Angel Martinez-Tenor

PhD Student

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I received the degree in electronics engineering and the MS degree in mechatronics engineering at Technical School of Industrial Engineering, University of Málaga. I currently work in the PhD Thesis 'Reinforcement learning in developmental robotics'. Previous research include: regulation system of sensor data transmission for networked telerobots, web-based interface for mobile robotics, robot modules for sensors-actuators management, and hybrid navigation system for path following. Before robotics I was working for 5 years as R&D engineer at a photovoltaics manufacturing plant and as R&D manager at an energy efficiency company.




2015 - 2016 Research Intern. System Engineering and Automation, University of Málaga

  • Machine Learning in Robotics
  • Reinforcement Learning for multiple tasks [10]
  • Software Framework RL-ROBOT [11]


2015 - 2016 Robotics Teacher. University of Málaga

  • Robotics. C-based Robot Programming. Reactive paradigm: Explorer & Sumo robots (Lego Mindstorms NXT)
  • Science Project. Analysis of results. Development of scientific presentations. Teamwork
  • Cognitive Robotics Practices: Reinforcement Learning in real robots [7] [9]


2012 - 2014 Research Intern. System Engineering and Automation, University of Málaga

  • Implementation of a regulation system of sensor data transmission for networked telerobots [1] [2]
  • Design and implementation of a web-based interface for mobile robotics [2] [3]
  • Development of robot modules for sensors-actuators management (reals and simulated) [2]
  • Implementation of a hybrid navigation system for path following [2] [8] 


2010 - 2011 R&D Manager. Ecoavantis/Oplan (Energy Optimization)

  • Development of research proposals. Technical and financial project manager
  • Lean Management. Business Process Reengineering: Processes redefinition for energy audits
  • Development of process models and flux diagrams. Implementation of Quality Management System (ISO 9001)
  • Electrical network quality analysis in over 50 installations


2005 - 2008 R&D Engineer / Process Engineer. Isofotón S.A. (PV Manufacturer)

  • Manager in n-diffusion in low-pressure tube and laser edge isolation processes. Implementation of SPC system
  • Design of experiments in diffusion, SiN coating, screen printing, metallization and laser processes
  • Experience with continuous and batch production machines (Semco, Roth & Rau, Asys, Baccini, Manz, Rofin)
  • Characterization and evaluation of measurement equipment (Sinton, Semilab, Sunlab, H.a.l.m., Oriel)
  • Evaluation of new devices and processes: spray/fog diffusion, plasma etching, front and rear SiN coating [4] [5]
  • Research and technical representations in Epimetsi and Crystal Clear projects (EU’s Sixth Framework Programme)


2005 PCB Repair Manager. Vitelcom Mobile Technology S.A (Cellphone Manufacturer)

  • Management and optimization of cell phones PCB repair process. ISO 9001 documentation





2013  - PhD program in Mechatronics Engineering (in progress). System Engineering and Automation, University of Málaga

  • PhD Thesis: Reinforcement Learning in Developmental Robotics
  • Supervisors: Juan Antonio Fernández Madrigal y Ana Cruz Martín


2011 - 2013 Master of Science in Mechatronics Engineering. Technical School of Industrial Engineering, University of Málaga

  • Master Thesis: Reinforcement Learning on the Lego Mindstorms Robot. Analysis and Implementation [6] [7]
  • Average score: 9.37 / 10 (Graduated in top 5% of class)


2002 - 2006 Bachelor of Science in Electronics Engineering. Faculty of Sciences, U. Granada  &  Technical School of Ind. Engineering, U. Málaga

  • Degree Project: Design and Implementation of a Remote Laboratory using LabVIEW
  • Average score: 2.24 (top 5%)


1998 - 2002 Bachelor of Industrial Electronics Engineering. Higher Polytechnic School, University of Córdoba

  • Degree Project: Virtual Laboratory of Photovoltaic Systems
  • Average score: 2.41 (top 5%)



2009 - 2010 Advanced Course on Quality Management in the Aeronautical Industry (QIAS). (1000 hours) Association of Aeronautical Companies (AEA), Aerospace Technology Park of Andalusia

  • ISO 9100. Quality management: Normalization, accreditation, certification, EFQM excellence model
  • Continual improvement. Six Sigma. 5S. Lean Manufacturing. SPC
  • Document management. Measurement and metrology. Manufacturing technologies
  • Aeronautical materials. Hydraulic, electrical, pneumatic systems, and Avionics
  • Special processes. Corrosion. Non-destructive testing. NADCAP
  • Leadership. Human resources. Prevention of occupational hazards
  • Project: Energy Efficiency at a Composites Factory: Design and Analysis


2010 - 2011 R&D E-learning courses (300 hours)

  • Making innova. Creativity innova. Business innova. Cooperation invest. R&D management


2010 - 2014 Other E-learning Courses  (200 hours)

  • Personal and professional leadership
  • App programming. Digital marketing


  • Robotics, Automatics, Electronic Instrumentation, Photovoltaics, Aeronautics
  • Programming Languages: Python, JavaScript, C++, Java, PHP, HTML5, CSS3, Matlab/Octave
  • Engineering Software: LabVIEW, Autocad, Orcad, Cadence, Arena


  • Spanish: Native language. English: Business level (ibT-TOEFL: 96 / 120)
  • High School (1994-1998): IES Séneca (Córdoba). Graduated with honors
  • Two years of experience teaching: Mathematics, Physics and Chemistry (undergraduate students)
  • Hobbies: E-learning, Independent and Documentary Films, Open Source, Music and Exercise





[1]. Ángel Martínez-Tenor, Ana Gago-Benítez, Juan-Antonio Fernández-Madrigal, Ana Cruz-Martín, Rafael Asenjo-Plaza, and Ángeles González-Navarro. Hierarchical Regulation of Sensor Data Transmission for Networked Telerobots. In IEEE Sensors, Nov 2014.

[2]. Ángel Martínez-Tenor. Contributions to Remote Optimal, Adaptive Control of Mobile Robots with Non-Deterministic Components, 2014.


[3]. Ángel Martínez-Tenor. Networked Robot Controlled Interface (NRCI), 2014.


[4]. L.J. Caballero, A. Martinez, P. Sanchez-Friera, M.A. Vazquez, and J. Alonso. Front grid design in industrial silicon solar cells: Modelling to evaluate the behaviour of three vs. two buses cell patterns. In Photovoltaic Specialists Conference, 2008. PVSC ’08. 33rd IEEE, pages 1–4, May 2008.

[5]. C
. Vazquez, J. Alonso, M.A. Vazquez, L.J. Caballero, A. Martinez, R. Romero, and J.R. Ramos-Barrado. Role of Doping and Thickness of Emitter in the Efficiency of Monocrystalline Si Solar Cells. In Electron Devices, 2007 Spanish Conference on, pages 254–257, Jan 2007.


[6]. Ángel Martínez-Tenor. Reinforcement Learning on the Lego Mindstorms NXT Robot. Analysis and Implementation. Master Thesis, E.T.S. de Ingenieros Industriales. Universidad de Málaga, 2013.

[7]. Ángel Martínez-Tenor, Juan-Antonio Fernández-Madrigal, and Ana Cruz-Martín. Lego Mindstorms NXT and Q-learning: a teaching approach for robotics and engineering. In 7th International Conference of Education, Research and Innovation (ICERI), Nov 2014.

[8]. Ángel Martinez-Tenor and Juan-Antonio Fernández-Madrigal. "Smoothly Adjustable Autonomy for the Low-Level Remote Control of Mobile Robots that is Independent of the Navigation Algorithm". In 23rd Mediterranean Conference on Control and Automation (MED), Jun 2015.


[9]. Angel Martínez-Tenor, Ana Cruz-Martín and Juan Antonio Fernández-Madrigal,  Teaching Machine Learning Methods in Robotics: The case of Reinforcement Learning with Lego Mindstorms NXT. Work in progress, 2016


[10]. Angel Martínez-Tenor. RL-ROBOT: Reinforcement learning framework for robotics. MAPIR, University of Málaga, 2016,


[11]. Angel Martínez-Tenor, Juan Antonio Fernández-Madrigal, Ana Cruz-Martín and Javier González-Jiménez, Towards a common implementation of reinforcement learning for multiple robotics tasks. Work in progress, 2016