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 11 of 11 for “"underwater robot"”.
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Optical proximity sensor and orientation control of autonomous, underwater robot
Autonomous mobile robots need a reliable means of navigation to reach their target while avoiding collisions. This requires continuous knowledge of the vehicle's position, orientation, and motion as well as a way to identify their surroundings. Exploratory robots and those traveling in complex …
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Design and control of a spheroidal underwater robot for the inspection of nuclear piping systems
… department is designing a compact submersible robot that is capable of precise navigation and maneuvering in order to detect defects within water filled piping systems. The robot is spheroidal with a smooth surface and no external appendages. It propels itself with centrifugal pumps which suck …
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Advances in grasping and vehicle contact identification : analysis, design and testing of robust methods for underwater robot manipulation
… of a manipulator arm mounted to a free flying underwater vehicle. Part I minimizes system sensitivity to misalignment by developing a gripper and a suite of handles that passively self align when grasped. After presenting a gripper guaranteed to passively align cylinders we present several …
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Advances in grasping and vehicle contact identification : analysis, design and testing of robust methods for underwater robot manipulation
Thesis (Ph.D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1999.
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The development of Zero-G class underwater robots: unrestricted attitude control using control moment gyros
The ‘Zero-G’ is designated as a new class of underwater robot that is capable of unrestricted attitude control. A novel control scheme based on internal actuation using Control Moment Gyros (CMGs) is proposed to provide Zero-G Class Autonomous Underwater Vehicles (AUVs) with this unique freedom in …
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Intelligence Through Interaction: Leveraging Physical Interactions In Simple Robots To Produce Complex Behaviors
This thesis investigates how intelligent robot behavior can emerge from physical interactions rather than sensing, computation, and actuation in the traditional sense. Two robotic systems are presented to explore this concept in different domains. The first is a swarm of simple rolling robots whose …
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Sampling-based coverage path planning for complex 3D structures
… is an essential capability for autonomous robots, and many applications impose challenging constraints alongside the standard requirement of obstacle avoidance. Coverage planning is one such task, in which a single robot must sweep its end effector over the entirety of a known workspace. …
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Differentiable Simulation Methods for Robotic Agent Design
Designing robots with extreme performance in a given task has long been an exciting research problem drawing attention from researchers in robotics, graphics, and artificial intelligence. As a robot is a combination of its hardware and software, an optimal robot requires both an excellent …
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Adaptive robotic search and sampling of sparse natural phenomena
Autonomous robots are increasingly being used in the field of scientific exploration and data acquisition. Intelligent autonomous robots, capable of online adaptive planning, are seeing wide use in underwater field mapping and agricultural monitoring. The majority of these approaches produce maps …
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Adaptive Robotic Search and Sampling of Sparse Natural Phenomena
Autonomous robots are increasingly being used in the field of scientific exploration and data acquisition. Intelligent autonomous robots, capable of online adaptive planning, are seeing wide use in underwater field mapping and agricultural monitoring. The majority of these approaches produce maps …