular images, capable of recognizing places in indoor and structured outdoor environments by means of the identification of dominant vertical lines, local color histograms, and a reduced number of blob features. The results show that the proposed method provides good estimates of the current position in a first-location problem given a single image. Therefore, it seems a promising technique for topological navigation, where the succession of similar images supplies additional information. Director: Álvaro Sánchez Miralles
Autor: Jaime Boal
Lugar: Aula de Seminarios

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This current study presents one of the bases of the future Hydrogen Economy, using the high temperature Solid of Oxide fuel cell (SOFC) as topping engine which can be integrated with a bottoming power cycle to produce additional electricity. For distributed power generation, Organic Rankine Cycle (ORC) is an alternative technology that can utilize an organic fluid for electrical power production from low-temperature heat. In this regard, an ORC is coupled to the exhaust gas of a SOFC to increase the electricity production. On the one hand, a supercritical ORC has been analyzed, with and without regenerator. On the other hand, size of heat exchangers has been optimized. Results of these analyses show that the net power output of the SOFC-ORC combined system can be improved more than 16.5% with similar results between regenerative and non-regenerative case. Finally, electrical eciency overcomes 55%.
Directora: Yolanda Moratilla
Autor: Jesús Javier Martín Pérez
Lugar: Sala de reuniones de 6ª planta

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