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Dissertations / Theses on the topic 'Robotic sensors and control'
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Nicholson, Ann Elizabeth. "Monitoring discrete environments using dynamic belief networks." Thesis, University of Oxford, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.306008.
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Smith, G. P. "Sensory measurement and control in robotic assembly processes." Thesis, University of Hertfordshire, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384576.
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Zhang, Mei 1968. "Sensor-based autonomous control of dynamic robotic manipulation." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22685.
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Autonomous grasping in dynamic environments where the object, the robot or both are moving is an increasingly common task in robotic applications. This thesis describes an online trajectory planner--a geometric controller--which evaluates a nonlinear memoryless function to map the current object position and velocity into a desired robot pose. If the robot tracks these set points, it is guaranteed to match the object's velocity and acceleration on a specified grasp surface. A planar simulation demonstrates that this paradigm performs favorably when compared with the traditional planning approach. Since it does not depend on future state predictions, no object model is required. Without trajectory prediction, the computational effort is drastically reduced, allowing for higher controller speed and tracking feedback gains. The geometric controller has been successfully implemented on the 7 dof Sarcos Dextrous Arm.In order to provide the critical local sensing just before robot-environment contract, this thesis reports on work in progress toward the development of a proximity sensing network, located in a robot's multi-fingered gripper. This network will form an integral part of a multistage sensing system with vision and tactile sensor pads. Sensing information is passed on to geometric controller which provides a framework for general sensor-based control of robotic tasks.
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Barsky, Michael F. "Robot gripper control system using PVDF piezoelectric sensors." Thesis, Virginia Polytechnic Institute and State University, 1986. http://hdl.handle.net/10919/77897.
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A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is obtained. The signals from the PVDF sensor and a strain gauge force sensor are arranged in a proportional and derivative (PD) control system for the control of force. The control system was tested on an instrumented Rhino XR-1 manipulator hand. The capabilities of the control system are analyzed analytically, and verified experimentally. The results for this particular gripper indicate that as much as 900% improvement in force step response rise time, and 300% reduction in overshoot are possible by inclusion of the PVDF sensor.Master of Engineering
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Cunha, João Alexandre da Silva Costa e. "Holonomic control and behaviours for the CAMBADA robotic soccer team." Master's thesis, Universidade de Aveiro, 2009. http://hdl.handle.net/10773/2127.
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Mestrado em Engenharia de Computadores e TelemáticaCAMBADA é a equipa de futebol robótico da liga de tamanho médio do RoboCup criada por investigadores do grupo ATRI do IEETA da Universidade de Aveiro. Esta dissertação apresenta as contribuições desenvolvidas no controlo do movimento holonómico e comportamentos de alto-nível. Ao nível do controlo do movimento, várias restrições que afectam o movimento holonómico foram tratadas. Isto é de vital importância visto que dado o ambiente altamente dinâmico de um jogo de futebol é crucial mover e posicionar os robots eficazmente no campo. Ao nivel dos comportamentos, dada a importância da bola no jogo de futebol, e considerando o trabalho realizado no que diz respeito à estimativa da velocidade da bola, o comportamento de intercepção activa foi desenvolvido permitindo aos robots apanhar a bola prevendo o seu movimento em vez de se moverem directamente para a ela considerando-a estática. Dada a autonomia completa dos robots, a sua percepção do mundo deve ser o mais próxima possivel da realidade. De modo a fornecer, ao robot, informação adicional respeitante ao estado do jogo, um método para determinar se está preso foi desenvolvido. O trabalho implementado melhorou a performance da equipa e contribuiu para vitória de um campeonato nacional, Robótica’09, e a um notável terceiro lugar no RoboCup’09 em Graz, ´Austria. ABSTRACT: CAMBADA is the RoboCup Middle Size League robotic soccer team created by researchers of the ATRI group of IEETA of University of Aveiro. This thesis presents the developed contributions in holonomic motion control and high-level behaviours. At the motion control level, several restrictions affecting holonomic motion were addressed. This is of vital importance since that given the highly dynamic environment of a soccer game it is crucial to move and position the robots efficiently in the field. At the behaviours level, given the importance of the ball in the soccer game, and considering previous work regarding the estimation of the ball velocity, the active interception behaviour was implemented allowing the robots to engage the ball predicting its movement rather than moving directly to it considering it static. Given the full autonomy of the robots, their perception of the game should be as close to reality as possible. In order to supply additional information to the robot regarding the state of the game, a method to detect if it is stuck was developed. The implemented work improved the team performance and contributed to the victory of a National Championship (Robótica’09) and a remarkable third-place in the RoboCup 2009 in Graz, Austria.
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Wang, Yanjun. "Impedance control without force sensors with application in homecare robotics." Thesis, University of British Columbia, 2014. http://hdl.handle.net/2429/51174.
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This thesis addresses the problem of interaction control between robot manipulator and the manipulated object in a homecare project. This project aims to use homecare robots at the elderly or disabled people’s home to provide necessary aid and assistance. The robot manipulator is to be operated in autonomous mode or teleoperation mode. The possible first aid or assistance requires direct interaction between the remote side robot manipulator and the human body.
To guarantee the compliant interaction between the manipulator and the human body, impedance control was applied. In impedance control, neither the force nor the actual motion of the manipulator is controlled. The dynamic relationship between the interaction force and the resulting motion is controlled so that the interaction force will be monitored and kept at an acceptable range.
To shape the mechanical impedance to any desired value as we wish, the remote side interaction force sensing is required. The interaction force could be sensed by a force sensor. Force sensors have a lot of inherent limitations such as narrow bandwidth, sensing noise, and high cost. To avoid a force sensor due to its limitations, sliding mode observers will be applied to estimate the interaction force. The estimated interaction force will be used in the impedance control algorithms. The observer and controller framework will be formulated and the solvability will be discussed thoroughly. In addition, the proposed approach will be compared with some available approaches to show its advantages over others.
Bilateral impedance control will be applied in a teleoperation system. The master side impedance controller is to ensure the robust stability of the teleoperation system. The remote slave side impedance controller is used so that the interaction force will be monitored and kept at some acceptable range. Desired impedance parameters selection will be discussed considering the compromise between robust stability and performance. Also, in order to deal with the uncertainties in operator and environment dynamics, a robust performance guaranteed controller synthesis approach will be proposed. Gain-scheduling control could guarantee the stability and the robust performance under those uncertainties.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Brickman, Staffan, and Peter Andersson. "Improving the accuracy of an industrial robotic arm using iterative learning control with data fusion of motor angles and imu sensors." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48712.
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The estimated position of an industrial robot’s end-effector is crucial for its performance. Contemporary methods for doing the estimation is limited in certain aspects, and alternative methods are in high demand. This work builds on a method previously introduced where an Inertial Measurement Unit (IMU) device is combined with the robot’s system via sensor fusion. The IMU must be calibrated before its signal is used in sensor fusion and this work implements and builds on current cutting-edge methods for calibration. Sensor fusion is a crucial part of the method and here a complementary filter is used. The finished estimation is then used with Iterative Learning Control (ILC) to investigate if the accuracy can be further improved and also test its viability. Results from ILC show that the IMU can indeed be used to estimate the end-effector's trajectory but that sensor fusion is mandatory. Further research could be done to allow the estimation to be done online instead of offline and ILC could be tested more extensively.
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Rehbinder, Henrik. "State Estimation and Limited Communication Control for Nonlinear Robotic Systems." Doctoral thesis, KTH, Mathematics, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3250.
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West, Jerry. "Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control." Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.
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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces.
Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.
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Mohy, El Dine Kamal. "Control of robotic mobile manipulators : application to civil engineering." Thesis, Université Clermont Auvergne (2017-2020), 2019. http://www.theses.fr/2019CLFAC015/document.
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Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches de ponçage, telles que le désamiantage, sont toujours effectuées par des opérateurs humains utilisant des outils électriques et hydrauliques classiques. Cependant, avec la diminution du coût relatif des machines par rapport au travail humain et les réglementations sanitaires strictes applicables à des travaux aussi risqués, les robots deviennent progressivement des alternatives crédibles pour automatiser ces tâches et remplacer les humains.Dans cette thèse, des nouvelles approches de contrôle de ponçage de surface sont élaborées. Le premier contrôleur est un contrôleur hybride position-force avec poignet conforme. Il est composé de 3 boucles de commande, force, position et admittance. La commutation entre les commandes pourrait créer des discontinuités, ce qui a été résolu en proposant une commande de transition. Dans ce contrôleur, la force de choc est réduite par la commande de transition proposée entre les modes espace libre et contact. Le second contrôleur est basé sur un modèle de ponçage développé et un contrôleur hybride adaptatif position-vitesse-force. Les contrôleurs sont validés expérimentalement sur un bras robotique à 7 degrés de liberté équipé d'une caméra et d'un capteur de force-couple. Les résultats expérimentaux montrent de bonnes performances et les contrôleurs sont prometteurs. De plus, une nouvelle approche pour contrôler la stabilité des manipulateurs mobiles en temps réel est présentée. Le contrôleur est basé sur le « zero moment point », il a été testé dans des simulations et il a été capable de maintenir activement la stabilité de basculement du manipulateur mobile tout en se déplaçant. En outre, les incertitudes liées à la modélisation et aux capteurs sont prises en compte dans les contrôleurs mentionnés où des observateurs sont proposés.Les détails du développement et de l'évaluation des différents contrôleurs proposés sont présentés, leurs mérites et leurs limites sont discutés et des travaux futurs sont suggérésDespite the advancements in industrial automation, robotic solutions are not yet commonly used in the civil engineering sector. More specifically, grinding tasks such as asbestos removal, are still performed by human operators using conventional electrical and hydraulic tools. However, with the decrease in the relative cost of machinery with respect to human labor and with the strict health regulations on such risky jobs, robots are progressively becoming credible alternatives to automate these tasks and replace humans.In this thesis, novel surface grinding control approaches are elaborated. The first controller is based on hybrid position-force controller with compliant wrist and a smooth switching strategy. In this controller, the impact force is reduced by the proposed smooth switching between free space and contact modes. The second controller is based on a developed grinding model and an adaptive hybrid position-velocity-force controller. The controllers are validated experimentally on a 7-degrees-of-freedom robotic arm equipped with a camera and a force-torque sensor. The experimental results show good performances and the controllers are promising. Additionally, a new approach for controlling the stability of mobile manipulators in real time is presented. The controller is based on zero moment point, it is tested in simulations and it was able to actively maintain the tip-over stability of the mobile manipulator while moving. Moreover, the modeling and sensors uncertainties are taken into account in the mentioned controllers where observers are proposed. The details of the development and evaluation of the several proposed controllers are presented, their merits and limitations are discussed and future works are suggested
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Gardner, Marcus Jian Li. "A heterogeneous sensor suite for reducing the cognitive burden of upper limb robotic control." Thesis, Imperial College London, 2016. http://hdl.handle.net/10044/1/45047.
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A Human machine interface (HMI) acts like a bridge between motor function and the brain. Bypassing these natural pathways allows disabled individuals to perform actions that might otherwise be too difficult or impossible. The loss or impairment of voluntary muscle control can have a detrimental effect on an individual’s quality of life. By utilising natural physiological motion with sensor fusion techniques, grasp intention can be predicted, leading to an assistive HMI concept that can reduce the cognitive load that traditional HMIs impose on the user. This thesis investigates a novel design concept for a heterogeneous sensor suite, by fusing mechanomyogram (MMG) sensors for muscle activation, computer vision for object recognition, and inertial measurement sensors for predicting grasp intention. The developed architecture focuses on the prediction of intentional grasp activity of 1 amputee and 10 healthy subjects, using the natural physiological motion of the arm when reaching to grasp 3 objects with up to 3 different grasp patterns. 84 motion features are extracted and used as a classification tool for predicting intention, yielding an average grasp classification accuracy of 100%, 82.5% and 88.9% for bottle, lid and box objects across all subjects. The novel heterogeneous sensor suite is applied to automate the grasp control of a myoelectric hand prosthesis. Real-time task-based experiments evaluated the performance of the proposed system, comparing it against conventional control using MMG sensors, yielding an 8.5% average faster completion time, as well as a reduction in overall cognitive and physical burden. The results of this research provide excellent potential for the use of natural motion to replace discrete muscle input as a selection and intention prediction tool, where the emphasis is on reducing the cognitive load imposed by assistive technologies.
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Nakhaeinia, Danial. "Hybrid-Adaptive Switched Control for Robotic Manipulator Interacting with Arbitrary Surface Shapes Under Multi-Sensory Guidance." Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37127.
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Industrial robots rapidly gained popularity as they can perform tasks quickly, repeatedly and accurately in static environments. However, in modern manufacturing, robots should also be able to safely interact with arbitrary objects and dynamically adapt their behavior to various situations. The large masses and rigid constructions of industrial robots prevent them from easily being re-tasked. In this context, this work proposes an immediate solution to make rigid manipulators compliant and able to efficiently handle object interactions, with only an add-on module (a custom designed instrumented compliant wrist) and an original control framework which can easily be ported to different manipulators. The proposed system utilizes both offline and online trajectory planning to achieve fully automated object interaction and surface following with or without contact where no prior knowledge of the objects is available.
To minimize the complexity of the task, the problem is formulated into four interaction motion modes: free, proximity, contact and a blend of those. The free motion mode guides the robot towards the object of interest using information provided by a RGB-D sensor. The RGB-D sensor is used to collect raw 3D information on the environment and construct an approximate 3D model of an object of interest in the scene. In order to completely explore the object, a novel coverage path planning technique is proposed to generate a primary (offline) trajectory. However, RGB-D sensors provide only limited accuracy on the depth measurements and create blind spot when it reaches close to surfaces. Therefore, the offline trajectory is then further refined by applying the proximity motion mode and contact motion mode or a blend of them (blend motion mode) that allow the robot to dynamically interact with arbitrary objects and adapt to the surfaces it approaches or touches using live proximity and contact feedback from the compliant wrist.
To achieve seamless and efficient integration of the sensory information and smoothly switch between different interaction modes, an original hybrid switching scheme is proposed that applies a supervisory (decision making) module and a mixture of hard and blend switches to support data fusion from multiple sensing sources by combining pairs of the main motion modes. Experimental results using a CRS-F3 manipulator demonstrate the feasibility and performance of the proposed method.
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Anderson, Ellen, and Martin Granlöf. "Get a Grip : Dynamic force adjustment in robotic gripper." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264515.
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Autonomous mobile robots are on the rise and are to be expected on the market in about 5-10 years. Several challenges need to be solved for this to happen, and the most crucial ones are to develop versatile and safe robots. The Get a Grip robot is a dynamic force adjustment gripper using inputs from two different sensory systems. The construction of the robot consists of two parallel gripper plates moved by a rack and pinion gear attached to a direct current (DC) motor. Embedded into one of the plates is a Force Sensitive Resistor (FSR) for input of the gripper’s exerted force. Mounted to the other plate is a self constructed Slip sensor used for measuring the occurrence of slip and slip rate. A surrounding crane for mounting of the gripper and lifting was also constructed. The idea of this bachelor’s thesis project is to enable lifting of objects with unknown weight without the gripper exerting more force than necessary. This is something that will be useful in both industrial applications and in household robots in the future. In order to realize the concept two different methods for calculating the gripper’s applied force were tested, one using motor current and the other using a FSR sensor. Through testing it was concluded that the FSR sensor was the method giving better accuracy and consistency. Proportional–Integral–Derivative (PID) controllers were then tested for both setting force references for the gripper using the Slip sensor as input, and controlling the exerted force in the gripper using the FSR as input. The results led to two PID controllers thought to be sufficient as starting points for further testing of the complete system.Mobila autonoma robotar förväntas vara på marknaden inom de närmaste 5-10 åren. För att det här ska ske är det många utmaningar som behöver lösas och de mest kritiska är att utveckla mångsidiga och säkra robotar. Get a Grip-roboten är en dynamisk kraftanpassande robotklo som tar insignaler från två olika sensorsystem. Konstruktionen består av två parallella plattor som förflyttas av kuggstänger och kugghjul drivna av en DC motor. Inbyggt i en av kloplattorna finns en tryckkänslig kraftsensor (FSR) monterad för att registrera kraften som klon genererar. På den andra kloplattan sitter en egenkonstruerad glidsensor som registrerar om glidning sker och själva glidhastighet. En kran för att montera klon och lyfta den konstruerades även. Idén bakom detta kandidatexamens projektet är att klon ska kunna lyfta ett objekt med okänd vikt utan att använda mer kraft än nödvändigt. Det är något som kommer vara användbart både vid industriella tillämpningar och hos husållsrobotar i framtiden. För att realisera konceptet testades två olika metoder för att estimera kraften klon genererar, den första genom motorströmmen och den andra genom en FSR sensor. Tester genomfördes för båda metoderna och slutsatsen blev att FSR sensorn gav bäst noggrannhet och var mest konsekvent. PID-regulatorn, för bestämning av kraftreferens, med insignal från glidsensorn och PID-regulatorn, för genererad klokraft, med insignal från FSR:n testades separat. Resultatet blev två PID-regulatorer som ansågs tillräckliga för fortsätta tester med båda regulatorerna tillsammans.
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Reitz, Brian C. Crouse Gilbert L. "Collaborative UAS control to increase deconfliction ability in the NAS." Auburn, Ala, 2009. http://hdl.handle.net/10415/1783.
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Cheng, Yongqiang. "Wireless mosaic eyes based robot path planning and control : autonomous robot navigation using environment intelligence with distributed vision sensors." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4421.
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As an attempt to steer away from developing an autonomous robot with complex centralised intelligence, this thesis proposes an intelligent environment infrastructure where intelligences are distributed in the environment through collaborative vision sensors mounted in a physical architecture, forming a wireless sensor network, to enable the navigation of unintelligent robots within that physical architecture. The aim is to avoid the bottleneck of centralised robot intelligence that hinders the application and exploitation of autonomous robot. A bio-mimetic snake algorithm is proposed to coordinate the distributed vision sensors for the generation of a collision free Reference-snake (R-snake) path during the path planning process. By following the R-snake path, a novel Accompanied snake (A-snake) method that complies with the robot's nonholonomic constraints for trajectory generation and motion control is introduced to generate real time robot motion commands to navigate the robot from its current position to the target position. A rolling window optimisation mechanism subject to control input saturation constraints is carried out for time-optimal control along the A-snake. A comprehensive simulation software and a practical distributed intelligent environment with vision sensors mounted on a building ceiling are developed. All the algorithms proposed in this thesis are first verified by the simulation and then implemented in the practical intelligent environment. A model car with less on-board intelligence is successfully controlled by the distributed vision sensors and demonstrated superior mobility.
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Jagolinzer, Scott R. "Design and Control of a Dynamic and Autonomous Trackless Vehicle Using Onboard and Environmental Sensors." FIU Digital Commons, 2017. http://digitalcommons.fiu.edu/etd/3173.
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The purpose of this thesis is to explore the current state of automated guided vehicles (AGVs), sensors available for the vehicles to be equipped with, control systems for the vehicles to run on, and wireless technology to connect the whole system together. With a technological push towards increasing automation and maximizing the possible throughput of systems, automated technology needs to improve for trackless and wireless systems such as vehicles that can be used to move loads in a vast array of applications.
The goal of this research is to develop and propose improvements in both vehicle and control system design that allows for improved safety and efficiency. Right now the main issues are maneuverability of vehicles and control systems being adaptive enough to deal with connection issues between systems. While prolonged connection issues will result in a stoppage of operation of any system that relies on wireless communication, intermittent issues can also cause systems to have an emergency stop. I have looked into ways to offload tasks from the central system and allow the vehicles themselves to have more computational privileges such that they can operate in a semi-independent manner.
The result is a proposed system that remedies or limits negative effects that currently cause issues with trackless vehicles and control systems working with remote systems that communicate via wireless means.
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Zhou, Debao. "Design and analysis of a three-degree-of-freedom optical sensor for real-time orientation measurement." Thesis, Georgia Institute of Technology, 2003. http://hdl.handle.net/1853/17582.
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Heralic, Almir. "Towards full Automation of Robotized Laser Metal-wire Deposition." Licentiate thesis, University West, Department of Engineering Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-2148.
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Metal wire deposition by means of robotized laser welding offers great saving potentials, i.e. reduced costs and reduced lead times, in many different applications, such as fabrication of complex components, repair or modification of high-value components, rapid prototyping and low volume production, especially if the process can be automated. Metal deposition is a layered manufacturing technique that builds metal structures by melting metal wire into beads which are deposited side by side and layer upon layer. This thesis presents a system for on-line monitoring and control of robotized laser metal wire deposition (RLMwD). The task is to ensure a stable deposition process with correct geometrical profile of the resulting geometry and sound metallurgical properties. Issues regarding sensor calibration, system identification and control design are discussed. The suggested controller maintains a constant bead height and width throughout the deposition process. It is evaluated through real experiments, however, limited to straight line deposition experiments. Solutions towards a more general controller, i.e. one that can handle different deposition paths, are suggested.
A method is also proposed on how an operator can use different sensor information for process understanding, process development and for manual on-line control. The strategies are evaluated through different deposition tasks and considered materials are tool steel and Ti-6Al-4V. The developed monitoring system enables an operator to control the process at a safe distance from the hazardous laser beam.
The results obtained in this work indicate promising steps towards full automation of the RLMwD process, i.e. without human intervention and for arbitrary deposition paths.
RMS
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Ferrell, Cynthia. "Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/6791.
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This thesis presents methods for implementing robust hexpod locomotion on an autonomous robot with many sensors and actuators. The controller is based on the Subsumption Architecture and is fully distributed over approximately 1500 simple, concurrent processes. The robot, Hannibal, weighs approximately 6 pounds and is equipped with over 100 physical sensors, 19 degrees of freedom, and 8 on board computers. We investigate the following topics in depth: distributed control of a complex robot, insect-inspired locomotion control for gait generation and rough terrain mobility, and fault tolerance. The controller was implemented, debugged, and tested on Hannibal. Through a series of experiments, we examined Hannibal's gait generation, rough terrain locomotion, and fault tolerance performance. These results demonstrate that Hannibal exhibits robust, flexible, real-time locomotion over a variety of terrain and tolerates a multitude of hardware failures.
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Morison, Alexander M. "Perspective Control: Technology to Solve the Multiple Feeds Problem in Sensor Systems." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1281931069.
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Hollinger, James G. "Autonomous tactile object exploration and estimation using simple sensors." Thesis, This resource online, 1994. http://scholar.lib.vt.edu/theses/available/etd-03042009-040756/.
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Veras-Jorge, Eduardo J. "Design and implementation of a hard real-time telerobotic control system using sensor-based assist functions." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002673.
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Nowak, Brent Michael. "A conceptual high-resolution MR encoder and torque transducer for precision actuators /." Digital version accessible at:, 1998. http://wwwlib.umi.com/cr/utexas/main.
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Petit, Damien. "Analysis of sensory requirement and control framework for whole body embodiment of a humanoid robot for interaction with the environment and self." Thesis, Montpellier, 2015. http://www.theses.fr/2015MONTS285.
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Les substituts de robot humanoïde promettent de nouvelles applications dans le domaine des interactions homme-robot et la robotique d’assistance. Cependant, l’incarnation de corps entier pour la téléopération ou téléprésence avec des avatars de robots mobiles est encore loin d’être pleinement exploré et compris. Dans cette thèse, nous nous concentrons sur l’exploration du sentiment d’incarnation quand on navigue et interagit avec l’environnement ou avec soi-même par l’intermédiaire d’un robot humanoïde. Dans un premier temps, nous montrons une architecture de contrôle conçu pour réaliser des scénarios de navigation et d’interaction avec soi. L’architecture utilise une interface cerveau-ordinateur pour contrôler le robot humanoïde et repose sur plusieurs composants de vision par ordinateur pour aider l’utilisateur à naviguer et interagir avec l’environnement et soi-même. Deux scénarios sont ensuite réalisés avec cette architecture où les utilisateurs doivent contrôler un robot humanoïde pour réaliser des tâches d’interaction avec soi-même. Tout d’abord, nous examinons comment la rétroaction et la contrôlabilité réduite des utilisateurs affectent leur sentiment d’incarnation vers le robot humanoïde en navigation. Nous présentons ensuite le résultat d’une étude axée sur le sentiment éprouvé par l’utilisateur lorsqu’il commande le bras humanoïde pour “toucher” l’environnement et soi-même. Le résultat montre que, malgré le manque de rétroaction dans le contrôle, et le fait de se reconnaître, les utilisateurs restent incarnés dans le robot humanoïde, et ressentent “l’effet tactile du toucher” sur leurs mains à travers le robot humanoïdeHumanoid robot surrogates promise new applications in the field of human robot interactions and assistive robotics. However, whole body embodiment for teleoperation or telepresence with mobile robot avatars is yet to be fully explored and understood. In this thesis, we focus on exploring the feeling of embodiment when one navigates and interacts with the environment or with one's self through a humanoid robot. First, we show a framework devised to realize scenarios of navigation and self interaction. The framework uses a brain-computer interface to control a humanoid robot and relies on several computer vision components to assist the user navigate and interact with the environment and one's self. Two scenarios are then realized with this framework where the users control a humanoid robot to realize self interaction tasks. We then explore in details key issues encountered during those scenarios. First, we investigate how the reduced controllability and feedback of the users affect their feeling of embodiment towards the walking surrogate. We then present the result of a study focused on the feeling experienced by the user when controlling the humanoid arm to ``touch'' the environment and then one's self. The result shows that despite the lack of feedback in the control, and recognizing themselves, users stay embody in the surrogate, and experience the touch in their hands through it
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Mansard, Nicolas. "Semiotics of Motion: Toward a Robotics Programing Language." Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 2013. http://tel.archives-ouvertes.fr/tel-01061112.
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My work is aiming at establishing the bases of a semiotics of motion, in order to facilitate the programing of complex robotics systems. The objective is to build a symbolic model of the action, based on the analysis of the numerical functions that drive the motion (control and planning). The methodology comes from the well-known robotics concepts: motion-planning algorithms, control of redundant systems and task-function approach. The originality of the work is to consider the "task" as the unifying concept both to describe the motion and to control its execution. The document is organized in two parts. In the first part, the task-function control framework is extended to cover all the possible modalities of the robot. The objective is to absorb from the lowest-possible functional level the maximum of uncertainty factors. It is then not any more necessary to model these factors at the higher functional levels. This sensorimotor layer is then used as a basic action "vocabulary" that enables the system to be controlled with a higher-level interface. In the second part, this action vocabulary is used to provide a dedicated robotics programing language, to build motion-planning methods and to describe an observed movement. The proposed methods are generic and can be applied to a various systems, from robotics (redundant robots) to computer animation (virtual avatars). Nonetheless, the work is more specifically dedicated to humanoid robotics. Without forgetting other possible outlets, humanoid robotics provides a tangible applicative and experimental framework. It also leads toward the natural human motion, as presented in the end of the document.
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Mimochodek, Martin. "FTC řízení průmyslových robotů a jeho aplikace v oblasti broušení." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2010. http://www.nusl.cz/ntk/nusl-229176.
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This diploma thesis deals with a conception of force-torque control of industrial robot applied on a finishing technology of grinding. This work includes a classification of various force-torque sensors currently available on the market. The practical part of this thesis deals with a setting-up of communication and connection among the force-torque sensor SCHUNK FTC 050-80, PLC Beckhoff CX and industrial robot KUKA KR3. Practical part is further focused on a simple model of grinding, especially the grinding force control in relation to the robot movement.
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Wolm, Patrick. "Dynamic Stability Control of Front Wheel Drive Wheelchairs Using Solid State Accelerometers and Gyroscopes." Thesis, University of Canterbury. Mechanical Engineering, 2009. http://hdl.handle.net/10092/4451.
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While the active dynamic stability of automobiles has increased over the past 17 years there have been very few similar advances made with electrically powered wheelchairs. This lack of improvement has led to a long standing acceptance of less-than-optimal stability and control of these wheelchairs. Accidents due to loss of stability are well documented. Hence, the healthcare industry has made several efforts for improved control of electric powered wheelchairs (EPWs) to provide enhanced comfort, safety and manoeuvrability at a lower cost. In response, an area of stability control was identified that could benefit from a feedback control system using solid state sensors.
To design an effective closed–loop feedback controller with optimal performance to overcome instabilities, an accurate model of wheelchair dynamics needed to be created. Such a model can be employed to test various controllers quickly and repeatedly, without the difficulties of physically setting a wheelchair up for each test. This task was one central goal of this research.
A wireless test-bed of a front wheel drive (FWD) wheelchair was also developed to validate a dynamic wheelchair model. It integrates sensors, a data control system, an embedded controller, and the motorised mechanical system. The wireless communication ensures the integrity of sensor data collected and control signals sent. The test-bed developed not only facilitates the development of feedback controllers of motorised wheelchairs, but the collected data can also be used to confirm theories of causes of dynamic instabilities. The prototype test-bed performed the required tasks to satisfaction as defined by the sponsor.
Data collected from live tests in which the test-bed followed set patterns, was processed and analysed. The patterns were designed to induce instability. The analysis revealed that an occupied wheelchair is more stable than an unoccupied wheelchair, disproving an initial instability theory proposed in this research. However, a proximal theory explaining over-steer is confirmed.
Two models of the FWD test-bed were created. First, a dynamic model inherited from prior research, based on equations of motion was tested and enhanced based on measured data. However, even with alterations to correct parameter values and variables in the equations, a complete model validation was not possible. Second, a kinematic model was created with a factor to compensate for dynamics not normally accounted in kinematic models. The kinematic model was partially validated versus the measured data. Although, still highly accurate, there is room for improvement in this model. Both models contained a sub-system drive motor model, to account for input forces to the FWD wheelchair system model, which is fully validated.
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Almeida, Luís Miguel Martins. "Human-robot interaction for object transfer." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/22374.
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Mestrado em Engenharia MecânicaRobots come into physical contact with humans under a variety of circumstances to perform useful work. This thesis has the ambitious aim of contriving a solution that leads to a simple case of physical human-robot interaction, an object transfer task. Firstly, this work presents a review of the current research within the field of Human-Robot Interaction, where two approaches are distinguished, but simultaneously required: a pre-contact approximation and an interaction by contact. Further, to achieve the proposed objectives, this dissertation addresses a possible answer to three major problems: (1) The robot control to perform the inherent movements of the transfer assignment, (2) the human-robot pre interaction and (3) the interaction by contact. The capabilities of a 3D sensor and force/tactile sensors are explored in order to prepare the robot to handover an object and to control the robot gripper actions, correspondingly. The complete software development is supported by the Robot Operating System (ROS) framework. Finally, some experimental tests are conducted to validate the proposed solutions and to evaluate the system's performance. A possible transfer task is achieved, even if some refinements, improvements and extensions are required to improve the solution performance and range.
Os robôs entram em contacto físico com os humanos sob uma variedade de circunstâncias para realizar trabalho útil. Esta dissertação tem como objetivo o desenvolvimento de uma solução que permita um caso simples de interação física humano-robô, uma tarefa de transferência de objetos. Inicialmente, este trabalho apresenta uma revisão da pesquisa corrente na área da interação humano-robô, onde duas abordagens são distinguíveis, mas simultaneamente necessárias: uma aproximação pré-contacto e uma interação pós-contacto. Seguindo esta linha de pensamento, para atingir os objetivos propostos, esta dissertação procura dar resposta a três grandes problemas: (1) O controlo do robô para que este desempenhe os movimentos inerentes á tarefa de transferência, (2) a pré-interação humano-robô e (3) a interação por contacto. As capacidades de um sensor 3D e de sensores de força são exploradas com o objetivo de preparar o robô para a transferência e de controlar as ações da garra robótica, correspondentemente. O desenvolvimento de arquitetura software é suportado pela estrutura Robot Operating System (ROS). Finalmente, alguns testes experimentais são realizados para validar as soluções propostas e para avaliar o desempenho do sistema. Uma possível transferência de objetos é alcançada, mesmo que sejam necessários alguns refinamentos, melhorias e extensões para melhorar o desempenho e abrangência da solução.
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Stubbings, Clive Anthony. "Control of sensory assembly workstations." Thesis, University of Hull, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.278391.
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Larkin, Susan M. "Wheeled autonomous mobile robots for use in harsh environments : a survey of recent publications /." Thesis, This resource online, 1996. http://scholar.lib.vt.edu/theses/available/etd-01312009-063343/.
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Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.
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The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition
methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks.
Most of the algorithms require force/torque sensory information that is supplied by a JR³ wrist force sensor. The force control algorithms use that data and system compliance in order to produce new position instructions that are transferred to the controller of the arm. The logic of the control law and system behaviour when contacting the environment, were checked, using the dynamics and compliance of a simplified structure of a robotic arm and its wrist sensor.
A demonstration of the pump assembly task, using the arm, force sensor, controller and the derived library algorithms is an integral part of the thesis.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Siegel, David Mark. "Contact Sensors for Dexterous Robotic Hands." Thesis, Massachusetts Institute of Technology, 1986. http://hdl.handle.net/1721.1/6848.
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This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand itself provides tendon tensions and joint angles information. However, planned control algorithms require more information than these sources can provide. The tactile sensor utilizes capacitive transduction with a novel design based entirely on silicone elastomers. It provides an 8 x 8 array of force cells with 1.9 mm center-to-center spacing. A pressure resolution of 8 significant bits is available over a 0 to 200 grams per square mm range. The thermal sensor measures a material's heat conductivity by radiating heat into an object and measuring the resulting temperature variations. This sensor has a 4 x 4 array of temperature cells with 3.5 mm center-to-center spacing. Experiments show that the thermal sensor can discriminate among material by detecting differences in their thermal conduction properties. Both sensors meet the stringent mounting requirements posed by the Utah-MIT hand. Combining them together to form a sensor with both tactile and thermal capabilities will ultimately be possible. The computational requirements for controlling a sensor equipped dexterous hand are severe. Conventional single processor computers do not provide adequate performance. To overcome these difficulties, a computational architecture based on interconnecting high performance microcomputers and a set of software primitives tailored for sensor driven control has been proposed. The system has been implemented and tested on the Utah-MIT hand. The hand, equipped with tactile and thermal sensors and controlled by its computational architecture, is one of the most advanced robotic manipulatory devices available worldwide. Other ongoing projects will exploit these tools and allow the hand to perform tasks that exceed the capabilities of current generation robots.
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Johnson, David Gary. "Integrating sensors and actuators for robotic assembly." Thesis, University of Hull, 1986. http://hydra.hull.ac.uk/resources/hull:11276.
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This thesis addresses the problem of integrating sensors and actuators for closed-loop control of a robotic assembly cell. In addition to the problems of interfacing the physical components of the work-cell, the difficulties of representing sensory feedback at a high level within the robot control program are investigated. A new level of robot programming, called sensor-level programming, is introduced. In this, the movements of the actuators are not given explicitly, but rather are inferred by the programming system to achieve new sensor conditions given by the programmer. Control of each sensor and actuator is distributed through a master-slave hierarchy, with each sensor and actuator having its own slave controller. A protocol for information interchange between each controller and the master is defined. If possible, the control of the kinematics of a robot arm is achieved through the manufacturer's existing control system. Under these circumstances, the actuator slave would be acting as an interface between the generic command codes issued from the central controller, and the syntax of the corresponding control instructions required by the commercial system. Sensor information is preprocessed in the sensor slaves and a set of high-level descriptors, called attributes, are sent to the central controller. Closed-loop control is achieved on the basis of these attributes. The processing of sensor information which is corrupted by noise is investigated. Sources of sensor noise are identified and new algorithms are developed to quantify the noise based on information obtained from the closed-loop servoing. Once the relative magnitudes of the system and measurement noise have been estimated, a Kalman filter is used to weight the sensor information and hence reduce the credibility given to noisy sensors; in the limit ignoring the information completely. The improvements in system performance by processing the sensor information in this way are demonstrated. The sensor-level representation and automatic error processing are embedded in a software control system, which can be used to interface commercial systems as well as purpose-built devices. An'industrial research project associated with the lay-up of carbon-fibre provides an example of its operation. A list of publications resulting from the work in this thesis is given in Appendix E.
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He, Wuwei. "Reactive control and sensor fusion for mobile manipulators in human robot interaction." Phd thesis, Université Paul Sabatier - Toulouse III, 2013. http://tel.archives-ouvertes.fr/tel-00979633.
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Afin de partager un espace de travail avec les humains, les robots de services doivent être capable d'interagir dans des environnements peu structurés. Dans ce contexte, le robot doit réagir et adapter son comportement aux évolutions de l'environnement et aux activités des humains.L'utilisation de planificateur de mouvement ne permet pas au robot d'être suffisamment réactif, aussi nous proposons un controleur de trajectoire réactif capable de suivre une cible, de réagir aux changement d'atitudes des humains ou de prévenir les évènements et, en particulier, les collisions. Pour fiabiliser le contrôleur de trajectoire, nous utilisons des techniques de fusion de données récentes afin d'identifier les mouvements ou de détecter des forces associées à des évènements. Nous proposons d'utiliser un capteur de force six axes pour estimer les param'etres d'inertie des objets manipulés, puis d'utiliser ces paramètres pour compléter le contrôle visuel et calculer les forces de contact entre l'organe terminal du robot et son environnement. L'utilisation de technique d'apprentissage permet d'analyser et de classifier les forces de contact pour détecter différents évènements tels que la saisie de l'objet par un humain ou le contact entre le robot ou l'objet transporté et l'environnement. Ce travail a été intégré et testé sur les robots jido et PR2 du LAAS-CNRS dans le cadre des projets europ'eens DEXMART et SAPHARI et des projets ANR ASSIST et ICARO.
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Eriksson, Rickard. "Deep Reinforcement Learning Applied to an Image-Based Sensor Control Task." Thesis, Linköpings universitet, Informationskodning, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-177316.
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An intelligent sensor system has the potential of providing its operator with relevant information, lowering the risk of human errors, and easing the operator's workload. One way of creating such a system is by using reinforcement learning, and this thesis studies how reinforcement learning can be applied to a simple sensor control task within a detailed 3D rendered environment. The studied agent controls a stationary camera (pan, tilt, zoom) and has the task of finding stationary targets in its surrounding environment. The agent is end-to-end, meaning that it only uses its sensory input, in this case images, to derive its actions. The aim was to study how an agent using a simple neural network performs on the given task and whether behavior cloning can be used to improve the agent's performance. The best-performing agents in this thesis developed a behavior of rotating until a target came into their view. Then they directed their camera to place the target at the image center. The performance of these agents was not perfect, their movement contained quite a bit of randomness and sometimes they failed their task. But even though the performance was not perfect, the results were positive since the developed behavior would be able to solve the task efficiently given that it is refined. This indicates that the problem is solvable using methods similar to ours. The best agent using behavior cloning performed on par with the best agent that did not use behavior cloning. Therefore, behavior cloning did not lead to improved performance.
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Hays, Jacob. "Control of self-reconfigurable robot teams for sensor placement /." Online version of thesis, 2010. http://hdl.handle.net/1850/12312.
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Heřman, Petr. "Robot řízený mikroprocesorovou jednotkou PIC." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2015. http://www.nusl.cz/ntk/nusl-235012.
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This thesis describes design of a cheap robot. It includes implementation of firmware of low level control unit based on microcontroller PIC. The firmware drives motors, gains sensors data and communicates with the high level control unit. Furthermore the thesis presents realisation of connection to the robotic operation system ROS and its standard structures allowing usage of existing packages for the robot teleoperation and displaying sensor data on the remote computer. The thesis finally reports experiments with the robot. The constructed prototype is the model of the robotic lawn mower, however the whole solution has universal usage.
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Block, Peter. "Large area all-elastomer tactile sensors for robotic skins." Thesis, University of Maryland, College Park, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=1561001.
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This work demonstrates the first low cost, all-elastomer capacitive tactile arrays compatible with roll-to-roll manufacturing. A new manufacturing process has been developed in which elastomer sheets are covered with a stencil, spray coated with conductive elastomer on one or both sides, and stacked to create the sensor array. These arrays are highly flexible and can withstand large strains. Sensor costs are below $0.12/sensor in small quantities. Some variants in the fabrication process result in a slightly curved sensor so the change in capacitance is highly nonlinear at low pressures, but approaches theoretical sensitivities at higher pressures. The sensors have been determined to be highly sensitive, with a sensor resolution of 0.5 Pa and reveal a repeatable response from 1 kPa up to 120 kPa. A variety of materials ranging in modulus, thickness and texture were investigated for static, dynamic, and spatial location testing.
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Matějů, Jan. "Řídicí jednotka pro robotický vysavač." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219701.
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This paper is in introduction focused on review of robotic vacuum cleaning and evaluation of available products qualities. However the main focus of this paper is system design of all subsystems, control systems and PCD design of robot electronics. In this paper is also described a method for evaluating approximate distance of robot from the obstacle. There are also described problems of system design of IR proximity sensors. The last part of this work is development of control software for robot and its testing.
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Sharma, Manoj Kumar. "Design and Fabrication of Intention Based Upper-Limb Exoskeleton." University of Dayton / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1462290841.
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Sammarchi, Enrico. "Dynamic modelling and simulation of a cable-driven parallel robot for rehabilitation applications." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/17526/.
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The aim of this work, in collaboration with the ROAR Lab of the Columbia University in the city of New York, is to build a simulation model of a new cable-driven parallel robot for rehabilitation applications, being able to compute the effort given by the patient while the system is working on him/her. The model was built on a multi-body dynamic software called Adams, which is able to simulate the behavior of the mechanism.
Some theoretical issues about cable-driven parallel robots will be described, in order to familiarize with the application and introduce the state of the art of the topic. General foundations, dealing with kinematics, statics, dynamics will be detailed and a short introduction to control will be given.
In the second chapter, a brief overview of the state of the art regarding rehabilitation cable-driven robotics will be outlined, first dealing with general applications possible to be found in literature, and then introducing the Columbia University work about this particular topic, with several examples and cutting edge devices.
The third chapter is about the design description of the Stand Trainer, a 8-cable-driven parallel robot used for rehabilitation. Its mechanical system is introduced, while dealing especially with the issue of computing the cable tensions and the way it can be done in terms of sensors positioning. A new way of tension measurement will be explained. It will take the place of the previous one, bringing several advantages to the system.
The last chapter deals with the dynamic simulations on Adams. After having introduced all the simplifications regarding three different models, an accurate description of them will be given and their comparison with the real device will be outlined. The post-process activity will be carried out explaining and discussing the final results.
Finally, different points for future developments will be discussed, showing the novelty of this approach for rehabilitative treatments and applications.
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Hammond, Paula T. "Development of a conductive elastomeric matrix for robotic tactile sensors." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/11215.
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Yuen, Ka Ming. "Control of robotic fixtureless assembly." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0004/NQ42891.pdf.
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Shucker, Brian. "Control of distributed robotic macrosensors." Diss., Connect to online resource, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3239382.
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Lenz, Alexander. "Cerebellum inspired robotic gaze control." Thesis, University of the West of England, Bristol, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.557412.
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The primary aims of this research were to gain insight into control architectures of the mammalian brain and to explore how such architectures can be transferred into real-world robotic systems. Specifically, the work presented in this thesis focuses on the cerebellum, a part of the brain implicated in motor learning. Based on biologically grounded assumptions of uniformity of the cerebellar structure, one specific (but representative) example of cerebellar motor control was investigated: the mammalian vestibula-ocular reflex (VOR). During movement, animals are faced with disturbances with respect to their vision system. The VOR compensates for head motion by driving the eyes in the opposite direction of the head and thereby stabilising the image on the retina. Due to severe delays in the visual feedback signal, the VOR is required to operate as an open-loop controller, which uses proprioceptive information about head motion to instigate eye movements. As a feed-forward control system, it requires calibration to gradually learn the required motor commands. This is achieved by the cerebellum through the utilisation of the delayed visual information encoding image slip. In order to explore the suitability of a recurrent cerebellar model to achieve similar performance in a robotic context, engineering equivalents of the biological sub-systems were developed and integrated as a distributed embedded computing infrastructure. These included systems for rotation sensing, vision, actuation, stimulation and monitoring. Real-time implementations of cerebellar models were developed and then tested on two custom designed robotic eyes: one actuated with electrical motors and the other operated by pneumatic artificial muscles. It is argued that the successful transfer of cerebellar models into robotic systems implicitly validates these models by providing an existence proof in terms of structure, robust learning under noisy real- world conditions, and the functional role of the cerebellum. In addition, the gained insights from this research may be exploitable in terms of control of novel actuators in the emerging field of soft robotics. Finally, the presented architectures, including hardware and software infrastructures, provide a platform with which to explore other advanced models of brain mediated sensory-motor control interfaces.
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Gourdeau, Richard Carleton University Dissertation Engineering Mechanical. "Adaptive control of robotic manipulators." Ottawa, 1990.
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VALER, CARLOS EDUARDO INGAR. "IMPACT CONTROL OF ROBOTIC MANIPULATORS." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2004. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=5146@1.
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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRONeste trabalho é abordado o problema do controle durante o período de transição de contato em manipuladores robóticos. Tipicamente é o controlador de força que deve atuar durante o período transiente, no entanto esse controlador não está preparado para lidar com o fenômeno altamente não-linear que representam os impactos e as perdas de contato. No trabalho, inicialmente é feita uma análise do desempenho e estabilidade dos controladores de força convencionais durante a transição de contato. Essa análise é baseada em modelos simplificados: um de manipulador rígido e outro de flexível. É mostrado que os impactos não originam instabilidade dinâmica mas podem deteriorar severamente o desempenho do sistema. Posteriormente, com a finalidade de obter modelos mais realistas que validassem a efetividade de novos controladores, é desenvolvido um modelo para um manipulador rígido-flexível de dois elos em que se colocam pastilhas piezoelétricas coladas ao longo do braço flexível. Também são estudados modelos de contato. Finalmente, são apresentados três novos controladores que são projetados especificamente para lidar com os impactos e perdas de contato que aparecem na transição de contato. A idéia do primeiro controlador é detectar o primeiro impacto e a partir dele reformular a trajetória que a extremidade do manipulador deverá seguir para atingir a superfície do meio com velocidade mínima, evitando assim outros impactos. O projeto deste controlador é feito usando a teoria de controle ótimo. O segundo controlador baseia-se na linearização do movimento de um manipulador flexível em torno do movimento do manipulador considerado rígido. A equação resultante é usada para projetar um controlador de posição de alta precisão que permite evitar, ou diminuir, a severidade do impacto inicial. A idéia do terceiro controlador é amortecer ativamente a parte flexível do manipulador através das pastilhas piezoelétricas que funcionam como atuadores e sensores colocados de maneira a garantir estabilidade em presença de dinâmica residual. O projeto do controlador é formulado como um problema de otimização que é resolvido através de técnicas de programação não-linear.
In this work it is considered the problem of control during the contact transition period in robotic manipulators. Typically it is the force controller that acts during the transient period, however that controller is not prepared to deal effectively with impacts and losses of contact. In this work, it is initially performed an analysis of the stability and performance of conventional force controllers working during the contact transition. The analysis is based on simplified models for rigid and flexible manipulators. It is proved that the impacts do not cause dynamic instability, but they can severely degrade the system performance. Later, with the purpose of getting more realistic models to validate the effectiveness of new controllers, a model of a two-link rigid-flexible manipulator is developed considering glued piezoelectric sheets along the flexible arm. Contact models are also studied. Finally, three new controllers are presented which are designed to specifically deal with impacts and losses of contact during the contact transition period. The main idea of the first controller is to identify the first and unavoidable impact and then to reformulate the trajectory that the endeffector will follow to approach the collision surface with a minimum velocity, thus preventing new impacts. The controller is designed by using the theory of optimal control. The second controller is based on the equation of the motion of a flexible manipulator linearized around the motion of the manipulator when all the links are considered rigid. The obtained equation is used to design a high precision position controller to prevent or lessen the severity of the initial impact. The idea of the third controller is to actively damp the flexible part of the manipulator through the piezoelectric sheets that act as collocated actuators and sensors, this way the stability in presence of residual dynamics is guaranteed. The controller design is formulated as an optimization problem that is solved through nonlinear programming techniques.
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Shi, Pingnan. "Robotic manipulator modelling and control." Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/26737.
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In this thesis, a special control strategy is proposed which treats manipulators as a unique class of systems with their own unique characteristics. The objectives of proposing the control strategy are to obtain 1) no or tolerable overshoot; 2) smaller settling time; and 3) higher accuracy. Two two-link manipulators and one three-link manipulator were simulated and controlled by the proposed control strategy. The results are provided in the thesis.
The proposed control strategy has the structure of local and global control. The local control takes care of the links. Its objective is to drive the links to the desired positions, disregarding the effects caused by gravity torques and the coupling and the interaction between links. The objective of the global control is to compensate for the effects ignored by the local control.
The local control law has the feature of variable structure control. The decision concerning the control to be switched to depends on the region in the phase-plane the trajectory of the subsystem (link) is in. The switching time is determined by the state of the subsystem in the phase-plane via a simple criterion.
A simplified model is also proposed and used to construct the control strategy. The model is built up with emphasis on the effective moment of inertia and gravity torques.Applied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate
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Conner, David C. "Sensor Fusion, Navigation, and Control of Autonomous Vehicles." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/34470.
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The development of completely autonomous mobile vehicles has been the topic of a great deal of research over the past few decades. Spurred by interests as diverse as space exploration and land mine removal, research has focused on the mechanical requirements, sensing and computational requirements, and intelligence required for autonomous decision making.
This thesis focuses on developing the software required for autonomous control, while building upon previous research into appropriate mechanical designs and sensing technologies. The thesis begins by giving an overview of the problem, and then moves on to reviewing the literature relevant to the task of fusing diverse, and often conflicting, sensor data into a usable representation. Literature relevant to the task of using that data to make intelligent decisions in an autonomous manner is reviewed. The focus then shifts to developing a working platform, called Navigator, which tests the theory in the setting of the Intelligent Ground Vehicle Competition. The theory required to control Navigator, along with the dynamic analysis used for controls testing, is developed. Image processing techniques useful for extracting features from the course are discussed, and the required mathematical relationships are derived. The thesis then discusses modifications to the Vector Field Histogram technique, which enable Navigator to fuse data from both the image processing and laser rangefinder. Development of the navigation decision-making algorithm is discussed. The information in this thesis is presented in such a way that it can serve as a reference to those who follow in the task of building autonomous vehicles.Master of Science
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Rody, Morgan. "Haptic Control with a Robotic Gripper." Thesis, Örebro universitet, Akademin för naturvetenskap och teknik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-16046.
Full textAbstract:
The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and built for the gaming industry. Meant to replace the conventional mouse, the Novint Falcon has sub- millimeter accuracy and is capable of real time updates. The device itself has the potential to be used in telerobotics applications when coupled with a robotic gripper for example. Recently, the Intelligent Control Lab at Örebro University in Sweden built such a robotic gripper. The robotic gripper has three fingers and an additional w-axis which is able to move two of the fingers into alternate positions. Four motors control the movement of each respective axis. The purpose of this thesis is to integrate the afore mentioned devices in such a way that the Novint Falcon will control the robotic gripper movements. As the user moves the Novint Falcon handle in, the robotic gripper fingers will match this movement and close. Grasp and Home Position sub-routines will be implemented to showcase the buttons found on the Novint Falcon handle. The entire control system consists of a user friendly graphical user interface (GUI), an initialization procedure for both devices and workspace matching functions to ensure that any movement in the Novint Falcon is mirrored in the robotic gripper. The robotic gripper is controlled by a Galil motion controller. Experiments with haptic feedback have been carried out with Squirrel scripting and in C++. The GUI has been written using OpenGL and OpenGLUT resulting in a simple, yet informative user GUI. The robotic gripper experiments have been carried out by using Galil Tools Lite, C++ and the Galil programming language. All experiments have led to a robust and stable control system which allows the Novint Falcon to control all movements available on the robotic gripper, paving the way for future telerobotic applications.