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 27 for “"Low-Level Control"”.
-
A symbol's role in learning low-level control functions.
… processing can be exploited in the learning of low level control functions. It proposes a novel hybrid architecture with a tight coupling between a variant of symbolic planning and reinforcement learning. This architecture combines the strengths of the function approximation of subsymbolic …
-
Satisfying Distributed Joint Control Timing Constraints
When controlling the real-time system that is a robotic joint, reliability is the chief concern. Implementing controllers via embedded software imposes several limitations on the controller frequency, such as algorithm latency and supplemental processes (like networking) competing for execution …
-
Towards adaptive and directable control of simulated creatures
… disturbances. However, developing robust control strategies that result in natural motion of active creatures within physical simulation has proved to be a difficult problem. To address this issue, a new and versatile algorithm for the low-level control of animated characters has been …
-
Evolving controllable emergent crowd behaviours with Neuro-Evolution
… they should be directable both at a high and low level, and be believable. As agent-based techniques allow for low-level directability and more believable crowds, they are typically used in this field. However, due to the bottom-up nature of these techniques, achieving high level direct …
-
STPA Hazard Analysis of Human Supervisory Control of Multiple Unmanned Aerials Systems
… operations are shifting from multiple operators controlling a single-UAS to a single operator supervising multiple-UAS engaged in complex mission sets. To enable this paradigm change, there is wide consensus in the literature that limitations in human cognitive capacity require shifting low-level …
-
Cryptographically enforced access control for user data in untrusted clouds
Modern web services rob users of low-level control over cloud storage; a user's single logical data set is scattered across multiple storage silos whose access controls are set by the web services, not users. The result is that users lack the ultimate authority to determine how their data is shared …
-
Coordinating agile systems through the model-based execution of temporal plans
… vehicles and robot manipulators, and that are controlled indirectly through the setting of continuous state variables. Systems with continuous dynamics are more challenging than discrete systems, because they require continuous, low-level control, and cannot be controlled by issuing simple …
-
Distributed dataflow machine controllers
Workflows in Digital Fabrication require coordination across heterogenous computing systems, from the design tools used to describe component geometries to the embedded control systems used to interact with the physical world in order to produce those components. In the state of the art, workflows …
-
NDF-Based API for Human-assisted Language Planning (HaLP)
… planning. Challenges in integrating LLM for high-level planning include outputting infeasible or sub-optimal plans, but the potentials include cultural commonsense to reason about high-level tasks on par with a human. Related works will generate free-form text that may contain actions inaccessible …
-
Design, Development, and Evaluation of Customized Electronics for Controlling a 5-DOF Magneto-Rheological Actuator Collaborative Robot
… are compact and powerful to enable effective low-level control of the robot joints. The electronic drivers are responsible for sensor data processing, between-joint communication, supplying electric power, and executing control actions. The hardware design is optimized to handle transient …
-
Affordance-based control of a variable-autonomy telerobot
… two modes: full autonomy, usually in the lab; or low-level teleoperation, usually in the field. Full autonomy is currently realizable only in narrow domains of robotics-like mapping an environment. Tedious teleoperation/joystick control is typical in military applications, like complex …
-
Human-UAV Collaborative Search with Concurrent Flights and Re-Tasking
This thesis discusses a system that allows an operator to use two unmanned aerial vehicles (UAVs) to search an area. Prior work accomplished this in separate survey and search missions, and this work combines those two missions into one. The user conducts a search by selecting an area to survey, …
-
Illi Racecar: A small-scale platform for autonomous driving
… the platform for environmental perception. Three levels of computer module were equipped for data processing and control. A servo motor and a DC motor with the Ackermann steering chassis were utilized for motion control. A self-designed PCB board was placed on the vehicle supporting the electronic …
-
Algorithms for autonomous urban navigation with formal specifications
This thesis addresses problems in planning and control of autonomous agents. The central theme of this work is that integration of "low-level control synthesis" and "high-level decision making" is essential to devise robust algorithms with provable guarantees on performance. We pursue two main …
-
Imitation Learning for Sequential Manipulation Tasks: Leveraging Language and Perception
… performing a sequence of operations for a high-level goal remains a challenge. Transferring sequential task specifications is a difficult objective, as it requires extensive human intervention to establish the structure of the task including the constraints, objects of interest, and control …
-
Navigation with Local Sensors in Surgical Robotics
… the environment at different representation levels throughout the process, ranging from complex 3D imaging modalities which reflect the environment geometry to finding appropriate low-level control parameters for actual motion through environment regions. In this work, a common framework for …
-
Shared decision-making and control between humans and adaptive control algorithms
This thesis addresses the problem of controlling a dynamical system subject to both parametric uncertainties and abrupt changes in the dynamic structure of the system, by proposing a shared control architecture predicated on a suitable division of responsibilities between supervisory human …
-
A modular simulation environment for the improved dynamic simulation of multirotor unmanned aerial vehicles
… considerable challenge in the design of powerful control architectures that guarantee safe and reliable flight performance. As is customary today, the design of guidance, control and navigation algorithms (GNC) is mostly performed in simulation. In order to guarantee a seamless transition between …
-
Biologically-inspired control framework for insect animation.
… and distributed neural system. At the top level, a Triangle Placement Engine (TPE) is modelled based on the double-tripod gait pattern of insects, and determines the location and orientation of insect foot contacts, given various user inputs. At the low level, a Central Pattern Generator …
-
Intelligent control and path planning for unmanned aerial vehicles
… Their application also poses some venues in the control and planning of UAVs that have not been fully explored. This thesis is devoted to the development of intelligent control and path planning algorithms tailored for UAVs. Firstly, the modeling of multi-rotor aerial vehicles is refined by using …
Page 1 of 2