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.
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Showing 1 to 20 of 38 for “"Robotic control"”.
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Multisensor data fusion for robotic control
… know what to do and what has been done. A user controls robots through a system controller, which processes both his commands and information from the environment. These information are collected by a measurement system, often called observer, which bring back them to the system controller. …
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Artificial Neural Network-Based Robotic Control
… The applications of ANNs range from process control to pattern recognition and, with increasing importance, robotics. This paper demonstrates continuous control of a robot using the deep deterministic policy gradients (DDPG) algorithm, an actor-critic reinforcement learning strategy, …
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Robotic control of a photometric telescope
… was to design and implement the telescope control software for the Alan Cousins Telescope (ACT), a robotic telescope at the Sutherland, South Africa, site of the South African Astronomical Observatory (SAAO). The approach adopted involved a high level of modularisation of the software and …
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Evolutionary, developmental neural networks for robust robotic control
The use of artificial evolution to synthesize controllers for physical robots is still in its infancy. Most applications are on very simple robots in artificial environments, and even these examples struggle to span the "reality gap," a name given to the difference between the performance of a …
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Robotic control of sliding-object motion and orientation
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.
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Robotic control: real-time architectures and multi-flock flocking
Autonomous robotics has become a popular research topic in the recent years. This dissertation deals with two areas of autonomous robotic research. The first area covered is mobile robot control architectures. The second area covered is robot flocking. The dissertation first asks the question: …
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Reinforcement learning using reservoir computing for soft robotic control: A bio-inspired system
Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2023-12-01
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Bio-inspired robotic control in underactuation: principles for energy efficacy, dynamic compliance interactions and adaptability.
… question to raise is: How can we design control systems to achieve efficient locomotion, while adapt to dynamic conditions as the living systems do? In this thesis, a trajectory planning algorithm is developed for underactuated microrobotic systems with bio-inspired self-propulsion and …
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The Effects On Operator Performance And Workload When Gunnery And Robotic Control Tasks Are Performed Concurrently
… environment while concurrently operating robotic assets in a remote environment. It also analyzed possible effects of individual difference factors, such as spatial ability and attentional control, on operator performance and workload. The experimental conditions included a gunner baseline …
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Autonomous Visual Servo Robotic Capture of Non-cooperative Target
… and validates experimentally a vision-based control scheme for the autonomous capture of a non-cooperative target by robotic manipulators for active space debris removal and on-orbit servicing. It is focused on the final capture stage by robotic manipulators after the orbital rendezvous and …
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ELLIE - Exteroceptive Light Locomotion in Eukaryote-Fungi
… evaluates a wireless, untethered mobile robot controlled by the action potential-like activity generated by <em>Pleurotus ostreatus </em>sporocarps under red, green, and blue optical stimulation. Light is applied to the sporocarps, the resulting electrical responses are recorded, and these …
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Hardware Design of a Wearable System for Gesture-Based Teleoperation of a Robotic Manipulator
To overcome some of the difficulties of robotic teleoperation using hand controllers, a new approach is necessary, namely gesture-based control. A review of sensors currently in use for human joint angle measurement is presented. Based on this review, a method was chosen that uses a variable-length …
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Feedback control of dynamical systems using neuromorphic vision sensors
… amount of research into their applicability to robotic control systems. However, algorithms for onboard control of mobile robotic platforms such as automobiles or aircraft using these sensors are lacking and in fact almost all existing implementations keep the sensor stationary. This research …
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Development of an AI-driven robotic manipulation framework
This paper introduces a manipulator control system that leverages state-of-the-art artificial intelligence (AI), advanced robotics, and the latest computer vision techniques to enable intuitive and universal robotic control across different robotic manipulators. The intuitive user command …
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Learning to Trade Off Performance and Safety in Mixed Autonomy Traffic
… Extending from reinforcement learning methods in robotic control methods and from learning methods for location-based actuators like traffic lights, this thesis considers control strategies afforded by individual AVs, which have recently seen potential for direct optimization of singular system …
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Developing approximation architectures for decision-making in real-time systems
… as a decision-making tool. A case study on a robotic control problem shows that feature-based basis functions are very effective because they are able to capture the characteristics and cost structure of the problem. State-space partitioning, polynomials and other non-linear combinations of …
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Computational aspects of cellular intelligence and their role in artificial intelligence.
… properties of the ARN and its applications in robotic control are explored by combining functional motifs found in biochemical network to create temporal changing waveforms which control the gaits of limbed robots. This system is then extended into a complete control system by combining pattern …
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Characterization of whip targeting kinematics in discrete and rhythmic tasks
Robotic control of complex objects is inferior to that of humans despite superior communication, sensors and actuators. Therefore, studying human control of complex dynamic objects, in particular a bullwhip, should reveal how humans may achieve superior dexterity. An expert whip-cracker performing …
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ELECTROSPINNING ROBOT FOR REGENERATIVE COATING OF IMPLANTS
… parameters during the spinning period. Finally, control of the electric field is compromised by the proximity of grounded electrical components. As its first aim, this project develops a robotic control system to enable custom coatings of arbitrary surfaces. By augmenting the traditional …
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Building World Models with Neural Physics
… and efficiency in downstream tasks such as control, design, recognition, and generation, thanks to cost-effective simulation and differentiability. A pre-trained world model should ideally (1) accurately simulate ground-truth dynamics, (2) adapt easily to novel configurations, and (3) …
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