Dissertations / Theses on the topic 'Navigation of robotic devices'
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Синєгуб, Олександр Олександрович. "Інтелектуальна система прийняття рішень роботизованого пристрою в розумному домі." Master's thesis, КПІ Ім. Ігоря Сiкорського, 2019. https://ela.kpi.ua/handle/123456789/31707.
Full textThe diploma project on the theme: "The system for monitoring the safe movement of robotized devices and systems in the SH" contains 80 pages of text, drawings - 21 , tables - 10 , sources - 15 and 7 attachments. The urgency of the topic of the project is dictated by the fact that in recent years people increasingly make their homes "smart". This is due to the fact that the systems of this building can save time, increase the level of comfort and increase the safety of the user. However, along with the integration of robotized systems and devices, there is a question of the safety of their functionality in the environment where they work. In particular, there is a problem of the safe movement of mobile devices in the "smart house", where they can cause damage to themselves and property of owners, not to mention the health of the users themselves. A solution to these problems may be a single monitoring system for the safe movement of robotic devices in the SH, which will monitor the positions of robots, lay a safe route and report it. The purpose of this project is to develop a monitoring system to ensure the safe movement of robots in the smart house. Object - methods and means of determining the location and possible path of moving robotic devices and systems of different types in conditions of space constraints and the presence of obstacles. Subject - algorithms for monitoring location and laying safe routes for robotic devices and systems in SH.
Kirimlioglu, Serdar. "Multisensor Dead Reckoning Navigation On A Tracked Vehicle Using Kalman Filter." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614939/index.pdf.
Full textsome other sensors aid the navigation calculations. The aiding or fusion of sensors is accomplished via Kalman filter. In this thesis, a navigation algorithm and a sensor fusion algorithm were written. The sensor fusion algorithm is based on estimation of IMU errors by use of a Kalman filter. The design of Kalman filter is possible after deriving the mathematical model of error propagation of mechanization equations. For the sensor fusion, an IMU, two incremental encoders and a digital compass were utilized. The digital compass outputs the orientation data directly (without integration). In order to find the position, encoder data is calculated in dead reckoning sense. The sensor triplet aids the IMU which calculates position data by integrations. In order to mount these four sensors, an unmanned tracked vehicle prototype was manufactured. For data acquisition, an xPC&ndash
Target system was set. After planning the test procedure, the tests were performed. In the tests, different paths for different sensor fusion algorithms were experimented. The results were recorded in a computer and a number of figures were plotted in order to analyze the results. The results illustrate the benefit of sensor fusion and how much feedback sensor fusion is better than feed forward sensor fusion.
Moore, Justin C. "Robotic navigation of smooth contours." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40449.
Full textIncludes bibliographical references (leaf 10).
The goal of this work is to develop a method for robotic navigation of smooth contours depending on the current and desired locations and orientations. Efficient trajectory generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as military, medical, and home environments. In this thesis, we propose a method that is based on fitting a spline curve that passes from the initial position and orientation of the robot to a goal position and orientation. The spline is continually recomputed as the robot moves through space. This yields a simple and inefficient method for robot navigation. The method has been implemented and tested in simulation using Matlab and good performance has been demonstrated. Future work should perform experiments with this method on a real robot and should introduce obstacle detection and avoidance.
by Justin C. Moore.
S.B.
Mills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.
Full textHsieh, Pin-Chun. "Autonomous robotic wheelchair with collision-avoidance navigation." Texas A&M University, 2008. http://hdl.handle.net/1969.1/86037.
Full textVieira, Miguel Castro Miguéis. "VLC based position etimation for robotic navigation." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/21666.
Full textResumo não disponível
The widespread use of LED as arti cial illumination lead to the development of indoor positioning systems using visible light. On this work we gathered information on strategies and sensors used in visible light positioning (VLP). As such, we propose to estimate a robots position based on visible light communication (VLC) using a prototype developed in previous works. The work was divided in four stages. Initially, we veri ed that the prototype used was suitable to estimate its position. In order to overcome the prototype's limitations, a simulation environment was developed, where similar structures were tested. This allowed the comparison between the results obtained using the prototype and those from the simulator. At last, a noise model was implemented on the simulator to verify its in uence on the position estimation. The results show the viability of implementing VLP using a simple sensor based on a set of photo-diodes placed over a hemispherical dome, yielding a low-cost solution for VLP. When comparing the results obtained with the prototype and the simulator, we veri ed that the response is identical. With the implementation of the noise model, the results show an error of a few centimetres. We concluded that the photo-diodes eld of view is important when the position is estimated. The sensors eld of view should be big enough to intercept others in order to prevent blind spots but not too big since it would lead to errors because all sensors would receive signal.
Gurunathan, Mohan 1975. "Guidance, navigation and control of a robotic fish." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/50052.
Full textIncludes bibliographical references (p. 70).
by Mohan Grurnathan.
S.B.and M.Eng.
Bordallo, Micó Alejandro. "Intention prediction for interactive navigation in distributed robotic systems." Thesis, University of Edinburgh, 2017. http://hdl.handle.net/1842/28802.
Full textGagne-Roussel, Dave. "Vision-based navigation and control of a robotic vehicle." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27361.
Full textVerstaevel, Nicolas. "Self-organization of robotic devices through demonstrations." Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30060/document.
Full textThe AMAS (Adaptive Multi-Agent Systems) theory proposes to solve complex problems for which there is no known algorithmic solution by self-organization. The self-organizing behaviour of the cooperative agents enables the system to self-adapt to a dynamical environment to maintain the system in a functionality adequate state. In this thesis, we apply the theory to the problematic of control in ambient systems, and more particularly to service robotics. Service robotics is more and more taking part in ambient environment, we talk of ambient robotics. Ambient systems have challenging characteristics, such as openness and heterogeneity, which make the task of control particularly complex. This complexity is increased if we take into account the specific, changing and often contradictory needs of users. This thesis proposes to use the principle of self-organization to design a multi-agent system with the ability to learn in real-time to control a robotic device from demonstrations made by a tutor. We then talk of learning from demonstrations. By observing the activity of the users, and learning the context in which they act, the system learns a control policy allowing to satisfy users. Firstly, we propose a new paradigm to design robotic systems under the name Extreme Sensitive Robotics. The main proposal of this paradigm is to distribute the control inside the different functionalities which compose a system, and to give to each functionality the capacity to self-adapt to its environment. To evaluate the benefits of this paradigm, we designed ALEX (Adaptive Learner by Experiments), an Adaptive Multi-Agent System which learns to control a robotic device from demonstrations. The AMAS approach enables the design of software with emergent functionalities. The solution to a problem emerges from the cooperative interactions between a set of autonomous agents, each agent having only a partial perception of its environment. The application of this approach implies to isolate the different agents involved in the problem of control and to describe their local behaviour. Then, we identify a set of non-cooperative situations susceptible to disturb their normal behaviour, and propose a set of cooperation mechanisms to handle them. The different experimentations have shown the capacity of our system to learn in realtime from the observation of the activity of the user and have enable to highlight the benefits, limitations and perspectives offered by our approach to the problematic of control in ambient systems
Blomqvist, Anneli. "Millimeter Wave Radar as Navigation Sensor on Robotic Vacuum Cleaner." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-288146.
Full textHar radar med millimetervågor förutsättningar att vara navigationsutrustning för en robotdammsugare i ett hem? Electrolux robotdammsugare använder för närvarande en ljussensor för att navigera genom hemmet medan den städar. Nyligen släppte Texas Instruments en ny radarsensor med vågor i frekvensområdet 60-64 GHz. Denna studie syftar till att svara om radarsensorn är användbar för inomhusnavigering. Studien testar sensorn med avseende på noggrannhet och upplösning av vinklar och avstånd i områden som är relevanta för inomhusnavigering. Den testar om olika föremål tillverkade av plast, tyg, papper, metall och trä kan detekteras av sensorn. Slutligen testas vad sensorn kan se om den rör sig medan den mäter. Radarsensorn kan positionera roboten, men hinderdetektering omkring roboten är begränsad. För det mesta ligger sensorns absoluta noggrannhet inom 3° för vinklar och omkring 1dm för avstånd över 0,5 m. Upplösningen för en förflyttning av ett objekt är 1° respektive 5 cm, och två objekt måste placeras minst 14° eller 15 cm ifrån varandra för att båda kunna upptäckas. Kommande utmaningar är att ta bort antennstörningar som ger sämre reflektioner inom 0,5 meter och ta reda på det bästa sättet att förflytta sensorn för att förbättra upplösningen.
Blanch, Jorge. "Control of mobile robotic platforms by handheld devices." FIU Digital Commons, 2003. http://digitalcommons.fiu.edu/etd/1691.
Full textKhalil, Azher Othamn K. "Fuzzy logic control and navigation of mobile vehicles." Thesis, University of Newcastle Upon Tyne, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.323486.
Full textIhemadu, Okechukwu Clifford. "Robotic navigation in large environments using simultaneous localisation and mapping (SLAM)." Thesis, Queen's University Belfast, 2013. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.602546.
Full textKollar, Thomas (Thomas Fleming). "Learning to understand spatial language for robotic navigation and mobile manipulation." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/66012.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 103-108).
This thesis focuses on understanding task-constrained natural language commands, where a person gives a natural language command to the robot and the robot infers and executes the corresponding plan. Understanding natural language is difficult because a system must infer the location of landmarks such as "the computer cluster," and actions corresponding to spatial relations such as "to" or "around" and verbs such as "put" or "take." each of which may be composed in complex ways. In addition, different people may give very different types of commands to perform the same action. The first chapter of this thesis focuses on simple natural language commands such as "Find the computer." where a person commands the robot to find an object or place and the robot must infer a corresponding plan. This problem would be easy if we constrained the set of words that the robot might need to reason about. However, if a person says, "find the computer," and the robot has not previously detected a "computer," then it is not clear where the robot should look. We present a method that uses previously detected objects and places in order to bias the search process toward areas of the environment where a previously unseen object is likely to be found. The system uses a semantic map of the environment together with a model of contextual relationships between objects to infer this plan, which finds the query object with minimal travel time. The contextual relationships are learned from the captions of a large dataset of photos downloaded from Flickr. Simulated and realworld experiments show that a small subset of detectable objects and scenes are able to predict the location of previously unseen objects and places. In the second chapter, we take steps toward building a robust spatial language understanding system for three different domains: route directions, visual inspection, and indoor mobility. We take as input a natural language command such as "Go through the double doors and down the hallway," extract a semantic structure called a Spatial Description Clause (SDC) from the language, and ground each SDC in a partial or complete semantic map of the environment. By extracting a flat sequence of SDCs, we are able to ground the language by using a probabilistic graphical model that is factored into three key components. First, a landmark component grounds novel noun phrases such as "'the computers" in the perceptual frame of the robot by exploiting object co-occurrence statistics between unknown noun phrases and known perceptual features.
(cont.) These statistics are learned from a large database of tagged images such as Flickr, and build off of the model developed in the first component of the thesis. Second, a spatial reasoning component judges how well spatial relations such as "past the computers" describe the path of the robot relative to a landmark. Third, a verb understanding component judges how well spatial verb phrases such as "follow". "meet", "avoid" and "turn right" describe how an agent moves on its own or in relation to another agent. Once trained, our model requires only a metric map of the environment together with the locations of detected objects in order to follow directions through it. This map can be given a priori or created on the fly as the robot explores the environment. In the final chapter of the thesis, we focus on understanding mobile manipulation commands such as, "Put the tire pallet oii the truck." The first contribution of this chapter is the Generalized Grounding Graph (G3 ), which connects language onto grounded aspects of the environment. In this chapter, we relax the assumption that the language has fixed and flat structure and provide a method for constructing a hierarchical probabilistic graphical model that connects each element in a natural language command to an object. place., path or event in the environment. The structure of the G3 model is dynamically instantiated according to the compositional and hierarchical structure of the command, enabling efficient learning and inference. The second contribution of this chapter is to formulate the problem as a discriminative learning problem that maps from language directly onto a robot plan. This probabilistic model is represented as a conditional random field (CRF) that learns the correspondence of robot plans and the language and is able to learn the meanings of complex verbs such as "put" and "take," as well as spatial relations such as "on" and "to."
by Thomas Kollar.
Ph.D.
Escobedo-Cabello, Jesús-Arturo. "User Intention Estimation for Semi-Autonomous Navigation of a Robotic Wheelchair." Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENM098/document.
Full textThis thesis focuses on semi-autonomous wheelchair navigation. We aim to design asystem respecting the following constraints.Safety: The system must avoid collisions with objects and specially with humans present in the scene.Usability: People with motor disabilities and elders often have problems using joysticks and other standard control devices. The use of more sophisticated and human-like ways of interacting with the robot must be addressed to improve the acceptance and comfort for the user. It is also considered that the user could just be able to move one finger and so the request of human intervention should be as reduced as possible to accomplish the navigation task.Compliance:} The robot must navigate securely among obstacles while reducing the frustration caused to the user by taking into account his intentions at different levels; final destination, preferred path, speed etc.Respect of social conventions: When moving, the robot may considerably disturb people around it, especially when its behavior is perceived as unsocial. It is thus important to produce socially acceptable motion to reduce disturbances. We will also addresses the issue of determining those places where the robot should be placed in order become part of an interacting group.In this work we propose to estimate the user's intention in order to reduce thenumber of necessary commands to drive a robotic wheelchair and deal withambiguous or inaccurate input interfaces. In this way, the wheelchair can be incharge of some part of the navigation task and alleviate the user involvement.The proposed system takes into account the user intention in terms of the finaldestination and desired speed. At each level, the method tries to favor themost ``reasonable'' action according to the inferred user intention.The user intention problem is approached by using a model of the user based onthe hypothesis that it is possible to learn typical destinations (those wherethe user spends most of his time) and use this information to enhance theestimation of the destination targeted by the user when he is driving therobotic wheelchair.A probabilistic framework is used to model the existent relationship betweenthe intention of the user and the observed command. The main originality of theapproach relies on modeling the user intentions as typical destinations and theuse of this estimation to check the reliability of a user's command to decidehow much preeminence it should be assigned by the shared controller whenmanaging the robot's speed.The proposed shared-control navigation system considers the direction of thecommands given by the user, the obstacles detected by the robot and the inferreddestination to correct the robot's velocity when necessary. This system is basedon the dynamic window approach modified to consider the input given by the user,his intention, the obstacles and the wheelchair's dynamic constraints tocompute the appropriate velocity command.All of the results obtained in this thesis have been implemented and validatedwith experiments, using both real and simulated data. Real data has beenobtained on two different scenarios; one was at INRIA's entry hall and the otherat the experimental apartment GERHOME
Huang, Edward Y. C. 1981. "A semi-autonomous vision-based navigation system for a mobile robotic vehicle." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/16965.
Full textIncludes bibliographical references (p. 73-74).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Direct teleoperation of a mobile vehicle over a communications channel with delay on the order of one second is problematic for precise maneuvering and obstacle avoidance. To curb both operator vigilance and maneuvering mishaps during vehicle teleoperation, this thesis aims to develop a semi-autonomous vision-based navigation system for a small mobile robotic vehicle designed by Draper Laboratory. The system relies on monocular vision processing to employ an optical flow balance strategy for real-time obstacle avoidance. The system utilizes a multimedia processor for video processing and is implemented within a payload module built for a visual servoing task. The system design relies on a flexible communication protocol to integrate with the robot and operator control unit. Overall, the system is a useful augmentation for a flexible robotic platform for enabling better reconnaissance.
by Edward Y.C. Huang.
M.Eng.
Safi, Waseen. "Vibro-tactile Navigation of Web on touch screen devices." Caen, 2016. https://hal.archives-ouvertes.fr/tel-01478756.
Full textSighted persons interpret visually a large amount of visual information and understand complex layouts of rich-media web pages in seconds. First, they navigate a web page by glancing it quickly to get a global overview of the content structure. This process is called skimming. After that, they read the contents of interesting parts in details by following various reading techniques. This process is called scanning. This type of information navigation enables the reader to perceive quickly the document layout and its structural semantics. In addition, it orients quickly the reader attention to interesting parts in a systematic and predictable manner. Unfortunately, persons with visual impairment cannot do this interpretation in the same efficiency. They lose a lot of time to explore the architecture of web pages using current computational products specialized for visually impaired persons. These products present sequential interaction styles to navigate the web, one column at a time, one line at a time, one word at a time. They fail to convey the natural ordering of elements in a web page. Interpreting the spatial layout of a web page is often indispensable to understand its contents. It helps the user in dealing with complex pieces of information by reducing them to a manageable number of units. The layout, and the spatial cues of web pages are very important in enabling many tasks, and in guiding the reader to analyze and to find data items, and in realizing high-level tasks such storing information, quickly finding relevant information, pointing directly to pieces of information present in a web page. This work presents an approach for non-visual access to web pages. The proposed approach is based on vibro-tactile modality to replace the visual skimming process during navigating web pages displayed on touch-screen mobile devices. It helps the visually impaired persons to get a global overview of the content structure, and to perceive quickly the web page layout. The approach has been realized by designing a tactile vision sensory substitution system (TVSS). This system converts the visual structures that represent the layout of a web page into vibro-tactile feedbacks. This navigation approach is equivalent to classical visual exploration of a document based on a luminosity vibration. In other words, the visual pieces of information presented on digital screens and obtained by the visual scanning methods are perceived by a manual exploration strategy based on vibro-tactile interaction. This proposed approach could be considered as a new non-visual navigation solution for exploiting the spatial two-dimensional information of web pages interfaces. A series of experiments has been conducted with visually impaired persons confirmed the hypothesis that visually impaired persons can explore graphical geometrical shapes presented on a touch-screen mobile device, and they can perceive their varieties in size, form, topology, spatial relations, and semantic contents through vibro-tactile feedbacks
Murín, Michal. "Augmented Reality for Mobile Devices for Precise Urban Navigation." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2013. http://www.nusl.cz/ntk/nusl-236197.
Full textMcConnell, David James. "Analysis of model referenced adaptive control applied to robotic devices." Thesis, Kansas State University, 1985. http://hdl.handle.net/2097/17099.
Full textFresk, Emil. "Towards Aerial Robotic Workers." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292.
Full textGodkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå tekniska universitet
Mentz, James. "Motion Control Theory Needed in the Implementation of Practical Robotic Systems." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/32172.
Full textMaster of Science
Borg, Jonathan M. "An industrial robotic system for moving object interception using ideal proportional navigation guidance." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0021/MQ54104.pdf.
Full textSrikulwong, Mayuree. "Tactile displays for pedestrian navigation." Thesis, University of Bath, 2012. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.558870.
Full textGrue, Nathalie. "Illustration, explanation and navigation of physical devices and design processes." Thesis, Georgia Institute of Technology, 1994. http://hdl.handle.net/1853/9228.
Full textWebber, Emily. "Strategy differences in the use of mobile devices for navigation." Thesis, University of Nottingham, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.659193.
Full textWilkening, André [Verfasser]. "Assistive Control Concepts for Pneumatic Soft Robotic Rehabilitation Devices / André Wilkening." Aachen : Shaker, 2016. http://d-nb.info/1098042387/34.
Full textRadix, Cathy-Ann Leonie. "Human control of robotic mechanisms : modelling and assessment of assistive devices." Thesis, University of Plymouth, 1999. http://hdl.handle.net/10026.1/2246.
Full textHecht, Steven A. "Driving by Speaking: Natural Language Control of Robotic Wheelchairs." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1365158700.
Full textRyu, Kun Jin. "Autonomous Robotic Strategies for Urban Search and Rescue." Diss., Virginia Tech, 2012. http://hdl.handle.net/10919/19194.
Full textefficiency of their cooperation each member of the team specifically works on its own task.
A series of numerical and experimental studies were conducted to demonstrate the applicability of the proposed solutions to USAR scenarios. The effectiveness of the scan-to-map matching with the multi-ND representation was confirmed by analyzing the error accumulation and by comparing with the single-ND representation. The applicability of the scan-to-map matching to the real SLAM problem was also verified in three different real environments. The results of the map-based semi-autonomous robot navigation showed the effectiveness of the approach as an immediately usable solution to USAR. The effectiveness of the proposed fully- autonomous solution was first confirmed by two real robots in a real environment. The cooperative performance of the strategy was further investigated using the developed platform- and hardware-in-the-loop simulator. The results showed significant potential as the future solution to USAR.
Ph. D.
Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.
Full textSimone, Matthew James. "A Novel Method to Locate Targets Using Active Vision and Robotic Inertial Navigation Data." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/32751.
Full textMaster of Science
Polidoro, Heitor Luis. "Planejamento de trajetória em ambientes com prioridades dinâmicas." Universidade de São Paulo, 2010. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-17112010-104739/.
Full textThe mobile robotics is a research area that has started to get some serious attention from the scientific community. The development of robots able to interact with the environment - to learn and make correct decisions so their tasks are successfully completed - is the biggest challenge in mobile robotics. The development of these intelligent and autonomous systems consists of a multidisciplinary research area considered recent and very promising that involves, for example, artificial intelligence, machine learning, statistical estimation and embedded systems. Within this context, this paper addresses the problem of navigation in dynamic environments with priorities using mobile robots. Given a representation of the environment (topological map) and a list of priorities for each region of the map, the robot must estimate what is the most efficient way to monitor this environment. As the dynamic priority of each region increases with time since the last visit of the robot, its trajectory must adapt to these changes. This approach is similar to the traveling salesman, but a solution that specifically addresses the problem described in this dissertation was not found in the literature. Among the many practical applications of this type of algorithm, we highlight the development of smart mobile security systems
Eldh, Ida. "Navigation and informational architecture in smart electrical testing and diagnostic devices." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-204583.
Full textDen här uppsatsen är en fördjupning i området människa-dator interaktion och användbarhet och börjar med en generell introduktion om ämnet inbyggda system som används i elektriska test- och verifieringsverktyg i industrin. Fortsättningsvis beskrivs en problemformulering och en förklaring av de produkter som är i fokus i denna studie. Företaget som studien är utförd hos utvecklar och tillverkar olika typer av provutrustning för elkraftsbranschen. Sådan mätutrustning ingår i begreppet intelligenta elektriska test- och verifieringsverktyg och hanteras med hjälp av inbyggda pekskärmar. Att ha ett användarbart grafiskt gränssnitt är viktigare idag än det var för många år sedan, detta eftersom företag konkurrerar med användbarhet i produkter och inte enbart med teknisk prestanda [4]. Därför är det viktigt att designa ett användargränssnitt och navigationsstruktur för att sammanföra ett företags alla produkter och skapa en känsla av igenkänning mellan dem. Ett bra mått på igenkänningsfaktorn är i det här fallet ett användargränssnitt och en navigationsstruktur som är igenkänningsbara och förstådda när slutanvändaren interagerar med olika typer av produkter. Informationsarkitektur och användardesign är inte alltid prioriterat hos ett industriellt företag då budgeten för tekniken är långt större än för användardesignen. Tidigare handlade informationsarkitektur mer om teknik, men nuförtiden är det mer om systeminformation och dess innehåll [8]. I den här studien har tre metoder använts för att samla data till och besvara frågan ”Är det möjligt att designa en homogen navigationsstruktur till olika typer av slutanvändare av elektriska test- och verifieringsverktyg?” Den här studien visar att det är svårt att erhålla ett rättframt och entydigt svar på ämnesområdet hur man designar en hållbar och homogen informations- och navigationsstruktur för intelligenta elektriska mätutrustningar. Studien påvisar också att en mängd information kan inhämtas genom att studera användbarhet med hjälp av olika testmetoder. Allt detta i syfte att ge en plattform till utvecklarna som kan agera grund för deras utvecklingsarbete med gränssnittet.
Wang, Yu-Cheng. "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5793.
Full textRuppert, David Strater. "Design of a Robotic Equine Forelimb for Testing Load-Bearing Rehabilitative Devices." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/31136.
Full textIn order to allow for in-vitro testing of such a load-bearing device, this thesis describes the design, analysis, and procedure of construction of a robotic replica of a foal's limb. In particular, the robotic replica has been designed to replicate all of the anticipated motion of a foal's limb, including walking, shifting weight from one leg to the other, and kicking, for example, using gait-analysis data from an actual horse's gait. From such data, the robotic replica has been designed in IDEAS and analyzed using multibody dynamics simulations code and the finite-element-analysis software ANSYS. To evaluate the function of the robotic replica, a control system was developed to reproduce observed gait characteristics. Comparison of the computer-simulated gait with the observed gait showed that a linear feedback control algorithm resulted in a response adequate for the proposed function.
The proposed robotic replica has the potential for aiding in the development of several other bioassistive devices. With minor modifications, the robotic replica could be used to test a device design to transfer load from the cannon bone to the ground for an animal inflicted with laminitis (founder). These possibilities should be investigated in the future.
Master of Science
Shacklock, Andrew. "Integration of sensors and behavioural models for the robotic manipulation of non-rigid products." Thesis, University of Bristol, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.294585.
Full textXu, Fengliang. "Mapping and localization for extraterrestrial robotic explorations." Connect to this title online, 2004. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1095695679.
Full textDocument formatted into pages; contains xvi, 158 p. Includes bibliographical references. Abstract available online via OhioLINK's ETD Center; full text release delayed at author's request until 2005 Sep. 20.
Lopez, Léo. "Brain-inspired predictive control of robotic sensorimotor systems." Thesis, Université Clermont Auvergne (2017-2020), 2017. http://www.theses.fr/2017CLFAC106.
Full textBernardes, Vitor Giovani. "Urban environment perception and navigation using robotic vision : conception and implementation applied to automous vehicle." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2155/document.
Full textThe development of autonomous vehicles capable of getting around on urban roads can provide important benefits in reducing accidents, in increasing life comfort and also in providing cost savings. Intelligent vehicles for example often base their decisions on observations obtained from various sensors such as LIDAR, GPS and Cameras. Actually, camera sensors have been receiving large attention due to they are cheap, easy to employ and provide rich data information. Inner-city environments represent an interesting but also very challenging scenario in this context,where the road layout may be very complex, the presence of objects such as trees, bicycles,cars might generate partial observations and also these observations are often noisy or even missing due to heavy occlusions. Thus, perception process by nature needs to be able to dea lwith uncertainties in the knowledge of the world around the car. While highway navigation and autonomous driving using a prior knowledge of the environment have been demonstrating successfully,understanding and navigating general inner-city scenarios with little prior knowledge remains an unsolved problem. In this thesis, this perception problem is analyzed for driving in the inner-city environments associated with the capacity to perform a safe displacement basedon decision-making process in autonomous navigation. It is designed a perception system that allows robotic-cars to drive autonomously on roads, with out the need to adapt the infrastructure,without requiring previous knowledge of the environment and considering the presenceof dynamic objects such as cars. It is proposed a novel method based on machine learning to extract the semantic context using a pair of stereo images, which is merged in an evidential grid to model the uncertainties of an unknown urban environment, applying the Dempster-Shafer theory. To make decisions in path-planning, it is applied the virtual tentacle approach to generate possible paths starting from ego-referenced car and based on it, two news strategies are proposed. First one, a new strategy to select the correct path to better avoid obstacles and tofollow the local task in the context of hybrid navigation, and second, a new closed loop control based on visual odometry and virtual tentacle is modeled to path-following execution. Finally, a complete automotive system integrating the perception, path-planning and control modules are implemented and experimentally validated in real situations using an experimental autonomous car, where the results show that the developed approach successfully performs a safe local navigation based on camera sensors
Kang, Yue. "Sensor-based navigation for robotic vehicles by interaction of human driver and embedded intelligent system." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2291.
Full textThis thesis presents an approach of cooperative navigation control pattern for intelligent vehicles in the context of human-vehicle interaction, in which human driver and autonomous servoing system cooperate for the purpose of benefiting from mutual advantages of manual and auto control. The navigation of the vehicle is performed in parallel by the driver and the embedded intelligent system, based on the perception of the environment. The cooperative framework we specify concerns the analysis and correction of the human navigation gestures by the intelligent system for the purpose of performing local navigation tasks of road lane following with obstacle avoidance. The human-vehicle interaction algorithm is based on autonomous servoing components as Visual Servoing (VS) controllers and obstacle avoidance method Dynamic Window Approach (DWA) based on Occupancy Grid, which are supported by the environment perception performed carried out by on-boarded sensors including a monovision camera and a LIDAR sensor. Given the technical/legal impossibility of validating our interaction method on our robotic vehicle (a robotic Renault Zoé), the driver-in-the-loop structures of system are designed for simulative environment of both Matlab and SCANeRTM Studio. In Matlab environment human driver is modeled by a code-based Human Driver Behaviour (HDB) Controller, which generates potential dangerous behaviors on purpose as manual control of the cooperative system. In SCANeR Studio environment the HDB is replaced by real-time manual command (a real human driver) via driving interface of this simulator. Results of simulative validation show the feasibility and performance of the cooperative navigation system with respect to tasks of driving security including road lane following, obstacle avoidance and safe distance maintenance
Tian, Jingduo. "Quantitative performance evaluation of autonomous visual navigation." Thesis, University of Manchester, 2017. https://www.research.manchester.ac.uk/portal/en/theses/quantitative-performance-evaluation-of-autonomous-visual-navigation(be6349b5-3b38-4ac5-aba2-fc64597fd98a).html.
Full textLichter, Matthew D. (Matthew Daniel) 1977. "Concept development for lightweight binary-actuated robotic devices, with application to space systems." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8546.
Full text"June 2001."
Includes bibliographical references (leaves 66-71).
Exploratory space missions of the future will require robotic systems to lead the way by negotiating and mapping very rough terrain, collecting samples, performing science tasks, and constructing facilities. These robots will need to be adaptable and reconfigurable in order to achieve a wide variety of objectives. Conventional designs using gears, motors, bearings, encoders, and many discrete components will be too complex, heavy, and failure-prone to allow highly-reconfigurable systems to be feasible. This thesis develops new concepts that may potentially enable the design of self-transforming space explorers. The vision of this research is to integrate compliant bistable mechanisms with large numbers of binary-actuated embedded smart materials. Compliant mechanisms are lightweight and robust. Binary actuation is the idea of using an actuator in a discrete on/off manner rather than in a continuous manner. A binary actuator is easy to control and robust, and by using tens or hundreds of binary actuators, one can approximate a continuous system, much like a digital computer can approximate an analog system. The first part of this thesis examines the fundamental planning issues involved with systems having large numbers of binary actuators. The notion of a workspace is described and applied to the optimization of a manipulator design. Methods for solving the forward and inverse kinematics are discussed in the context of this application. These methods are extended to the trajectory and locomotion planning problems. Methods for planning systems of substantial complexity are developed in the context of exploratory space robotics. The second part of this thesis presents experimental demonstrations that examine elements of the concept. The results of several design prototypes are discussed.
by Matthew D. Lichter.
S.M.
Gardström, Karin. "3D Navigation for Real-Time MRI using Six Degree of Freedom Interaction Devices." Thesis, Linköping University, Department of Science and Technology, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2280.
Full textReal-time MRI scanning is used to visualize tissue and organs in motion. The real-time approach requires new interaction techniques to facilitate interaction with the scanning plane. The aim of this thesis is to investigate the use of input with six degrees of freedom – 6DOF. An overview over existing 6DOF input devices is given. Three devices are chosen for implementation and evaluation, Flock of Birds, SpaceBall and SpaceMouse.
A simulator application is developed to test the different input devices. The simulator purpose is to imitate the real-time scanning situation. To be able to evaluate speed andaccuracy of the different interaction techniques, methods for measuring time and error are developed. A statistical survey is done on two different tasks to gather data of the interaction. The data is analyzed and the result is that the test subjects find the SpaceMouse superior to the other devices thanks to its kinesthetic feed-back properties and ergonomic benefits. However, the statistical data shows that Flock of Birds is the fastest device and no great difference is showed in accuracy between Flock of Birds and SpaceMouse. SpaceBall was the device that generated the least satisfying data.
Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.
Full textSahin, Hakan. "Design Of A Secondary Packaging Robotic System." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606922/index.pdf.
Full textValdes, Benavides Bulmaro Adolfo. "Reducing compensatory movements in stroke therapy through the use of robotic devices and augmented feedback." Thesis, University of British Columbia, 2017. http://hdl.handle.net/2429/62468.
Full textApplied Science, Faculty of
Graduate
Tsiodoulos, Dimitrios. "Comparison of hamburger and bottom bar menu on mobile devices for three level navigation." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-185550.
Full textMobila webbsidor och applikationer används dagligen av miljontals personer som ett sätt till att kommunicera och till att få samt ge underhållning och det är likaså ett professionellt verktyg. Innehållsrika applikationer med multipla nivåer av innehåll möter hierarkiskt utmaningar på grund utav användargränssnittets begränsade utrymme. Det är viktigt att applikationen har strålande navigationsfunktioner tillsammans med hjälp och sökningskapaciteter [1], då navigation av användargränssnitt är en vital aspekt för webb och integrerade applikationer som erbjuder användaren ett sätt till att utforska dess innehåll, förstå dess struktur och att använda tjänsterna som de erbjuder. Den effektiva identifieringen av navigationsmönstret och dess användbarhet är ett nyckelelement av användarupplevelsen. Denna skrift jämför två olika mobila navigationsmönster: Ett av de mest vanliga navigationsmönstrena känt som hamburgermeny, och en botten-fältmeny. I ordning till att jämföra dessa två navigationsmönster, utfördes en användbarhetsutvärdering, med hjälp utav en demo-applikation som utvecklades för detta syfte. Tjugo deltagare deltog i testet där deras prestation tillsammans med deras subjektiva feedback samlades. Analysen av utvärderingen säger att botten-fältsmenyn är mer effektiv än hamburgermenyn gällande total slutförandetid. Deltagarnas kvalitativa feedback säger också att de uppfattar botten-fältmenyn som bättre än hamburgermenyn. I tillägg till deras insats för framtida efterforskning, kan studeringsresultaten hjälpa proffs att välja vilket mobilt navigationsmönster dom ska använda och det ger dem även kunskap om fördelarna och nackdelarna av deras val.
Schmitz, Austin. "Row crop navigation by autonomous ground vehicle for crop scouting." Thesis, Kansas State University, 2017. http://hdl.handle.net/2097/36237.
Full textDepartment of Biological & Agricultural Engineering
Daniel Flippo
Robotic vehicles have the potential to play a key role in the future of agriculture. For this to happen designs that are cost effective, robust, and easy to use will be necessary. Robotic vehicles that can pest scout, monitor crop health, and potentially plant and harvest crops will provide new ways to increase production within agriculture. At this time, the use of robotic vehicles to plant and harvest crops poses many challenges including complexity and power consumption. The incorporation of small robotic vehicles for monitoring and scouting fields has the potential to allow for easier integration of robotic systems into current farming practices as the technology continues to develop. Benefits of using unmanned ground vehicles (UGVs) for crop scouting include higher resolution and real time mapping, measuring, and monitoring of pest location density, crop nutrient levels, and soil moisture levels. The focus of this research is the ability of a UGV to scout pest populations and pest patterns to complement existing scouting technology used on UAVs to capture information about nutrient and water levels. There are many challenges to integrating UGVs in conventionally planted fields of row crops including intra-row and inter-row maneuvering. For intra-row maneuvering; i.e. between two rows of corn, cost effective sensors will be needed to keep the UGV between straight rows, to follow contoured rows, and avoid local objects. Inter-row maneuvering involves navigating from long straight rows to the headlands by moving through the space between two plants in a row. Oftentimes headland rows are perpendicular to the row that the UGV is within and if the crop is corn, the spacing between plants can be as narrow as 5”. A vehicle design that minimizes or eliminates crop damage when inter-row maneuvering occurs will be very beneficial and allow for earlier integration of robotic crop scouting into conventional farming practices. Using three fixed HC-SR04 ultrasonic sensors with LabVIEW programming proved to be a cost effective, simple, solution for intra-row maneuvering of an unmanned ground vehicle through a simulated corn row. Inter-row maneuvering was accomplished by designing a transformable tracked vehicle with the two configurations of the tracks being parallel and linear. The robotic vehicle operates with tracks parallel to each other and skid steering being the method of control for traveling between rows of corn. When the robotic vehicle needs to move through narrow spaces or from one row to the next, two motors rotate the frame of the tracks to a linear configuration where one track follows the other track. In the linear configuration the vehicle has a width of 5 inches which allows it to move between corn plants in high population fields for minimally invasive maneuvers. Fleets of robotic vehicles will be required to perform scouting operations on large fields. Some robotic vehicle operations will require coordination between machines to complete the tasks assigned. Simulation of the path planning for coordination of multiple machines was studied within the context of a non-stationary traveling salesman problem to determine optimal path plans.
Gillham, Michael David Anthony. "A non-holonomic, highly human-in-the-loop compatible, assistive mobile robotic platform guidance navigation and control strategy." Thesis, University of Kent, 2015. https://kar.kent.ac.uk/50525/.
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