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 229 for “"Robotic Systems"”.
-
Ensemble control of robotic systems
… approximate steering algorithm for two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded constant. The basic idea is to maintain the set of all possible configurations and to …
-
Efficient Connectivity Maintenance For Distributed Robotic Systems
… robots have the potential to improve upon many robotic tasks performed by individuals. As these robots move about, they must maintain connectivity through direct links or multi-hop paths in order to exchange useful information for the completion of collaborative tasks and avoid duplicating work. …
-
Expanding the Capabilities of Dynamic Robotic Systems
For robotics research to reach its full potential the hardware platforms we use will have to be pushed to the physical limits. Building systems that can reach these limits and that are robust and reliable requires careful engineering optimization across the entire design process. This thesis …
-
Efficient Mapping of Environmental Phenomena with Autonomous Robotic Systems
… investigate methods utilized by single and multi robotic systems to map potentially nonstationary, time-varying environments. Key to modeling the environment from collected sensor data is the Gaussian process, used for its concise mathematical representation of the spatial field of interest. …
-
Atomic layer deposition for mechanical, magnetic, and robotic systems
… art forms are especially valuable for small systems because most nanofabrication involves lithographic patterning of planar substrates. In this thesis, we build upon efforts to bring these paper art forms to materials with a characteristic thickness on the scale of nanometers. We employ …
-
Swing-Up and Balancing Control of Underactuated Robotic Systems
To validate the control algorithms experimentally, a complete controller for swing-up and balancing has been designed and implemented on the Pendubot, a two-link underactuated robot. The parameters of the Pendubot were varied by up to 50% in order to test robustness to parameter errors. The robust …
-
On modular design and planning for field robotic systems
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1998.
-
Rapid generation of motion plans for modular robotic systems
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1995.
-
Monitoring the execution of temporal plans for robotic systems
… in dynamic and uncertain environments, robotic systems must monitor the progress of their plans during execution. This thesis develops a plan executive called Pike that is capable of executing and monitoring plans. The execution monitor at its core quickly and efficiently detects …
-
Distributed learning automata based data dissemination in swarm robotic systems
Swarm robotics systems often work in collaboration with humans to accomplish tasks in a random environment. Swarms allow many tasks to be accomplished within a mission more quickly while generally being more cost effective. The robots in the swarm can also accomplish tasks that humans are not able …
-
Development and evaluation of vision processing algorithms in multi-robotic systems.
The trend in swarm robotics research is shifting to the design of more complicated systems in which the robots have abilities to form a robotic organism. In such systems, a single robot has very limited memory and processing resources, but the complete system is rich in these resources. As vision …
-
An experimental investigation of sensory feedback methods within teleoperation robotic systems
… of novel visual and vibration feedback systems. A study scenario with defined assessment criteria is outlined to evaluate the impact of the multiple feedback methods in relation to overall completion time, error rate, perceived workload (using NASA-TLX) and frustration. A 24 participant …
-
Detecting cyber-physical threats against autonomous robotic systems in routine missions
Autonomous cyber physical systems are increasingly common in a wide variety of application domains, with a correspondingly wide range of functionalities and types of sensing and actuation. At the same time, the variety and frequency of cyber attacks is increasing in correspondence with the …
-
Analysis of robotic systems test methods targeting test resource utilization improvement
The robotics industry continues to grow rapidly. More industries are moving towards automation and are looking for the robotics industry to support the industry 4.0 movement. Due to a push by consumers, robotics producers are getting pressured by customers to deliver higher quality products faster. …
-
Advancing Tendon-Driven Robotic Systems: From Climbing Robots to String Actuators
… mechanisms provide a range of benefits for robotic systems, particularly by allowing actuators to be mounted at the base of a manipulator and reducing its inertia. This thesis explores two projects that exploit and advance tendon-driven mechanisms: a wheeled-grasping hybrid climbing robot …
-
Motion Control Theory Needed in the Implementation of Practical Robotic Systems
… in the production of industrial and commercial robotics are motor control and obstacle navigation algorithms. This is especially true in the field of autonomous robotic vehicles, and this application will be the focus of this work. This work is divided into two parts. Part I describes the motor …
-
Variable Structure and Ultimate Boundedness control and stabilization of flexible robotic systems
… presence of uncertainty. The control of flexible robotic arm with uncertainty such as variable payload, joint angle frictional torque etc., is an interesting and important problem; Here we consider control of joint angles and stabilization of the flexible modes caused by the manuever of robotic …
-
A graphical framework for component selection in mechatronic design of robotic systems
The successful function of complex engineering systems, particularly those which provide a dynamic performance capability to a system, is usually largely dependent on the correct specification and selection of components to be used in that system. Whilst material selection and part design for …
-
Biologically inspired attitude control of robotic systems using center of gravity reallocation
… as a mechanism for the attitude control of robotic systems. This thesis explores the use of center of gravity reallocation for the control of robotic systems. In particular we attempt to use the mechanism employed by biological bats in their landing maneuvers with a micro aerial vehicle …
-
Multi-Objective Generation of Pareto-Optimal Perception Architectures for Autonomous Robotic Systems
Designing perception systems for autonomous robots and vehicles requires balancing sensor performance against cost, complexity, and integration constraints. This thesis introduces GO4R (Generation and Optimization of Perception System Architectures for Robotics), a multi-objective framework that …
Page 1 of 12