Metodología para la implantación de una herramienta de control virtual de robots serie

[Es]El objetivo principal de este trabajo es la introducción del usuario al mundo de la robótica, explicando para ello, desde un punto de vista práctico, los conceptos teóricos relacionados con la cinemática de mecanismos espaciales, específicamente la de los robots serie. Para lograr este objetivo se ha creado una metodología de aprendizaje, basada en tres ejercicios, que explica los comandos principales de RobotStudio; software de programación necesario para el control virtual de robots de la marca ABB, robot disponible en la escuela. Junto con esto, se desarrollan los conceptos necesarios para la realización de tareas básicas dentro del ámbito de la robótica. Mediante la implantación de esta metodología se pretende dotar al usuario de los conceptos esenciales para programar robots serie dentro de un ámbito virtual, otorgándole la posibilidad de conectarlo posteriormente a un robot real, obteniendo resultados prácticos y visibles.

Two-Stage Stochastic Optimization. An Application in the Third Sector

[en] It is known that most of the problems applied in the real life present uncertainty. In the rst part of the dissertation, basic concepts and properties of the Stochastic Programming have been introduced to the reader, also known as Optimization under Uncertainty. Moreover, since stochastic programs are complex to compute, we have presented some other models such as wait-and-wee, expected value and the expected result of using expected value. The expected value of perfect information and the value of stochastic solution measures quantify how worthy the Stochastic Programming is, with respect to the other models. In the second part, it has been designed and implemented with the modeller GAMS and the optimizer CPLEX an application that optimizes the distribution of non-perishable products, guaranteeing some nutritional requirements with minimum cost. It has been developed within Hazia project, managed by Sortarazi association and associated with Food Bank of Biscay and Basic Social Services of several districts of Biscay.