Paisatge i models urbans contemporanis. Les comarques gironines (1979-2006): del "desarrollismo" a la globalització

This doctoral thesis offers a quantitative and qualitative analysis of the changes in the urban shape and landscape of the Girona Counties between 1979 and 2006. The theoretical part of the research lies within the framework of the dispersed city phenomenon, and is based on the hypothesis of convergence towards a global urban model. The empirical part demonstrates this proposition with a study of 522 zone development plans in the Girona Counties. The results point to the consolidation of the dispersed city phenomenon, as shown by the sudden increase in built-up space, the spread of urban development throughout the territory, and the emergence of a new, increasingly generic landscape comprising three major morphological types: urban extensions, low density residential estates and industrial zones. This reveals shortcomings of planning for urban growth, weakening of the city as a public project, and a certain degradation of the Mediterranean city model.

Local model predictive control experiences with differential driven wheeled mobile robots

This work extends a previously developed research concerning about the use of local model predictive control in differential driven mobile robots. Hence, experimental results are presented as a way to improve the methodology by considering aspects as trajectory accuracy and time performance. In this sense, the cost function and the prediction horizon are important aspects to be considered. The aim of the present work is to test the control method by measuring trajectory tracking accuracy and time performance. Moreover, strategies for the integration with perception system and path planning are briefly introduced. In this sense, monocular image data can be used to plan safety trajectories by using goal attraction potential fields

Integrated management of urban wastewater systems: a model-based approach

The main objective pursued in this thesis targets the development and systematization of a methodology that allows addressing management problems in the dynamic operation of Urban Wastewater Systems. The proposed methodology will suggest operational strategies that can improve the overall performance of the system under certain problematic situations through a model-based approach. The proposed methodology has three main steps: The first step includes the characterization and modeling of the case-study, the definition of scenarios, the evaluation criteria and the operational settings that can be manipulated to improve the system’s performance. In the second step, Monte Carlo simulations are launched to evaluate how the system performs for a wide range of operational settings combinations, and a global sensitivity analysis is conducted to rank the most influential operational settings. Finally, the third step consists on a screening methodology applying a multi-criteria analysis to select the best combinations of operational settings.