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Showing 1 to 20 of 35 for “"Robot operating system"”.
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Flexible Fault Tolerance for the Robot Operating System
… research projects have involved the use of the Robot Operating System (ROS). However, another key aspect of realizing an autonomous vehicle is a fault-tolerant design that can ensure the safe operation of the vehicle under unfavorable conditions.</p> <p>The goal of this thesis is to evaluate the …
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ROSRV: runtime verification for the Robot Operating System
The Robot Operating System (ROS) is a widely used open-source framework for robot software development. Its increasing popularity, along with its renowned features, such as its dynamic and distributed nature, call for a safety and security protection mechanism which is not supplied as part of the …
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A Robot Operating System (ROS) based humanoid robot control
… the capability of a commercially available robot, namely, Robotis Bioloid Premium Humanoid Robot (BPHR). BeagleBone Black (BBB), the decision-making and implementing (intelligence providing) component, with multifunctional capabilities is used in this research. Robot operating System (ROS) …
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Abstractions and security concepts for a robot operating system
Made available in DSpace on 2013-08-22T16:48:03Z (GMT). No. of bitstreams: 2 Murph_Finnicum.pdf: 1621462 bytes, checksum: 03c27c277edab329507cb89f22e27a9c (MD5) license.txt: 4064 bytes, checksum: eed9bffe2b4fd91cf56869ffb59d86b4 (MD5)
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An analysis on controlling humanoid robot arm using Robot Operating System (ROS)
Humanoid robots are extensively discussed in modern days. The movement task and manipulation of Humanoid Robots is examined based on mobility of platforms and control of the arm. This project describes a robotic arm that is analogous to an arm of a human being. Some important parameters to be …
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Real-time control of industrial robots for shape setting Nitinol rods
Most robots in industrial settings today rely on playback of precise pre-defined coordinates and do not adjust their motion using feedback from sensors. This thesis describes a system to implement real-time motion control of ABB Industrial robots through ROS (Robot Operating System), which enables …
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A robust and efficient autonomous exploration methodology of unknown environments for multi-robot systems
Multi-robot systems can provide effective solutions for exploring and inspecting environments where it is unpractical or unsafe for humans, however, adequate coordination of the multi-robot system is a challenging initiative. A robust and efficient methodology for exploration of unknown …
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Generalizing robot application development: operating system and framework abstractions
As general-purpose robots begin to find their way into the household and workplace, there will be a demand for software to run on these robots. We foresee the proliferation of robot apps that use a common set of abstractions to allow them to function on a variety of hardware platforms. In this …
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Hardware Implementation of a Complete Vision-Based Navigation Pipeline
… advances, but many of the successful hardware systems are reliant on LiDAR. LiDAR is known to be expensive and to have high computation cost, while vision, which is typically used in combination with LiDAR, has additional benefits without the same cost concerns. It would be ideal if vision …
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Cooperative Payload Transportation by UAVs: A Model-Based Deep Reinforcement Learning (MBDRL) Application
… (PETS) algorithm to model the unknown stochastic system dynamics and uncertainty. We use the Multi-Agent Reinforcement Learning (MARL) framework via a centralized controller in a leader-follower configuration. The agents utilize the approximated transition function in a Model Predictive Controller …
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Computation of Suitable Grasp Pose for Usage of Objects Based on Predefined Training and Real-time Pose Estimation
… for the usage of objects. We developed a system that can be used to train humanoid robots with different types of grasp poses. We present a grasping mechanism using homogeneous transformation that allows a humanoid robot to grasp objects in such a way that is suitable for the usage of the …
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A RAPID PROTOTYPING FRAMEWORK FOR VISION-BASED LOCALIZATION ALGORITHMS
… traditionally rely on the Global Positioning System (GPS). As adversarial electronic warfare capabilities grow, GPS signals face ever-increasing risks of jamming and spoofing, especially in contested environments. Therefore, as these adversarial risks increase, alternatives to GPS have become …
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Development of an obstacle detection and navigation system for autonomous powered wheelchairs
… development and prototyping of an after market system to convert an electric powered wheelchair into an autonomous wheelchair. The purpose of this research is to automatize powered wheelchairs for children who are impacted by conditions such as cerebral palsy. Maneuvering a powered wheelchair …
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Nonlinear control with two complementary Lyapunov function
If a Lyapunov function is known, a dynamic system can be stabilized. However, computing or selecting a Lyapunov function is often challenging. This dissertation presents a new approach which eliminates this challenge: a simple control Lyapunov function [CLF] is assumed then the algorithm seeks to …
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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, …
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Design and development of a novel omni-directional platform
… Omnibot which was built in the Mechatronic and Robotic Systems Laboratory at UOIT. The Omnibot's layout is novel because its drive axes do not intersect with the geometric center of the body, which is typical for omni-directional platforms using segmented omni-directional wheels. This design …
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Neuromodulation Based Control of Autonomous Robots on a Cloud Computing Platform
… has resulted in new ways of implementing control systems on robotic platforms. The work presents a control approach based on vertebrate neuromodulation and its implementation on autonomous robots in the open-source, open-access environment of robot operating system (ROS). A spiking neural network …
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Illi Racecar: A small-scale platform for autonomous driving
… placed on the vehicle supporting the electronic system. The Illi Racecar was built based on a Real-Time Operating System (RTOS) with a high-low level controller framework. The new generation of Robot Operating System, ROS2, was installed on the main computer station with its real-time features to …
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Design of Electromechanical Attachments for Improved Ultrasound Imaging Repeatability
… with external sensors. An external vibration system for SWE, designed in previous work, was developed to improve resistance to debris and its dynamic performance was experimentally validated. An optical tracking module was incorporated for estimating the probe’s 6 degrees of freedom and its …
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The Creation of a low-cost, reliable platform for mobile robotics research
… fabrication, and integration of a low-cost robot designed for research on the problem of life-long robot mapping. The robotics platform used is the iRobot Create. This robot also employs the PrimeSensor, a sensor with the ability to provide a pixel-matched, colored depth field in real time. …
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