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.
Results
Showing 1 to 20 of 64 for “"Engineering, Robotics"”.
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Design, Fabrication, and Testing of Mechanical Hinges with Snap-Fit Locking Mechanisms in Rigid Origami Structures
… currently adopted origami designs in various engineering disciplines, including aerospace engineering, robotics, biomedical engineering, and architecture. In particular, architects have been interested in designing origami-inspired rigid walled structures that can be deployed as …
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Pareto Optimization in Robotics With Acceleration Constraints
Earlier work demonstrated a finite number of Pareto-optimal classes of motion plans when the robots are subjected to velocity bounds but no acceleration bounds. We prove that, when velocity and acceleration are bounded, the finiteness result still holds for systems involving only two robots. In …
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Interaction and Configuration Control for Networks of Dynamical Systems
We focus on three main frameworks: (1) we investigate configuration control and coordinated tracking for nonholonomic and Lagrangian multi-agent systems; (2) we introduce systems with switching equilibria, develop control strategies and apply them to the study of interaction between subsystems in a …
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Plant Specific Direct Chemical Application Field Robot
This study addressed the issues in the conventional chemical application such as chemical drift and application inaccuracy via developing a plant specific direct application field robot. The robot was designed to autonomously detect plants, to identify weeds and to control weeds in the field. The …
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Geodesic Problems for Mobile Robots
… drive because it is ubiquitous in mobile robotics. To obtain a well-defined notion of shortest, the total amount of wheel rotation is optimized. We analytically characterize minimum wheel-rotation trajectories in the absence of obstacles, and identify 52 different minimum wheel-rotation …
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Learning Models for Multi-Viewpoint Object Detection
We also propose two different approaches for modeling the inter-part relations and algorithms for efficiently learning the model parameters. The first approach uses a generative model that models the joint probability distribution over the locations and visibility of all the object parts. The …
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Sampling and Searching Methods for Practical Motion Planning Algorithms
… to be used in disparate areas such as humanoid robotics, automotive manufacturing, spacecraft navigation, architecture, computational geography, computer graphics, and computational biology. Many of these methods work well on a large set of problems, however, they have weaknesses and …
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Minimalist Models and Methods for Visibility-Based Tasks
This dissertation proposes minimal models for solving visibility-based robotic tasks. It introduces strategies that handle sensing and actuation uncertainty while avoiding precise state estimations. This is done by analyzing the space of sensing and actuation histories, the history information …
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Market-Based Coordination and Auditing Mechanisms for Self-Interested Multi-Robot Systems
We conduct both physical robot experiments and software agent simulations for the coordinated task allocation mechanisms. The experimental results suggest that the proposed mechanisms are scalable and fault-tolerant and work in physical robot systems. We compare the proposed methods to control …
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Semantic Based Learning of Syntax in an Autonomous Robot
*This dissertation is a compound document (contains both a paper copy and a CD as part of the dissertation). The CD requires the following system requirements: Windows MediaPlayer or RealPlayer.
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Motion Coordination for Mobile Robotic Networks With Visibility Sensors
Third, we address problem (ii) by proposing a novel motion coordination algorithm for a group of robotic agents to achieve rendezvous, that is, to move to a common location inside a nonconvex environment. The robots move synchronously in discrete time, they have a range-limited visibility sensor, …
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Smooth Feedback Planning
Algorithms, theoretical analysis, and practical examples (as applicable) are presented for three main problems, and several variations thereon. First, the problem of a fully actuated point robot moving in a piecewise linear environment of arbitary dimension is addressed. Second, fully actuated …
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Controlled particle systems for nonlinear filtering and global optimization
… These problems are important in a number of engineering domains. In nonlinear filtering, there is a growing interest to develop geometric approaches for systems that evolve on matrix Lie groups. Examples include the problem of attitude estimation and motion tracking in aerospace engineering, …
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Development of an Industrially Deployable Personalized Ankle–Foot Orthosis System
This dissertation presents the development and validation of a personalized, field-deployable ankle–foot orthosis (AFO) system designed to assist industrial tasks like squatting. Industrial workers frequently suffer from lower limb fatigue and musculoskeletal injuries due to repetitive lifting and …
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Autonomous Dynamic Grasping with a Robotic Arm: Real-Time Motion Prediction and Adaptive Control
Dynamic grasping of moving objects represents one of the most challenging and actively researched areas in robotic manipulation. Unlike static grasping, this task requires the integration of perception, prediction, and control in real-time. Typical approaches involve tracking the target’s position …
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A simultaneous localization and mapping implementation using inexpensive hardware
… SLAM solution beyond the scope of many low-cost robotics projects. This thesis analyzes many of these cost issues related to the implementation of SLAM on autonomous robots. First, the types of sensing hardware are discussed, and potential low-cost solutions are suggested. Next, timing aspects of …
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Developing Computationally Efficient Optimization Framework for Online Routing of UAV-UGV Systems
Unmanned Aerial Vehicles (UAVs) are increasingly popular for autonomous tasks such as surveillance, package delivery, and disaster relief. However, as these applications expand, so do the challenges of enabling UAVs to perform these tasks over extended durations or on a larger scale. One solution …
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A Novel Tele Manipulation Platform for Micro Cell Injection
… of Technology and Education and Mechanical Engineering Department, University of Kansas. This thesis work can have immediate applications in the biological cell injections, drug delivery applications and various medical applications.
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