Angel de Castro

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The growth of sensor networks during the last years is a fact and within this field, wireless sensor networks are growing particularly as there are many applications that demand the use of many nodes, even hundreds or thousands. More and more applications are emerging to solve several problems in data acquisition and control in different environments,(More)
Low-cost robots are characterized by low computational resources and limited energy supply. Path planning algorithms aim to find the optimal path between two points so the robot consumes as little energy as possible. However, these algorithms were not developed considering computational limitations (i.e., processing and memory capacity). This paper presents(More)
This paper presents a mapping system that is suitable for small mobile robots. An ad hoc algorithm for mapping based on the Occupancy Grid method has been developed. The algorithm includes some simplifications in order to be used with low-cost hardware resources. The proposed mapping system has been built in order to be completely autonomous and unassisted.(More)
This work proposes two methods to determine the resolution of state variables in models of switching-mode power converters. The target models are intended for hardware-in-the-loop, i.e., closed-loop emulation using a model of the power converter implemented in digital hardware with the controller in its final implementation. The focus here is on the(More)
Developing integrated hardware interfaces for different actuators allows rapid and easy integration into existing wireless networks. Wireless sensor networks (WSNs) have become widely relevant in recent years, facilitating data collection through a large number of nodes measuring different physical parameters in various environments. Such networks require(More)
A new digital control technique for power factor correction is presented. The main novelty of the method is that there is no current sensor. Instead, the input current is digitally rebuilt, using the estimated input current for the current loop. Apart from that, the ADCs used for the acquisition of the input and output voltages have been designed ad-hoc.(More)