Dissertations / Theses on the topic 'Remote Robotics'
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Haberbusch, Matthew Gavin. "Autonomous Skills for Remote Robotic Assembly." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1588112797847939.
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Wright, Thomas. "Characterisation of remote nuclear environments." Thesis, University of Manchester, 2018. https://www.research.manchester.ac.uk/portal/en/theses/characterisation-of-remote-nuclear-environments(a7f7d1ba-c866-439e-ac0e-d3f88c76986a).html.
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Many legacy nuclear facilities exist with the number of such facilities due to increase in the future. For a variety of reasons, some of these facilities have poorly documented blueprints and floor plans. This has led to many areas within such facilities being left unexplored and in an unknown state for some considerable time. The risk to health that these areas might pose has in some cases precluded human exploration and facilities have been maintained in a containment state for many years. However, in more recent years there has been a move to decommission such facilities. The change of strategy from containment to decommissioning will require knowledge of what it is that needs to be decommissioned. It is hoped that an autonomous or semi- autonomous robotic solution can satisfy the requirement. For successful mapping of such environments, it is required that the robot is capable of producing complete scans of the world around it. As it moves through the environment the robot will not only need to map the presence, type and extent of radioactivity, but do so in a way that is economical from the perspective of battery life. Additionally, the presence of radioactivity presents a threat to the robot electronics. Exposure to radiation will be necessary but should be minimised to prolong the functional life of the robot. Some tethered robots have been developed for such applications, but these can cause issues such as snagging or the tether inadvertently spreading contamination, due to being dragged along the floor. Nuclear environments have very unique challenges, due to the radiation. Alpha and beta radiation have a short emission distance and therefore cannot be detected until the robot is in very close proximity. Although the robot will not become disabled by these forms of radiation, it may become contaminated which is undesirable. Radiation from gamma sources can be detected at range, however pinpointing a source requires sensors to be taken close to the emitter, which has adverse effects on the robot's electronics, for example gamma radiation damages silicon based electronics. Anything entering these environments is deemed to be contaminated and will eventually require disposal. Consequently the number of entries made should ideally be minimised, to reduce the production and spread of potential waste/contamination. This thesis presents results from an investigation of ways to provide complete scans of an environment with novel algorithms which take advantage of common features found in industrial environments and thereby allow for gaps in the data set to be detected. From this data it is then possible to calculate a minimum set of way points required to be visited to allow for all of the gaps to be filled in. This is achieved by taking into account the sensor's parameters such as minimum and maximum sensor range, angle of incidence and optimal sensor distance, along with robot and environmental factors. An investigation into appropriate exploration strategies has been undertaken looking at the ways in which gamma radiation sources affect the coverage of an environment. It has discovered undesired behaviours exhibited by the robot when radiation is present. To overcome these behaviours a novel movement strategy has been presented, along with a set of linear and binary battery modifiers, which adapt common movement strategies to help improve overall coverage of an unknown environment. Collaborative exploration of unknown environments has also been investigated, looking into the specific challenges radiation and contamination offer. This work has presented new ways of allowing multiple robots to independently explore an environment, sharing knowledge as they go, whilst safely exploring unknown hazardous space where a robot may be lost due to contamination or radiation damage.
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Sarafis, Ilias Thoma. "Electrically driven underwater manipulator for remote operated vehicles." Thesis, University of Liverpool, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.262585.
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Frenette, Réal. "Evaluation of video-camera controls for remote manipulation." Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25093.
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The control of the video-camera plays an important factor in the overall efficiency of a teleoperator system. A computer-based video-camera control has been designed to compare and evaluate four different modes of control. A situation where an operator does not have a free hand for the control of the video-camera has been selected: such a situation can be found in subsea applications where the operator is required to steer a submarine and to manipulate a robot arm.
The four modes are:
• manual control mode : The operator's right hand is used to control both the robot arm and the camera system. The orientation of the camera (with close-up lens) is performed by pressing push buttons.
• automatic tracking mode : The camera (with close-up lens) automatically tracks the end effector of the slave arm, without direction from the operator.
• voice-operated mode : The orientation of the camera (with close-up lens) is accomplished by spoken commands.
• fixed-camera-position mode : A wide angle lens is used in this mode. The camera constantly remains in a straight ahead position and no controls are required.
A tracking task and a pick-and-drop task were performed during the experiments. Measures of speed and accuracy were taken and analyzed; subjective remarks were also gathered.
Results showed significant differences between the modes. Specifically, automatic tracking mode and voice-operated mode were found to offer the best ergonomic environment for the operator in terms of speed-accuracy tradeoff.Applied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
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Cheng, Pericles Leng. "Evaluating Intention to Use Remote Robotics Experimentation in Programming Courses." ScholarWorks, 2017. https://scholarworks.waldenu.edu/dissertations/3596.
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The Digital Agenda for Europe (2015) states that there will be 825,000 unfilled vacancies for Information and Communications Technology by 2020. This lack of IT professionals stems from the small number of students graduating in computer science. To retain more students in the field, teachers can use remote robotic experiments to explain difficult concepts. This correlational study used the unified theory of acceptance and use of technology (UTAUT) to examine if performance expectancy, effort expectancy, social influence, and facilitating conditions can predict the intention of high school computer science teachers in Cyprus, to use remote robotic experiments in their classes. Surveys, based on the UTAUT survey instrument, were collected from 90 high school computer science teachers in Cyprus, and a multiple regression analysis was used to measure the correlations between the constructs and finally the model fit of the analysis. The model was able to predict approximately 35% of the variation of the teachers' intent to use remote robotic experiments. The biggest predictor was facilitating conditions followed by effort expectancy. Performance expectancy had little impact, whereas social influence had no impact on the intention of high school teachers to use remote robotic experiments in their classes. These results can help curriculum decision makers in the Ministry of Education in Cyprus to examine what factors affect the acceptance of remote robotic experiments and develop them in ways that would increase their implementation in high schools. By incorporating remote robotic experiments in high schools, students may learn difficult concepts, leading to an increase in computer science graduates and ultimately an increase in IT professionals.
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MUSCI, MARIA ANGELA. "Service robotics and machine learning for close-range remote sensing." Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2903488.
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FRANCIS, SHINCE. "REMOTE ADMINISTRATION OF AN AUTONOMOUS GUIDED VEHICLE THROUGH WEB BASED WIRELESS INTERFACES." University of Cincinnati / OhioLINK, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1060185932.
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Chao, Haiyang. "Cooperative Remote Sensing and Actuation Using Networked Unmanned Vehicles." DigitalCommons@USU, 2010. https://digitalcommons.usu.edu/etd/597.
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This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight test results. Given the measurements from unmanned vehicles, the actuation algorithms are needed for missions like the diffusion control. A consensus-based central Voronoi tessellation (CVT) algorithm is proposed for better control of the diffusion process. Finally, the dissertation conclusion and some new research suggestions are presented.
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Atherton, John A. "Supporting Remote Manipulation: An Ecological Approach." BYU ScholarsArchive, 2009. https://scholarsarchive.byu.edu/etd/1895.
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User interfaces for remote robotic manipulation widely lack sufficient support for situation awareness and, consequently, can induce high mental workload. With poor situation awareness, operators may fail to notice task-relevant features in the environment often leading the robot to collide with the environment. With high workload, operators may not perform well over long periods of time and may feel stressed. We present an ecological visualization that improves operator situation awareness. Our user study shows that operators using the ecological interface collided with the environment on average half as many times compared with a typical interface, even with a poorly calibrated 3D sensor; however, users performed more quickly with the typical interface. The primary benefit of the user study is identifying several changes to the design of the user interface; preliminary results indicate that these changes improve the usability of the manipulator.
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Jetter, Joshua. "Analysis of a Systems Engineering Based Approach to the University Rover Challenge." International Foundation for Telemetering, 2013. http://hdl.handle.net/10150/579709.
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ITC/USA 2013 Conference Proceedings / The Forty-Ninth Annual International Telemetering Conference and Technical Exhibition / October 21-24, 2013 / Bally's Hotel & Convention Center, Las Vegas, NVThe University Rover Challenge is a competition to build a scaled down version of a next-generation Mars rover. This paper describes the comprehensive systems engineering based approached used by the Missouri S&T Mars Rover Design Team. This student run, interdisciplinary team of approximately 50 students followed a comprehensive systems-engineering based approach to the conceptualization, design, implementation, test and evaluation of the project. This has allowed students to leverage their discipline specific expertise, while simultaneously facilitating the cross-disciplinary communication which is essential to the successful completion of the project. The team's performance in the competition will provide metrics to analyze the efficacy of this organization and approach.
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Ramakrishnan, Rishi. "Illumination Invariant Outdoor Perception." Thesis, The University of Sydney, 2015. http://hdl.handle.net/2123/14522.
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This thesis proposes the use of a multi-modal sensor approach to achieve illumination invariance in images taken in outdoor environments. The approach is automatic in that it does not require user input for initialisation, and is not reliant on the input of atmospheric radiative transfer models. While it is common to use pixel colour and intensity as features in high level vision algorithms, their performance is severely limited by the uncontrolled lighting and complex geometric structure of outdoor scenes. The appearance of a material is dependent on the incident illumination, which can vary due to spatial and temporal factors. This variability causes identical materials to appear differently depending on their location. Illumination invariant representations of the scene can potentially improve the performance of high level vision algorithms as they allow discrimination between pixels to occur based on the underlying material characteristics. The proposed approach to obtaining illumination invariance utilises fused image and geometric data. An approximation of the outdoor illumination is used to derive per-pixel scaling factors. This has the effect of relighting the entire scene using a single illuminant that is common in terms of colour and intensity for all pixels. The approach is extended to radiometric normalisation and the multi-image scenario, meaning that the resultant dataset is both spatially and temporally illumination invariant. The proposed illumination invariance approach is evaluated on several datasets and shows that spatial and temporal invariance can be achieved without loss of spectral dimensionality. The system requires very few tuning parameters, meaning that expert knowledge is not required in order for its operation. This has potential implications for robotics and remote sensing applications where perception systems play an integral role in developing a rich understanding of the scene.
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Khokar, Karan. "Laser assisted telerobotic control for remote manipulation activities." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003128.
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Stenbom, Håkan. "Optimization of Remote ServiceSolution for large installations : Wireless LAN and WAN for ABB Robotics." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-12083.
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This report describes a thesis work carried out at ABB Robotics in Västerås. The objective of this thesis is to find technologies and equipments for wireless data transfer suitable for the present and future needs of ABB Robotics Remote Service for large installations in industrial environments. ABB Robotics has a Remote Service solution to securely gather information from robots, manage alarms and potentially execute remote commands by ABB Robotics. This solution consists of an intelligent Service Box plugged to the robot. This Service Box is also connected through GPRS or directly through Internet to create a secure VPN connection to a central Remote Service server. The Remote Service Box is well suited for small customers with 1-10 robots with plug and play installation, but show limitations at a larger scale of deployment due to equipment costs, network and installation complexity. A new Service Box is planned that will accommodate future added functionality to Remote Service. This Service Box will require new network solutions as the added functionality is depending on a higher bandwidth than the GPRS networks can deliver. I have surveyed most existing wireless networking technologies and analyzed them withrespect to function, cost and availability which provide a knowledge base that makes it possible to find suitable solutions. When the most suitable technologies are identified a survey was performed to find equipments that meet the requirements at the lowest cost. A new hierarchical network topology is proposed that will lead to cost savings by replacing multiple WAN connections in the present solution with a network switch and single WAN connection to Internet. As manufacturers of network equipments for industrial environments are relatively few, alternative solutions were also investigated in order to find the most cost effective solutions. The proposed network topology together with the data from the surveys lead to recommendations on using Wi-Fi in the wireless LAN and a 3G mobile network for the WAN connection to Internet, as well as recommendations on alternative network equipments that potentially can lead to substantial savings when the new network solutions are implemented.
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Sullivan, John, Amy Coffman, Benjamin Roberds, and Jordan Roberts. "Design and Semi-Autonomous Control of a 6-Axis Robotic Arm Used in a Remote Sensing Application." International Foundation for Telemetering, 2013. http://hdl.handle.net/10150/579692.
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ITC/USA 2013 Conference Proceedings / The Forty-Ninth Annual International Telemetering Conference and Technical Exhibition / October 21-24, 2013 / Bally's Hotel & Convention Center, Las Vegas, NVThis paper describes the sensor and actuator package for a 6-axis articulated arm which is part of a robotic vehicle entered in the Mars Rover Challenge competition. The robot is intended to perform some of the same duties as a human, but be remotely controlled. It uses an articulated arm for many of these duties. Because of the large number of degrees of freedom, it would be tedious to control each joint individually. A system was developed to measure the state of each joint, transmit this information back to a base station, and semi-autonomously control the arm.
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Nicholson, John W. "Autonomous optimal rendezvous of underwater vehicles." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2004. http://library.nps.navy.mil/uhtbin/hyperion/04Sep%5FNicholson.pdf.
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Johnson, Keenan. "Telemetry Processor Design for a Remotely Operated Vehicle." International Foundation for Telemetering, 2014. http://hdl.handle.net/10150/577417.
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ITC/USA 2014 Conference Proceedings / The Fiftieth Annual International Telemetering Conference and Technical Exhibition / October 20-23, 2014 / Town and Country Resort & Convention Center, San Diego, CAThe Mars Rover Design Team at Missouri University of Science and Technology developed a multifunctional rover for the Mars Society's University Rover Challenge. The main processor of the rover controls various rover subsystems based on commands received from a base station, acquires data from these subsystems, collects primary location and environmental data, and transmits information to the base station. The methodology and technical design of the processor hardware and software will be described in the overall context of the collaborative team development. The paper will also discuss the process, challenges and outcomes of working with limited resources on a student design team.
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Wang, Yu-Cheng. "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5793.
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A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.
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Bentabol, Muñoz Emilio, Ibáñez Carlos Bosque, Ruiz Pedro González, de Mendoza Jose Manuel Hurtado, and Zúñiga Enrique Ruiz. "Linking Wise-ShopFloor to an ABB IRB-140 Robot : Remote control, monitoring, and programming of an ABB robot IRC 5 through the internet." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13933.
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The aim of this project is integrate the new robot IRB140 from ABB inside the application Wise ShopFloor (Web-based integrated sensor-driven e-ShopFloor) and the integration of a web camera inside the application as well. In order to integrate the ABB IRB140 inside the application, a Java 3D model has to be created, the kinematics and collision constrains have to be defined also and the GUI application modified to fit the virtual model and the camera inside the application. The user has to be able to jog the web camera and zoom it. Changes in the server side have been done in order to introduce new functionalities such as the sessions management, the communication mechanism now is more general using Java inheritance.Wise-ShopFloor
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Morris, Melissa. "Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation." FIU Digital Commons, 2017. http://digitalcommons.fiu.edu/etd/3350.
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The development of a robotic slit-lamp for remote ophthalmology is the primary purpose of this work. In addition to novel mechanical designs and implementation, it was also a goal to develop a control system that was flexible enough to be adapted with minimal user adjustment to various styles and configurations of slit-lamps. The system was developed with intentions of commercialization, so common hardware was used for all components to minimize the costs. In order to improve performance using this low-cost hardware, investigations were made to attempt to achieve better performance by applying control theory algorithms in the system software. Ultimately, the controller was to be flexible enough to be applied to other areas of human-robot interaction including pediatric rehabilitation via the use of humanoid robotic aids. This application especially requires a robust controller to facilitate safe interaction. Though all of the prototypes were successfully developed and made to work sufficiently with the control hardware, the application of advanced control did not yield notable gains as was hoped. Further investigations were made attempting to alter the performance of the control system, but the components selected did not have the physical capabilities for improved response above the original software implemented. Despite this disappointment, numerous novel advances were made in the area of teleoperated ophthalmic technology and pediatric physical rehabilitation tools. This includes a system that is used to remote control a slit-lamp and lens for examinations and some laser procedures. Secondly, a series of of humanoid systems suitable for both medical research and therapeutic modeling were developed. This included a robotic face used as an interactive system for ophthalmic testing and training. It can also be used as one component in an interactive humanoid robotic system that includes hands and arms to allow use of teaching sign language, social skills or modeling occupational therapy tasks. Finally, a humanoid system is presented that can serve as a customized surrogate between a therapist and client to model physical therapy tasks in a realistic manner. These systems are all functional, safe and low-cost to allow for feasible implementation with patients in the near future.
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Hobbs, Jed, Mellissa Meye, Brad Trapp, Stefan Ronimous, and Irati Ayerra. "Telemetry and Command Link for University Mars Rover Vehicle." International Foundation for Telemetering, 2013. http://hdl.handle.net/10150/579710.
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ITC/USA 2013 Conference Proceedings / The Forty-Ninth Annual International Telemetering Conference and Technical Exhibition / October 21-24, 2013 / Bally's Hotel & Convention Center, Las Vegas, NVThis paper describes a telemetry and command communication link used as part of a rover entered in the University Mars Rover competition. The link is capable of transmitting multiple real time video streams, along with other telemetry data from a rover to a base station approximately one kilometer away, under non-line-of-sight conditions. Low data rate commands are sent to the rover, to control its movement. To simulate conditions on Mars, the link cannot use existing cellular or satellite communication infrastructure. The data link uses the 70 cm Amateur Radio band for transmission in both directions.
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Workman, Scott. "Leveraging Overhead Imagery for Localization, Mapping, and Understanding." UKnowledge, 2018. https://uknowledge.uky.edu/cs_etds/64.
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Ground-level and overhead images provide complementary viewpoints of the world. This thesis proposes methods which leverage dense overhead imagery, in addition to sparsely distributed ground-level imagery, to advance traditional computer vision problems, such as ground-level image localization and fine-grained urban mapping. Our work focuses on three primary research areas: learning a joint feature representation between ground-level and overhead imagery to enable direct comparison for the task of image geolocalization, incorporating unlabeled overhead images by inferring labels from nearby ground-level images to improve image-driven mapping, and fusing ground-level imagery with overhead imagery to enhance understanding. The ultimate contribution of this thesis is a general framework for estimating geospatial functions, such as land cover or land use, which integrates visual evidence from both ground-level and overhead image viewpoints.
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Murphy, Taylor Byers. "Apprehending Remote Affordances: Assessing Human Sensor Systems and Their Ability to Understand a Distant Environment." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1374144285.
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Akyürek, Emre. "Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11671.
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This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself.
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Faria, Bruno Guedes. "Identificação dinamica longitudinal de um dirigivel robotico autonomo." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260166.
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Orientadores: Paulo Augusto Valente Ferreira, Ely Carneiro de PaivaDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação
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Resumo: Nos últimos anos tem-se observado um crescente interesse de empresas e instituições de pesquisa pelo desenvolvimento de veículos robóticos, dotados de diferentes níveis de capacidade de operação autônoma, objetivando a execução de diversas tarefas. Dentro deste contexto o CenPRA, Centro de Pesquisas Renato Archer, propôs o Projeto AURORA. O Projeto AURORA (Autonomous Unmanned Remote mOnitoring Robotic Airship) tem como seu principal objetivo o desenvolvimento de protótipos de veículos aéreos tele-operados, e a obtenção de veículos telemonitorados, através do desenvolvimento de sistemas com graus de autonomia crescentes. Para que se possam agregar níveis crescentes de autonomia ao veículo, é essencial incrementar seu sistema de controle e navegação de maneira gradativa. Por esse motivo o aprimoramento das estratégias de controle do sistema é essencial. Assim, é primordial possuir um modelo fidedigno do sistema físico em questão, pois somente dessa forma é possível elaborar leis de controle e testá-las imediatamente em simulação antes de partir para os ensaios práticos no veículo real. Além disso, um modelo adequado é essencial para a simulação do vôo do dirigível de forma a permitir a análise preliminar de seu comportamento diante de uma nova missão. O principal objetivo deste trabalho é a implementação e validação de metodologias para a identificação do modelo dinâmico longitudinal do dirigível. Foram abordadas três metodologias para a identificação do modelo dinâmico do dirigível: a identificação estacionária, que identifica os coeficientes aerodinâmicos do dirigível a partir de um vôo estacionário, a identificação dinâmica, que identifica esses coeficientes e a dinâmica linearizada do veículo a partir de um vôo com entradas de perturbação conhecidas e, finalmente, a identificação por meio de estratégias evolutivas, que procura otimizar alguns parâmetros do modelo dinâmico. As três metodologias foram testadas, validadas e comparadas através de ensaios de simulação, utilizando-se o simulador do dirigível AS800 do Projeto AURORA
Abstract: In recent years many research institutions and companies have been demonstrating a growing interest in the development of unmanned aerial vehicles with different autonomous operation levels in order to allow for the performance of many types of tasks. Within this context, CenPRA (Renato Archer Research Center) proposed the Project AURORA. Project AURORA (Autonomous Unmanned Remote Monitoring Robotic Airship) aims at the development of unmanned airships remotely operated with a view to the creation of an autonomous flight airship by the incorporation of increasing levels of autonomy. In order to increase the vehicle autonomy level, the development of a proportionally enhanced control and navigation systems is essential. It is extremely important to have a very accurate model of the physical airship system, given that this is the only way to design control laws for the vehicle and test them in simulation before performing actual flight tests. Moreover, an accurate model is essential to predict the vehicle behavior in simulation before any real flight demanding a new type of mission. The definition of identification methodologies for the AS800 airship system identification is the main scope of this work. Three methodologies were considered to allow the airship dynamic model identification: stationary identification, which identifies aerodynamic coefficients from stationary stabilized flight conditions; dynamic identification, which identifies these coefficients and the vehicle linear dynamics from the application of known inputs into the system; and, finally, through evolution strategies, which uses an evolutionary approach for the optimization of the aerodynamic coefficients of the dynamic model. All the methodologies were tested, validated and compared through simulation experiments by using the AS800 airship simulator of the Project AURORA
Mestrado
Automação
Mestre em Engenharia Elétrica
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Hultberg, Johanna. "Dehazing of Satellite Images." Thesis, Linköpings universitet, Datorseende, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-148044.
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The aim of this work is to find a method for removing haze from satellite imagery. This is done by taking two algorithms developed for images taken from the sur- face of the earth and adapting them for satellite images. The two algorithms are Single Image Haze Removal Using Dark Channel Prior by He et al. and Color Im- age Dehazing Using the Near-Infrared by Schaul et al. Both algorithms, altered to fit satellite images, plus the combination are applied on four sets of satellite images. The results are compared with each other and the unaltered images. The evaluation is both qualitative, i.e. looking at the images, and quantitative using three properties: colorfulness, contrast and saturated pixels. Both the qualitative and the quantitative evaluation determined that using only the altered version of Dark Channel Prior gives the result with the least amount of haze and whose colors look most like reality.
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Saleh, Diana. "Interaction Design for Remote Control of Military Unmanned Ground Vehicles." Thesis, Linköpings universitet, Interaktiva och kognitiva system, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-174074.
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The fast technology development for military unmanned ground vehicles (UGVs) has led to a considerable demand to explore the soldier’s role in an interactive UGV system. This thesis explores how to design interactive systems for UGVs for infantry soldiers in the Swedish Armed Force. This was done through a user-centered design approach in three steps; (1) identifying the design drivers of the targeted military context through qualitative observations and user interviews, (2) using the design drivers to investigate concepts for controlling the UGV, and (3) create and evaluate a prototype of an interactive UGV system design. Results from interviews indicated that design drivers depend on the physical and psychological context of the intended soldiers. In addition, exploring the different concepts showed that early conceptual designs helped the user express their needs of a non-existing system. Furthermore, the results indicate that an interactive UGV system does not necessarily need to be at the highest level of autonomy in order to be useful for the soldiers on the field. The final prototype of an interactive UGV system was evaluated using a demonstration video, a Technology Acceptance Model (TAM), and semi-structured user interviews. Results from this evaluation suggested that the soldiers see the potential usefulness of an interactive UGV system but are not entirely convinced. In conclusion, this thesis argues that in order to design an interactive UGV system, the most critical aspect is the soldiers’ acceptance of the new system. Moreover, for soldiers to accept the concept of military UGVs, it is necessary to understand the context of use and the needs of the soldiers. This is done by involving the soldiers already in the conceptual design process and then throughout the development phases.
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Janšta, Tomáš. "Inteligentní senzorická síť navržená pro specifikaci 802.15.4 (beta aplikace)." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2009. http://www.nusl.cz/ntk/nusl-228866.
Full textAbstract:
This thesis focuses on design of wireless network nodes using modular construction parts with respect to IEEEŽ 802.15.4 standard. Presented platform joins the benefits of the XBeeŽ wireless module and the AVR ATmega128 microcontroller development system. Sensor network prototype is designed to meet the desired first attempt functionality of embedded platform for collection and delivery of small volumes of control and sensor data between the network and the gateway. The control software was developed for TinyOS operating system. Designed platform is used as the framework for future development and possible functionality extensions in related applications.
28
Melcherson, Tim, Anna Gustavsson, and Albin Gideonsson. "Spybot - Webbstyrd robot med värmesensor." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-327935.
Full textAbstract:
I detta projekt byggdes en fjärrstyrd robot som styrs över Wi-Fi, ochstreamar video till användaren av vad den ser. Som komplement körsäven en temperatursensor för att utöka robotens möjlighet att kännaav sin omgivning. Huvudkomponenten är en Raspberry PI 3 modell B, därall kod för styrning och hemsidekontrollerna körs. Resultatet är enrobot som kan styras utanför synhåll och kan sända tillbaka en stabilkameraström så länge den är kopplad till ett stabilt nätverk.Dessvärre sjunker resultatet i takt med nätverkskvalitén. Vid ettsvagare nätverk blir det långa laddningstider för kameraströmmenvilket leder till att roboten blir mindre responsiv. Det tillsammansmed den förlorade kameraströmmen resulterar i att roboten ärobrukbar. Vid tillräckligt svaga nätverk, eller vid nätverksproblemkommer roboten repetera sin sista order tills dess att kontakt äråterupprättad.
29
FAVARIO, LEONARDO. "A New Modular E-Learning Platform Integrating an Enhanced Multimedia Experience." Doctoral thesis, Politecnico di Torino, 2018. http://hdl.handle.net/11583/2709429.
Full textAbstract:
Information and communication technologies are rapidly disrupting the way we interact with each other in this new connected world. The transmission of multimedia information is becoming mainstream also thanks to the availability of several commercial systems. Also in the educational environment, these novel technologies are making it possible to create and manage learning objects in ways which were unthinkable a few years back and this represents the driver for the creation of new approaches to education. Seeing the ubiquitous nature of the environments where web users interact, this work starts by analyzing the state of the art in the multimedia communication field focusing on those technologies which allow to reach a context awareness. Being able to sense the conditions where the device is used and quickly react to its changes is important in order to guarantee a flawless quality of experience. Part of this work focuses on the dynamic multimedia aspects, analyzing the latest trends in web streaming technologies and proposing a new framework for tackling some of the upcoming issues for such systems. In modern learning environments the presence of multimedia is massive. Multimedia objects are constantly created worldwide and this introduces new needs, such as the creation of proper repositories to store them and platforms to share them through the web. After analyzing the state of the art in educational technologies, focusing in particular in the content repository field, this work drafts a set of minimum requirements to follow in order to create a novel educational platform, ready to face the increasing number of needs of the future learners.
In this context, the author proposes FARE, a novel architecture designed for both educators and learners in order to ease their everyday learning experience. The modularity of such a platform allows to benefit from a large set of modules, most of which present some of the multimedia aspects highlighted beforehand. Both qualitative and quantitative evaluations are presented exploiting the fully working prototype of the FARE e-learning platform deployed in the University machines. This work is meant to highlight how the advances in the multimedia field represent a clear advantage for the community of learners, creating novel ways
of interacting with the learning objects and increasing the overall quality of experience.
30
Srnoyachki, Matthew R. "Automated Drilling Application for Autonomous Airfield Runway Surveying Vehicles: System Design and Validation." University of Dayton / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1544537004159348.
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Black, Benjamin Andrew. "Controlling a Passive Haptic Master During Bilateral Teleoperation." Diss., Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/19716.
Full textAbstract:
Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature of their actuators. Devices using electric motors, pneumatic or hydraulic cylinders or other similar actuators that can add energy to the system are considered "active." Devices using brakes, clutches or other passive actuators are considered "passive" haptic devices. The research presented here focuses on the use of passive haptic devices used during teleoperation, the remote control of a "slave" device by the haptic "master" device. An actuation scheme as well as three different control methods is developed for providing the user with haptic feedback. As a final step, the effectiveness of the controllers is compared to that of a commercially available active haptic device. Twenty subjects provide data that shows the usefulness of the passive device in three typical teleoperation tasks.
32
Tabile, Rubens André. "Desenvolvimento de um plataforma robótica modular e multifuncional para aquisição de dados em agricultura de precisão." Universidade de São Paulo, 2012. http://www.teses.usp.br/teses/disponiveis/18/18145/tde-05072013-101540/.
Full textAbstract:
A agricultura de precisão e as práticas agrícolas que levam em consideração a proteção do meio ambiente trouxeram, com as suas evoluções, uma série de desafios para a pesquisa. A escala de amostragem e a precisão exigida por estas novas práticas agrícolas muitas vezes são maiores que as exigidas pela agricultura tradicional, elevando os custos de produção. Todo esse processo demanda um expressivo número de pesquisas em desenvolvimento de instrumentos para automação. Entre elas destaca-se a utilização de técnicas de sensoriamento remoto baseado na utilização de tecnologia de sensores On-The-Go, atrelado a sistemas de informação geográfica, os quais são adaptados e desenvolvidos para o uso agrícola. Com esse objetivo, a aplicação de robôs agrícolas móveis é vista como forte tendência, principalmente na União Europeia, Estado Unidos e Japão. No Brasil existe a necessidade da realização de pesquisas para o desenvolvimento de plataformas robóticas, que sirvam de base para sistemas de navegação semi-autônomos e autônomos, que facilitem as operações de aquisição de dados em campo. O objetivo desse trabalho é descrever o projeto de uma plataforma experimental para aquisição de dados e para desenvolvimento de tecnologias de veículos autônomos para operar em ambientes agrícolas. A proposta é baseada em uma sistematização de trabalhos científicos evidenciando as principais metodologias e tecnologias empregadas em veículos e robôs agrícolas, que serviram como base para a construção do modelo apresentado nesse trabalho. A plataforma deve permitir a aquisição em massa de dados em campo para estudo da variabilidade espacial através de sensores e equipamentos que serão embarcados na estrutura.Precision agriculture and agricultural practices which take into account environment protection leads to several research challenges. Sampling scale and the precision required by these new agricultural practices are often higher than those required by traditional agriculture, raising the costs of production. This whole process requests an expressive number of researches in developing automation instruments. Among them, highlights the use of remote sensing techniques based on the use of On-the-Go sensors technology, coupled to a geographic information system adapted and developed for agricultural use. Aiming this, the application of agricultural mobile robots is a strong tendency, mainly in the European Union, USA and Japan. In Brazil, researches are necessary for the development of robotics platforms, serving as a basis for semi-autonomous and autonomous navigation systems, facilitating data acquisition in the field. The aim of this work is to describe the project of an experimental platform for data acquisition and for the development of autonomous vehicles technologies to operate in agricultural environments. The proposal is based on a systematization of scientific work containing the main methodologies and technologies employed in agricultural vehicles and robots, which were used as a basis for construction of the presented model. The platform shall allow acquisition of field data to study the spatial variability through sensors and equipment that will be loaded in the structure.
33
Song, Zhanglei. "Research on remote control of reconfigurable modular robotic system." Thesis, UOIT, 2009. http://hdl.handle.net/10155/24.
Full textAbstract:
Serial manipulators, which have large work space with respect to their own volume
and occupied floor space, are the most common industrial robots by far. However, in
many environments the situation is unstructured and less predictable, such as aboard a space station, a nuclear waste retrieval site, or a lunar base construction site. It is almost impossible to design a single robotic system which can meet all the requirements for every task. In these circumstances, it is important to deploy a modular reconfigurable robotic system, which is suitable to various task requirements. Modular reconfigurable robots have a variety of attributes that are well suited to for these conditions, including: the ability to serve as many different tools at once (saving weight), packing into compressed forms (saving space) and having high levels of redundany(increasing robustness). By easy disassembly and reassembly features, this serial modular robotic system will bring advantages to small and medium enterprise to save costs in the long term.
This thesis focuses on developing such a serial reconfigurable modular robotic
system with remote control functionality. The robotic arms are assembled by PowerCube
Modules with cubic outward appearance. The control and power electronics are fully
integrated on the connector block inside of the modules. Those modules are connected in
series by looping through, and can work completely independently. The communication
between robotic arms and PC controller is connected by the Control Area Network bus.
CAN protocol detects and corrects transmission errors caused by electromagnetic
interference. The local PC can directly control the robotic arm via Visual Basic code, and it can also be treated as server controller. Client PCs can access and control the robotic arm remotely through Socket communication mechanism with certain IP address and port number. A Java3D model is created on the client PC synchronously for customers online monitoring and control. The forward and inverse kinematic analysis is solved by Vector Algebraic Method. The Neutral Network Method is also introduced to improve the kinematic analysis. Multiple-layer networks are capable of approximating any function with finite number of discontinuities. For learning the inverse kinematics neural network needs information about coordinates, joint angles and actuator positions. The desired Cartesian coordinates are given as input to the neural network that returns actuator positions as output. The robot position is simulated using these actuator positions as reference values for each actuator.
34
Revický, Peter. "Teleoperační rozhraní pro řízení robotického vozidla s využitím virtuální reality." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2019. http://www.nusl.cz/ntk/nusl-399173.
Full textAbstract:
The goal of this work is to come up with user interface in virtual reality for vehicle robot teleoperation that is equipped with cameras, Velodyne laser distance meter and localization system. The user interface is designed with generally accepted methods for creation of user interfaces in virtual reality. This work also deals with the problem of sickness from VR. The user interface is implemented in Unity3D game engine. The HTC Vive Pro virtual reality kit was used during implementation and testing.
35
Erfanian, Alessandro. "Implementing Remote Robotic System and Interface for Modal Analysis Remote Lab." Thesis, Blekinge Tekniska Högskola, Institutionen för tillämpad signalbehandling, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-16863.
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It is more than a decade since Blekinge Institute of Technology introduced e-learning, remote laboratories and other innovative online learning solutions as a pedagogical education tool. The remote modal analysis lab is a remote lab project, which is a part of the university’s effort in the sound and vibration field. This project is developed and implemented for the bachelor degree in electrical engineering held at the Blekinge Institute of Technology, Karlskrona, Sweden. The main aim of this thesis work is to implement a linear system with a cantilever beam, fixed on an isolated and a stable base and also provide a remote control facility to have more data acquisition in a nonlinear system. This facility is a robotic system, which has a remote control interface to support the needs of distance users to perform an experiment.
36
Hayane, Karina. "Contribution à l'analyse et la modélisation du comportement de l'opérateur humain lors d'une tâche de télépistage visuo-manuel dans un environnement virtuel tridimensionnel." Valenciennes, 1998. https://ged.uphf.fr/nuxeo/site/esupversions/4e0d3efb-c867-4a00-a79b-50ed7dadbd4d.
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L'objectif de cette thèse d'automatique industrielle et humaine consiste en la contribution à l'analyse et la modélisation de l'opérateur humain soumis à une tâche de télépistage visuo-manuel dans un environnement virtuel et tridimensionnel généré par des images de synthèse. À cette fin, l'opérateur doit piloter à l'aide d'une boule à capteurs optiques, composante de l'organe de commande DIMENSION6, un objet suiveur pouvant simuler un véhicule fictif. L’opérateur humain a pour consigne de télépister la cible en conservant pendant toute la durée des tests effectués dans les différentes configurations géométriques une distance de sécurité comprise entre une distance minimale et maximale à ne pas dépasser. L’opérateur humain se positionne par rapport à cette cible à l'aide d'une mire équipée d'un indicateur de proximité. Pour mener ces différentes expériences, une analyse exploratoire est menée afin de réaliser la plate-forme expérimentale intitulée BALSIDEL comportant les plus larges possibilités existantes, tant du point de vue matériel que du point de vue logiciel. Cette plate-forme multimédia supporte un ensemble d'études visant à mettre au point une méthodologie d'évaluation quantitative et qualitative de la performance de télépistage des opérateurs humains. Les variables mesurées se regroupent en deux classes : temporelles et globales. À l'issue des expérimentations effectuées sur une population de 40 individus, un système d'acquisition et de dépouillement des données est élaboré. Ces données après interprétation ont permis d'élaborer un modèle du comportement de l'opérateur humain soumis à une tâche de télépistage. Plusieurs classes de comportement de télépistage sont extraites. L’originalité de cette étude réside dans l'analyse des comportements de télépistage selon l'axe de profondeur de l'écran affectés par un ensemble de contraintes (limites biomécaniques, dimensions spatiales, immersion virtuelle, nombre de degrés de liberté important) influant sur la performance de télépistage de l'opérateur humain.
37
Hamraz, Hamid. "AUTOMATED TREE-LEVEL FOREST QUANTIFICATION USING AIRBORNE LIDAR." UKnowledge, 2018. https://uknowledge.uky.edu/cs_etds/69.
Full textAbstract:
Traditional forest management relies on a small field sample and interpretation of aerial photography that not only are costly to execute but also yield inaccurate estimates of the entire forest in question. Airborne light detection and ranging (LiDAR) is a remote sensing technology that records point clouds representing the 3D structure of a forest canopy and the terrain underneath. We present a method for segmenting individual trees from the LiDAR point clouds without making prior assumptions about tree crown shapes and sizes. We then present a method that vertically stratifies the point cloud to an overstory and multiple understory tree canopy layers. Using the stratification method, we modeled the occlusion of higher canopy layers with respect to point density. We also present a distributed computing approach that enables processing the massive data of an arbitrarily large forest. Lastly, we investigated using deep learning for coniferous/deciduous classification of point cloud segments representing individual tree crowns. We applied the developed methods to the University of Kentucky Robinson Forest, a natural, majorly deciduous, closed-canopy forest. 90% of overstory and 47% of understory trees were detected with false positive rates of 14% and 2% respectively. Vertical stratification improved the detection rate of understory trees to 67% at the cost of increasing their false positive rate to 12%. According to our occlusion model, a point density of about 170 pt/m² is needed to segment understory trees located in the third layer as accurately as overstory trees. Using our distributed processing method, we segmented about two million trees within a 7400-ha forest in 2.5 hours using 192 processing cores, showing a speedup of ~170. Our deep learning experiments showed high classification accuracies (~82% coniferous and ~90% deciduous) without the need to manually assemble the features. In conclusion, the methods developed are steps forward to remote, accurate quantification of large natural forests at the individual tree level.
38
Reme, Fredrik. "Advanced Remote Control of Industrial Robots." Thesis, Norges Teknisk-Naturvitenskaplige Universitet, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-21086.
Full textAbstract:
The last few years, the use of industrial robots for tasks such as material handling, welding, painting and assembly, has expanded considerably - also in general industry. A company’s use of robots requires a certain expertise within the field of robotics. To hire in-house experts can be quite costly. Many small and medium sized enterprises (SMEs) consider robots in their productions, but cannot afford employing specialists. The challenge is therefore to find a way for robot system integrators to perform support and knowledge-transfer to the SMEs from the integrator’s location, making it cheaper and more efficient. To address this, one possibility is to enable remote operation of the industrial robots. This thesis aims to develop such a system, where new methods and technologies are used to achieve end-customer sup- port based on remote control. In developing a system like this, a major concern is how to efficiently communicate the state of the physical robot cell to the remote operator. The mul- tidisciplinary field CogInfoCom (Cognitive Infocommunications) deals with the connections between cognitive sciences and info communications, and was used for solving problems regarding transmission of the robot’s condition to the operator.The system developed in this thesis centers around the use of a gripper analog that the op- erator moves in space to remotely control the robot. Auditory and visual feedback for com- municating the state of the robot during control is used. The system includes functions for scaling, self-motion, motion guidance and teach-in programming, and was developed for a NACHI MR20 7-axis industrial robot. The combination of a MARG-sensor and a Microsoft Kinect was used to determine the gripper analog’s position and orientation in space.Practical experiments were performed for testing and verifying the scaling, the self-motion, the motion guidance and the teach-in programming. They demonstrated that all the func- tions lived up to their expectations. In addition, a test with a time-delay of one second was carried out. This resulted in indications that the control method aided the operator in time- delayed control, because it allowed him to plan motions ahead by relating them to his en- vironment. Moreover, a qualitative test with five participants was done to test the system’s general usability. All the participants performed a pick-and-place task, and everyone suc- cessfully completed this task. The observations during the usability test, suggested that the user interface was intuitive and easy to understand. However, the differences in camera-view perspective and control perspective could often cause confusions. With that said, it was clear that efficient usage of the system can be achieved with minimal training. During the usabil- ity test, it was also explored how the persons of interest responded to a visual overlay, cover- ing the operator’s computer monitor, turning red. In this case, the overlay gradually turned red to warn the operator that a singularity was approaching. Because most participants im- mediately halted the operation when this happened, the overlay concept was considered a beneficial way of conveying this information to the remote operator.In conclusion, the system’s utilization of a gripper analog as a tangible interface provides an intuitive way of remotely controlling industrial robots. Moreover, the use of CogInfoCom, such as the concepts of auditory and visual feedback, is a convenient way to communicate information of the robot’s state to the operator.
39
Nyman, Jonas. "Faster Environment Modelling and Integration into Virtual Reality Simulations." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19800.
Full textAbstract:
The use of virtual reality in engineering tasks, such as in virtual commissioning, has increased steadily in recent years, where a robot, machine or object of interest can be simulated and visualized. Yet, for a more immerse experience, an environment for the object in question needs to be constructed. However, the process for creatingan accurate environment, for a virtual simulation have remained a costly and a long endeavour. Because of this, many digital simulations are performed, either with no environment at all, or present a very basic and abstract representation of an intended environment.The aim of this thesis is to investigate if technologies such as LiDAR and digital photogrammetry could shorten the environment creation process. Therefore, a demonstrative virtual environment was created and analysed, in which the different technologies was investigated and presented in the form of a comprehensive review of the current state of the technologies with in digital recreation. Lastly, a technique specific evaluation of the time requirement, cost and user difficulty was conducted. As the field of LiDAR and digital photogrammetry is too vast to investigate all forms thereof within one project, this thesis is limited to the investigation of static laser scanners and wide lens camera photogrammetry. A semi industrious locale was chosen for digital replication, which through static laser scans and photographs would generate semi-automated 3D models.The resulting 3D models leave much to be desired, as large holes were present throughout the 3D models, sincecertain surfaces are not suitable for neither replication processes. Transparent and reflective surfaces lead to ripple effects within the 3D models geometry and textures. Moreover, certain surfaces, as blank areas for photogrammetry or black coloration for laser scanners led to missing features and model distortions.Yet despite the abnormalities, the majority of the test environment was successfully re-created. An evaluation of the created environments was performed, which list and illustrate with tables and figures the attributes, strengths and weaknesses of each technique. Moreover, technique specific limitations and a spatial analysis was carried out. With the result, seemingly illustrating that photogrammetry creates more visually accurate 3D models in comparison to the laser scanner, yet the laser scanner produces a more spatially accurate result. As such, a selective combination of the techniques can be suggested.Observations and interviews seem to point towards the full scale application, in which an accurate 3D model is re-created without much effort, to currently not exist. As both photogrammetry and static laser scanning require great effort, skill and time in order to create a seemingly perfect solid model. Yet, utilizing either, or both techniques as a template for 3D object creation could reduce the time to create an environment significantly.Furthermore, methods such as digital 3D sculpting could be used in order to remove imperfections and create what is missing from the digitally constructed 3D models. Thereby achieving an accurate result.
40
Arslan, Mehmet Selcuk. "Improving Performance Of A Remote Robotic Teleoperation Over The Internet." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606475/index.pdf.
Full textAbstract:
In this thesis study, it is aimed to improve the performance of an Internet-based teleoperation system enabling the remote operation of a 6 DOF industrial robot. In order to improve the safety and efficiency of the teleoperation, stability and synchronization (hand-eye coordination) are considered.
The selected communication medium between the human operator and remote robot is the Internet. The variable time delays and nondeterministic characteristics of the Internet may lead to instability of the teleoperation system. Considering the disturbing effects of the Internet onto the transmission, an event-based control approach is used in order to improve the stability of the teleoperation system. Besides, a visual feedback system is developed and a force-feedback mouse is designed in order to improve synchronization between the human operator and robot during the command generation according to the feedback obtained from the control system. A client-server software application is developed to interface the human operator with remote environment.
It is observed that, using the event-based control approach in the operation makes the teleoperation stable and improves the synchronization ability. Implementation of visual feedback and force-feedback mouse to the teleoperation system improves the human operator&rsquos ability to perform remote operation.
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Alici, Gürsel. "Robot force control for remote drilling in hazardous environments." Thesis, University of Oxford, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.335861.
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Salem, Tawfiq. "Learning to Map the Visual and Auditory World." UKnowledge, 2019. https://uknowledge.uky.edu/cs_etds/86.
Full textAbstract:
The appearance of the world varies dramatically not only from place to place but also from hour to hour and month to month. Billions of images that capture this complex relationship are uploaded to social-media websites every day and often are associated with precise time and location metadata. This rich source of data can be beneficial to improve our understanding of the globe. In this work, we propose a general framework that uses these publicly available images for constructing dense maps of different ground-level attributes from overhead imagery. In particular, we use well-defined probabilistic models and a weakly-supervised, multi-task training strategy to provide an estimate of the expected visual and auditory ground-level attributes consisting of the type of scenes, objects, and sounds a person can experience at a location. Through a large-scale evaluation on real data, we show that our learned models can be used for applications including mapping, image localization, image retrieval, and metadata verification.
43
Qin, Ni. "Algorithms, Protocols & Systems for Remote Observation Using Networked Robotic Cameras." [College Station, Tex. : Texas A&M University, 2008. http://hdl.handle.net/1969.1/ETD-TAMU-2008-05-11.
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Wang, Xiaoyue. "Integrated control systems for robotic NDT of large and remote surfaces." Thesis, London South Bank University, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.323885.
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Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.
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付記する学位プログラム名: デザイン学大学院連携プログラムKyoto University (京都大学)
0048
新制・課程博士
博士(工学)
甲第21759号
工博第4576号
新制||工||1713(附属図書館)
京都大学大学院工学研究科機械理工学専攻
(主査)教授 松野 文俊, 教授 椹木 哲夫, 教授 小森 雅晴
学位規則第4条第1項該当
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Wigmore, Oliver Henry Wigmore. "Assessing Spatiotemporal Variability in Glacial Watershed Hydrology: Integrating Unmanned Aerial Vehicles and Field Hydrology, Cordillera Blanca, Peru." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1471854919.
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Asthana, Ambika. "Software architecture for controlling an indoor hovering robot from a remote host." Access electronically, 2007. http://www.library.uow.edu.au/adt-NWU/public/adt-NWU20080905.112058/index.html.
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Plakas, Konstantinos. "Video sequence analysis for subsea robotics." Thesis, Heriot-Watt University, 2001. http://hdl.handle.net/10399/1186.
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Tallon, Christopher John. "A dynamic web interface to a remote robot evaluated with a robotic telescope." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4479.
Full textAbstract:
This thesis investigates the issues of creating a publicly accessible Web interface to a remote autonomous robot: the Bradford Robotic Telescope. The robot is situated on Mount Teide, on the island of Tenerife, Spain. Its mission is to provide interactive access to the stars to people who would otherwise not be able to appreciate the wonders of the night sky due to light pollution. Whenever weather and darkness permits, the robot processes the observation requests submitted by users via the Internet, operating all the hardware including the dome, telescope mount and cameras. The question of how to enable a content rich high quality dialogue between one robot and thousands of users is explored and divided into seven areas of research. How to design a Web site enabling high quality interaction with the user, how to enable users to request service from a robot, how to store and manage all the user and robot generated data, how to enable communication between the Web interface and the robot, how to schedule many observation requests in the best order, how to support a constant dialogue between the robot and users to engage users in the robot's work, and how to present and display users' completed observations. These seven areas of research are investigated; solutions are presented and their implementations examined and evaluated for their suitability and performance with the Bradford Robotic Telescope, and for how they might perform for any job-based remote robot.
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Rochlis, Jennifer Lisa. "Human factors and telerobotics : tools and approaches for designing remote robotic workstation displays." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8109.
Full textAbstract:
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, February 2002.Includes bibliographical references (v. 2, leaves 297-300).
A methodology is created for designing and testing an intuitive synthesized telerobotic workstation display configuration for controlling a high degree of freedom dexterous manipulator for use on the International Space Station. With the construction and maintenance of the International Space Station, the number of Extravehicular Activity (EVA) hours is expected to increase by a factor of four over the current Space Shuttle missions, resulting in higher demands on the EVA crewmembers and EVA crew systems. One approach to utilizing EVA resources more effectively while increasing crew safety and efficiency is to perform routine and high-risk EVA tasks telerobotically. NASA's Johnson Space Center is developing the state-of-the-art dexterous robotic manipulator. An anthropomorphic telerobot called Robonaut is being constructed that is capable of performing all of the tasks required of an EVA suited crewmember. Robonaut is comparable in size to a suited crewmember and consists of two 7 DOF arms, two 12 DOF hands, a 6+ DOF "stinger tail", and a 2+ DOF stereo camera platform. Current robotic workstations are insufficient for controlling highly dexterous manipulators, which require full immersion operator telepresence. The Robonaut workstation must be designed to allow an operator to intuitively control numerous degrees of freedom simultaneously, in varying levels of supervisory control and for all types of EVA tasks. This effort critically reviewed previous research into areas including telerobotic interfaces, human-machine interactions, microgravity physiology, supervisory control, force feedback, virtual reality, and manual control.
(cont.) A methodology is developed for designing and evaluating integrated interfaces for highly dexterous and multi-functional telerobots. In addition a classification of telerobotic tasks is proposed. Experiments were conducted with subjects performing EVA tasks with Space Station hardware using Robonaut and a Robonaut simulation (also under development). Results indicate that Robonaut simulation subject performance matches Robonaut performance. The simulation can be used for training operators for full-immersion teleoperation and for developing and evaluating future telerobotic workstations. A baseline amount of Situation Awareness time was determined and reduced using the display design iteration.
by Jennifer Lisa Rochlis.
Ph.D.