Escuela Superior de Enseñanzas Técnicas

This document aims to make a retrospective of our work in the Ford research group in collaboration with researchers from the CEU Cardenal Herrera University and the University of Valencia. The research group originated from the doctoral thesis by Eduardo García Magraner and his thesis was directed by Nicolás Montés in 2016. The Mini-terms were formulated for the first time in this thesis. From then on, the research group grew as the mini-terms began to consolidate both industrially and scientifically. At industrial level we were provided with a CDTI (Centre for the Development of Industrial Technology) which made it possible to massify the mini-terms at Ford factory in Valencia and at scientific level we attended different congresses. Especially relevant was ICINCO 2018 since the concept of the mini-terms could be presented to the programme chair of the congress, Oleg Gusikhin, (Global Data Insight & Analytics, Ford Motor Company, United States). His support led to the consolidation of the mini-terms through their standardization within Ford and also the consolidation of the group through the inclusion of the CEU Cardenal Herrera University in the URP (University Research Program). The success of Eduardo García’s doctoral thesis motivated the Foundation for Development and Innovation (FDI) to decide to fund doctoral theses within Ford, financing a thesis in collaboration with the University of Valencia and another one with the CEU Cardenal Herrera University. Moreover, Eduardo García’s thesis motivated the staff of the plant to take the step to carry out doctoral theses, funded by the INNODOCTO programme of the Generalitat Valenciana. Throughout this journey different awards have been won such as the Henry Ford Technology Awards in 2019, the Factories of the Future Awards in 2021, the Global Manufacturing Technical Excellence Award in 2023 and the Angel Herrera Award for the best research work in 2024. Twenty-four communications have been made to congresses, ICINCO being the congress with the highest number of communications. In particular, at ICINCO 2020, one of these articles was selected as the Best Industrial Paper Award. Thirteen articles have been published in indexed journals with an impact index and also three book chapters. This document aims at reviewing the different tools and concepts developed and introduced by the research group as well as trying to define its objective.

The development of the skills and knowledge of architecture students is largely shaped during their study at a Faculty of Architecture. There is another way of improving student knowledge of architecture and urban planning. Apart from Erasmus programmes, there are also other international academic and education programmes as well as international workshops. The Activation of the Public Spaces of Historical City Centres Based on Local Communities, jointly conducted by the Faculty of Architecture of the Cracow University of Technology and the Technical School of the University CEU Cardenal Herrera in Valencia, is one such programme. The outcomes of this form of teaching include not only the knowledge and skills allowing one to deal with new conditions that young people have to face while being put through a lot of stress, but also the effort they put into multiple-days-long conferences, workshops or the preparation of their Bachelor’s in engineering projects. International cooperation and workshops participation have contributed to the enhancement of knowledge about architecture and to the development of participating students’ characters.

In the twenties of the 20th century, architects experimented with the dilemma of what housing should be for modern life. The issue was discussed in The Modern Architecture Congresses and especially in 1929 in the second edition of CIAM held in Frankfurt, with the title existenzminimum that explored the possibilities of minimal housing, proposing new models of living. Later, after the destruction of the Second World War, the problem was located in the optimization of the domestic space and the standardised construction that would solve the lack of housing. The Modern Movement defined the foundations of this domestic restlessness by transgressing ancient habits, exploring abstraction, and eliminating the superfluous, which contrasts with the habit of the users of adding alien elements to the architectural space. We could explain the design of the home as an equation formed by the addition of parameters such as; the house, the furniture, the users and their belongings. The architect has mastery over the design of the house and as much about the furniture. The defence of Adolf Loos of the "complete design" that prevented the inhabitant from introducing anything without the supervision of the architect seems utopian and excessive. The resistance and the obstruction of the user is an interference impossible to eliminate. Some architects have developed archetypes of new ways of life in their design of houses. This text raises a thought about this equation where the architect tries to minimize the elements that distort the perception of the domestic space exploring a particular experimental concept.

Historically, the tallest buildings to be built in New York were office towers. Their height is one of the defining characteristics of Manhattan’s development, and the city’s skyline, filled with towering buildings, is recognisable all over the world. In the twenty-first century, this skyline is also formed by residential towers. We analysed the situation and evolution of housing buildings on Manhattan, buildings that are often built in place of former office buildings. Based on our research, we have observed the existence of two trajectories in the design of twenty-first-century housing in New York. The first is the functional trend and it is based on an increasing hybridisation of function. The second is the trend of height, which is closely linked with developing technological potential, and which often adversely affects access to insolation on lower storeys and to cross-ventilation. We analysed selected cases of buildings and discussed the relationships between these two architectural currents and their impact on the image and composition of the city.

Residential towers undeniably changed the reality that surrounds us. Vertical structures have influenced the landscape of cities by shaping new, previously unknown panoramas. Infinite peripheries were split and reassembled again in the vertical form. Is it possible to create a comfortable living space in a small area? Can residential towers fit into a fully fledged and well-functioning urban structure? Problematic aspects of this scenario are discussed on the basis of the most representative example in the world, which is Manhattan, located in New York City. Analysis of the urban structure of specific districts and examples of residential towers enables the presentation of the differences, advantages and disadvantages resulting from a specific given forms of architecture and urban planning.

Carlo Scarpa, considerado como uno de los maestros de la arquitectura moderna de la segunda mitad del siglo XX, conjuga arquitectura y diseño mediante una metodología proyectual que prioriza la reflexión gráfica frente a la inspiración inmediata. Su escrupuloso proceso creativo se refleja en la documentación gráfica del arquitecto que progresivamente ha ido concentrándose en el archivo de arquitectura del MAXXI de Roma. Los aproximadamente treinta mil documentos del archivo permiten entender y secuenciar su proceso proyectual, que utilizaba el dibujo como herramienta central creativa y de reflexión. Este artículo pretende profundizar en el proceso de pensamiento creativo, analizando las técnicas y procedimientos gráficos que el arquitecto veneciano utilizó a la hora de abordar el diseño de sus proyectos, así como su evolución durante sus años de profesión. La investigación requirió del estudio comparativo de los documentos gráficos, revelando ejemplos inéditos que ilustran la esencia de lo planteado. Para la ordenación de ideas y de la secuencia evolutiva de su método, se recurrió al análisis de escritos relevantes, entrevistas y transcripciones de sus clases, ordenando cronológicamente los documentos gráficos para poder evidenciar los cambios suscitados a lo largo del tiempo. De este análisis se concluye que Scarpa presenta una sensibilidad creativa única, guiada por una búsqueda de la perfección que lo llevará a un nivel de depuración y sofisticación del método proyectual en el que destaca su capacidad para usar el dibujo como instrumento de pensamiento, diseño y comunicación.

Purpose: The purpose of this paper is to present the development and validation of a methodology which allows modeling and solving the inverse and direct dynamic problem in real time in robot manipulators. Design/methodology/approach: The robot dynamic equation is based on the Gibbs‐Appell equation of motion, yielding a well‐structured set of equations that can be computed in real time. This paper deals with the implementation and calculation of the inverse and direct dynamic problem in robots, with an application to the real‐time control of a PUMA 560 industrial robot provided with an open control architecture based on an industrial personal computer. Findings: The experimental results show the validity of the dynamic model and that the proposed resolution method for the dynamic problem in real time is suitable for control purposes. Research limitations/implications: The accuracy of the applied friction model determines the accuracy of the identified overall model and consequently of the control. This is especially obvious in the case of the PUMA 560 robot, in which the presence of friction is remarkable in some of their joints. Hence, future work should focus on identifying a more precise friction model. The robot model could also be extended by incorporating rotor dynamics and could be applied for different robot configurations as parallel robots. Originality/value: Gibbs‐Appell equations are used in order to develop the robotic manipulator dynamic model, instead of more usual dynamics formulations, due to several advantages that these exhibit. The obtained non‐physical identified parameters are adapted in order to enable their use in a control algorithm.