Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 13 of 13 for “"Contact State"”.
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Kinematic Analysis of a Threaded Fastener Assembly
… in an effort to determine the nature of contact between a bolt and nut during thread mating. The assembly problem was initially simplified as a two-dimensional analysis to gain an understanding about how contacts between the bolt and nut change during counter-clockwise motion. Tessellated …
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Learning Emergent Gaits with Decentralized Phase Oscillators: on the role of Observations, Rewards, and Feedback
… The oscillator itself is interpreted as a latent contact state-estimator. Through a systematic ablation study, we show that the combination of phase observations, simple phase-based rewards, and the local feedback dynamics induces policies that exhibit emergent gait preferences, while using a …
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A System for General In-Hand Object Re-Orientation
… actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can learn to reorient objects with both the hand facing upwards and downwards. We demonstrate the capability of reorienting over 2000 geometrically …
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Tactile measurement with a GelSight sensor
This thesis introduces a method of measuring contact force with GelSight. GelSight is an optical-based tactile sensor that uses a piece of coated elastomer as the contact medium. A camera records the distortion of the elastomer during contact. This sensor can obtain a high-resolution view of the …
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Advances in grasping and vehicle contact identification : analysis, design and testing of robust methods for underwater robot manipulation
… Institution. To enable the exploitation of contact with the environment to help stabilize the vehicle, Part II develops a technique which identifies the contact state of a planar vehicle interacting with a fixed environment. Knowing the vehicle geometry and velocity we identify kinematically …
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Realtime state estimation for contact manipulation
In this thesis, we develop a real-time state estimation system to recover the pose and contact state of an object relative to its environment. The capability to make such estimations is important for a controller to adequately react to uncertainties in a manipulation task. We propose a framework …
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Dynamic action spaces for autonomous search operations
… (UUV) to search for and detect an evading contact. This approach uses a contact position distribution from a generic particle filter to estimate the state of a single moving contact and to plan the path that minimizes the uncertainty in the location of the contact. The search algorithms …
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Virtual articulation and kinematic abstraction in robotics
… uncertainties, and temporal abstractions model contact state evolution.
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Robot motion planning with contact from global pseudo-inverse map
… be avoided. However, there are situations where contacting with the environment is not costly. Moreover, in many cases, making contact can actually help a robot to maneuver around to reach a goal state which would not have been possible otherwise. This thesis presents a framework for motion …
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Observation and Modelling of Meter-Class Earth impacting Asteroids
… recorded entry speed. Integrating the object's contact state back in time with the goal to identify precovery images, we discovered the object had made a close pass by the Moon, perturbing the object into an Earth impact from a prior somewhat chaotic low-speed Earth orbit. The thesis concludes …
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Investigation of the Processing History during Additive Friction Stir Deposition using In-process Monitoring Techniques
… stir deposition (AFSD) is an emerging solid-state metal additive manufacturing technology that uses deformation bonding to create near-net shape 3D components. As a developing technology, a deeper understanding of the processing science is necessary to establish the process-structure …
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Assembly Sequence Optimization and Assembly Path Planning
… involved. In high precision assembly tasks, contact motion is common and often desirable. This entails a careful study of contact states of the parts being assembled. Recognition of contact states is crucial in planning and executing contact motion plans due to inevitable uncertainties. Dr. …
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Heat Generation and Transfer in Additive Friction Stir Deposition
… stir deposition (AFSD) is an emerging solid-state additive manufacturing process that leverages the friction stir principle to deposit porosity-free material. The unique flow of material that allows for the transformation of bar stock into a near-net shape part is driven by the non-linear …