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 21 for “"Robot operating system (ROS)"”.
-
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) …
-
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 …
-
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 …
-
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 …
-
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 …
-
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 …
-
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 …
-
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 …
-
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 …
-
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, …
-
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 …
-
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 …
-
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 …
-
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. …
-
Autonomous UAV Navigation and Path Planning for Civil Infrastructures Inspection and Structural Health Monitoring
… programming was accomplished using a meta-operating system library named Robot Operating System (ROS), and three path planning algorithms from the OMPL library were selected to assess their performance in terms of planning time, path length, and obstacle avoidance. The results highlight …
-
Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
… trajectory generation algorithms for multibody robotic systems based on the Product of Exponentials (PoE) formulation, also known as screw theory. A PoE formulation is first developed to model the kinematics and dynamics of a multibody robotic manipulator (Sawyer Robot) with 7 revolute joints …
-
Automatic trajectory generation for mobile-manipulators using 3D LiDAR scans of unknown surfaces
… application process is presented. Utilizing the Robot Operating System (ROS) framework to achieve autonomous operation, workers can be removed from the most hazardous areas of the mine. Worker knowledge and experience is utilized when instructing the system from a remote location. The current …
-
Development and Characterization of an Interprocess Communications Interface and Controller for Bipedal Robots
As robotic systems grow in complexity, they inevitably undergo a process of specialization whereby they separate into an array of interconnected subsystems and individual processes. In order to function as a unified system, these processes rely heavily on interprocess communications (IPC) to …
-
The Creation of Motion Planning Software for a Car-like Robot
As the demand for robots and vehicles capable of autonomously navigating through obstacle-rich environments increases, so will the need for software capable of achieving such functionality. This dissertation presents software capable of finding a solution to the motion planning problem for a …
-
Contributions to deconfliction advanced U-space services for multiple unmanned aerial systems including field tests validation
Unmanned Aerial Systems (UAS) will become commonplace, the number of UAS flying in European airspace is expected to increase from a few thousand to hundreds of thousands by 2050. To prepare for this approaching, national and international organizations involved in aerial traffic management are now …
Page 1 of 2