Dissertations / Theses on the topic 'Trajectory of motion'
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Mhawesh, Mustafa Azzam Naji. "Trajectory planning using higher order motion specifications." Thesis, California State University, Fullerton, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10243067.
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This thesis builds on a recently developed Failure Recovery Synthesis (FRS) technique for robotic manipulators, which is mounted on a movable platform to achieve an originally specified task after an arm joint failure. The FRS locks in place the failed arm joint and determines a new position for the base of the arm and a new grasping location for the end-effector.
This work aims towards improving the trajectory planning technique of the FRS in order to generate optimal reaching motions in case of an arm joint failure. Aiming towards improving the robotic trajectory planning technique in the FRS, the work adopts previous results from experimental observations on human elbow constrained reaching movements. The assumption that the end-effector of an elbow locked anthropomorphic robotic manipulator is in contact with a specific surface during the entire movement allows us to describe the contact conditions by using higher order kinematic constraints such as velocities, accelerations, and jerks. By adopting contact specifications at initial and final task locations, kinematic synthesis and path planning techniques enable us to generate an entire end-effector trajectory connecting the two locations.
The proposed method was validated by comparing its outcome to an actual human elbow-constrained reaching motion profile. The results show a smooth trajectory that closely follows the human hand path.
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Kinney, Justin P. "Jerk limited reference trajectory generation for motion control." Thesis, Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/16024.
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Burke, Sean E. "Reactive trajectory adjustment for motion execution using Chekhov." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/91450.
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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2014.5
Cataloged from PDF version of thesis.
Includes bibliographical references (page 97).
Robots are becoming more and more prominent in the world of manufacturing for assembling products. Currently most of these robots, such as the ones used in automobile manufacturing have specific pre-programmed tasks and motions, and no sense of their surrounding environment. In many of today's applications, this method will not be sufficient, as many real world environments are unstructured and could cause disturbances to the robots requiring the motion and task plans to be modified. If a robot has a task to complete, a planner, such as Bidirectional RRT [5], will generate a motion plan to complete the task. If that motion plan becomes infeasible, because the goal has changed, or an obstacle has moved into the robot's path, the robot will need to make an adjustment. One method is to generate a new plan. This can be quite time-consuming, especially since the time is not proportional to the size of the change making re-planning excessive for small adjustments. The problem we would like to solve is adjusting to minor disturbances much faster than re-planning. Re-planning can often take a few seconds, where we would like to make adjusted plans in less than a second. In this thesis, we present a method for solving this problem. We use an incremental adjustment approach that can make minor adjustments in response to collisions or goal changes where the time taken to make adjustments is proportional to the extent of the changes made. To make the adjustments to the plan, we have developed a quadratic program that will make near-optimal adjustments to each robot joint pose in a robot's motion plan based on the goal region and a reaction vector. The goal region is the region the robot manipulator needs to be in to accomplish its task. The reaction vector is a vector that specifies the direction the robot would need to move in order to remove itself from a collision if there is a collision. Along with this quadratic program, we give a method for computing these reaction vectors. These two pieces are the major components of our algorithm and the key innovations made in this thesis. The algorithm allows the robot to make minor adjustments to its plan in an unstructured environment in about a quarter of a second. The adjustments are near optimal, in that they only deviate slightly from the original plan, and are made much faster than traditional planning algorithms. The overall goal is to build a complete robust execution system, and the reactive trajectory adjustment algorithm presented in this thesis is an important piece of the overall system.
by Sean E. Burke.
M. Eng.
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ADORF, JULIUS. "Motion Segmentation of RGB-D Videosvia Trajectory Clustering." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-153943.
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Motion segmentation of RGB-D videos can be a first step towards object reconstruction in dynamic scenes. The objective in this thesis is to end an ecient motion segmentation method that can deal with a moving camera. To this end, we adopt a feature-based approach where keypoints in the images are tracked over time. The variation in the observed pairwise 3-d distances is used to determine which of the points move similarly. We then employ spectral clusteringto group trajectories into clusters with similar motion, thereby obtaining a sparse segmentation of the dynamic objectsin the scene. The results on twenty scenes from real world datasets and simulations show that while the method needs more sophistication to segment all of them, several dynamic scenes have been successfully segmented at a processing speed of multiple frames per second.
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Dai, Wei. "FPCA Based Human-like Trajectory Generating." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4811.
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This thesis presents a new human-like upper limb and hand motion generating method. The work is based on Functional Principal Component Analysis and Quadratic Programming. The human-like motion generating problem is formulated in a framework of minimizing the difference of the dynamic profile of the optimal trajectory and the known types of trajectory. Statistical analysis is applied to the pre-captured human motion records to work in a low dimensional space. A novel PCA FPCA hybrid motion recognition method is proposed. This method is implemented on human grasping data to demonstrate its advantage in human motion recognition. One human grasping hierarchy is also proposed during the study. The proposed method of generating human-like upper limb and hand motion explores the ability to learn the motion kernels from human demonstration. Issues in acquiring motion kernels are also discussed. The trajectory planning method applies different weight on the extracted motion kernels to approximate the kinematic constraints of the task. Multiple means of evaluation are implemented to illustrate the quality of the generated optimal human-like trajectory compared to the real human motion records.
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Basset, Gareth. "Virtual Motion Camouflage Based Nonlinear Constrained Optimal Trajectory Design Method." Doctoral diss., University of Central Florida, 2012. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/5116.
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Nonlinear constrained optimal trajectory control is an important and fundamental area of research that continues to advance in numerous fields. Many attempts have been made to present new methods that can solve for optimal trajectories more efficiently or to improve the overall performance of existing techniques. This research presents a recently developed bio-inspired method called the Virtual Motion Camouflage (VMC) method that offers a means of quickly finding, within a defined but varying search space, the optimal trajectory that is equal or close to the optimal solution. The research starts with the polynomial-based VMC method, which works within a search space that is defined by a selected and fixed polynomial type virtual prey motion. Next will be presented a means of improving the solution's optimality by using a sequential based form of VMC, where the search space is adjusted by adjusting the polynomial prey trajectory after a solution is obtained. After the search space is adjusted, an optimization is performed in the new search space to find a solution closer to the global space optimal solution, and further adjustments are made as desired. Finally, a B-spline augmented VMC method is presented, in which a B-spline curve represents the prey motion and will allow the search space to be optimized together with the solution trajectory. It is shown that (1) the polynomial based VMC method will significantly reduce the overall problem dimension, which in practice will significantly reduce the computational cost associated with solving nonlinear constrained optimal trajectory problems; (2) the sequential VMC method will improve the solution optimality by sequentially refining certain parameters, such as the prey motion; and (3) the B-spline augmented VMC method will improve the solution optimality without sacrificing the CPU time much as compared with the polynomial based approach. Several simulation scenarios, including the Breakwell problem, the phantom track problem, the minimum-time mobile robot obstacle avoidance problem, and the Snell's river problem are simulated to demonstrate the capabilities of the various forms of the VMC algorithm. The capabilities of the B-spline augmented VMC method are also shown in a hardware demonstration using a mobile robot obstacle avoidance testbed.ID: 031001346; System requirements: World Wide Web browser and PDF reader.; Mode of access: World Wide Web.; Adviser: .; Title from PDF title page (viewed April 18, 2013).; Thesis (Ph.D.)--University of Central Florida, 2012.; Includes bibliographical references (p. 110-116).
Ph.D.
Doctorate
Mechanical and Aerospace Engineering
Engineering and Computer Science
Mechanical Engineering
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Westerlund, Andreas. "Sensor-Based Trajectory Planning in Dynamic Environments." Thesis, Linköpings universitet, Reglerteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-150040.
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Motion planning is central to the efficient operation and autonomy of robots in the industry. Generally, motion planning of industrial robots is treated in a two-step approach. First, a geometric path between the start and goal position is planned where the objective is to achieve as short path as possible together with avoiding obstacles. Alternatively, a pre-defined geometric path is provided by the end user. Second, the velocity profile along the geometric path is calculated accounting for system dynamics together with other constraints. This approach is computationally efficient, but yield sub-optimal solutions as the system dynamics is not considered in the first step when the geometric path is planned. In this thesis, an alternative to the two-step approach is investigated and a trajectory planner is designed and implemented which plans both the geometric path and the velocity profile simultaneously. The motion planning problem is formulated as an optimal control problem, which is solved by a direct collocation method where the trajectory is parametrised by splines, and the spline nodes and knots are used as optimization variables. The implemented trajectory planner is evaluated in simulations, where the planner is applied to a simple planar elbow robot and ABB's SCARA robot IRB 910SC. Trade-off between computation time and optimality is identified and the results indicate that the trajectory planner yields satisfactory solutions. On the other hand, the simulations indicate that it is not possible to apply the proposed method on a real robot in real-time applications without significant modifications in the implementation to decrease the computation time.
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Soto, E. R. "(Un)veiling bodies : a trajectory of Chilean post-dictatorship documentary." Thesis, University of Warwick, 2014. http://wrap.warwick.ac.uk/62042/.
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This thesis analyses Chilean documentary films and videos of the post-dictatorial era from the restoration of democracy in 1990 until 2011, focusing on the audiovisual treatment of contested memories of the dictatorship and its legacies. The main argument is that documentary performs a trajectory of a revelation of bodies, oscillating between – at times intersecting with – the bodies of 'direct victims' and the film's body itself. Such an itinerary is deeply intertwined with Chile's own democratic transition. The study aims to transcend Chilean documentary's self-evident testimonial value and restrictive readings of the films as works about trauma, as these eclectic artistic reactions to the military coup present a broad range of affective responses. It establishes connections and disjunctions between different generations of documentarians and heightens the visibility of a number of under-researched productions. To unpack these heterogeneous documentary responses and their aesthetic features, close textual analysis of selected sequences from an extensive corpus is performed. This thesis adopts an interdisciplinary approach informed by the 'haptic turn' in film studies, trauma and memory studies, cultural studies, history and gender. After examining the strategies deployed to reveal the past and its atrocious images, the study reassesses the cinematic homecomings of exilic directors as key precedents of the current rise of first person documentary. The ensuing evaluation of younger directors' productions indicates that whereas childhood memories are mobilised to explore the (im)possibilities of recalling a past only tangentially experienced, a nostalgic approach to the 1980s seeks to claim an active role in the redemocratisation process. Two recent cases featuring rather disturbing voices (of a former agent of repression and of Pinochet’s supporters) shed further light on the transformations experienced both by non-fiction and Chile itself. This thesis thus illustrates a documentary shift from articulating a 'cinema of the affected' to a 'cinema of affect'.
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Cakir, Rasit. "Fractional Brownian motion and dynamic approach to complexity." Thesis, University of North Texas, 2007. https://digital.library.unt.edu/ark:/67531/metadc3992/.
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The dynamic approach to fractional Brownian motion (FBM) establishes a link between non-Poisson renewal process with abrupt jumps resetting to zero the system's memory and correlated dynamic processes, whose individual trajectories keep a non-vanishing memory of their past time evolution. It is well known that the recrossing times of the origin by an ordinary 1D diffusion trajectory generates a distribution of time distances between two consecutive origin recrossing times with an inverse power law with index m=1.5. However, with theoretical and numerical arguments, it is proved that this is the special case of a more general condition, insofar as the recrossing times produced by the dynamic FBM generates process with m=2-H. Later, the model of ballistic deposition is studied, which is as a simple way to establish cooperation among the columns of a growing surface, to show that cooperation generates memory properties and, at same time, non-Poisson renewal events. Finally, the connection between trajectory and density memory is discussed, showing that the trajectory memory does not necessarily yields density memory, and density memory might be compatible with the existence of abrupt jumps resetting to zero the system's memory.
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Bhat, Aditya. "Locomotion Trajectory Generation For Legged Robots." Digital WPI, 2017. https://digitalcommons.wpi.edu/etd-theses/1167.
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This thesis addresses the problem of generating smooth and efficiently executable locomotion trajectories for legged robots under contact constraints. In addition, we want the trajectories to have the property that small changes in the foot position generate small changes in the joint target path. The first part of this thesis explores methods to select poses for a legged robot that maximises the workspace reachability while maintaining stability and contact constraints. It also explores methods to select configurations based on a reduced-dimensional search of the configuration space. The second part analyses time scaling strategy which tries to minimize the execution time while obeying the velocity and acceleration constraints. These two parts effectively result in smooth feasible trajectories for legged robots. Experiments on the RoboSimian robot demonstrate the effectiveness and scalability of the strategies described for walking and climbing on a rock climbing wall.
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Huat, Tan Hwee. "Discrete trajectory planners for robotic arms." Title page, table of contents and summary only, 1988. http://web4.library.adelaide.edu.au/theses/09PH/09pht1611.pdf.
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Liu, Shuo. "Object Trajectory Estimation Using Optical Flow." DigitalCommons@USU, 2009. https://digitalcommons.usu.edu/etd/462.
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Object trajectory tracking is an important topic in many different areas. It is widely used in robot technology, traffic, movie industry, and others. Optical flow is a useful method in the object tracking branch and it can calculate the motion of each pixel between two frames, and thus it provides a possible way to get the trajectory of objects. There are numerous papers describing the implementation of optical flow. Some results are acceptable, but in many projects, there are limitations. In most previous applications, because the camera is usually static, it is easy to apply optical flow to identify the moving targets in a scene and get their trajectories. When the camera moves, a global motion will be added to the local motion, which complicates the issue. In this thesis we use a combination of optical flow and image correlation to deal with this problem, and have good experimental results. For trajectory estimation, we incorporate a Kalman Filter with the optical flow. Not only can we smooth the motion history, but we can also estimate the motion into the next frame. The addition of a spatial-temporal filter improves the results in our later process.
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Mohammed, Shehab. "Kinematic Motion Planning for a 7-AxisRobotic Arm (LWA70 by Schunk)." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-129376.
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Redundant manipulators are widely used because they have a greater dexterity andversatility than nonredundant manipulators. In the redundant manipulators, thenumber of degrees of freedom are more than the required to manipulate objects atthe task space, which leads to a possibility to generate infinite number of solutions.For this reasons it has been a hot research topic to exploit the redundancy. Thisthesis work is focus on modeling and controlling redundant robot manipulator withseven degree of freedom (LWA 10 kg payload by Schunk). A literature review hasbeen prepared on the existing methods of exploiting the redundancy in the 7-DOFmanipulators at the velocity and position levels. The forward kinematic equationsare derived using the Denavit-Hartenberg method. The inverse kinematic problem issolved and the redundancy is exploited at the position level to avoid the computationalcomplexity and inaccuracy associated with exploiting the redundancy at the velocitylevel. The joint angles of the manipulator are computed in term of a redundancyparameter defining the self-motion in the manipulator. The relation between the jointangles and the redundancy parameter is exploited to avoid selecting the arm anglesthat violate the joint limits. The singularity configurations and robot workspace arealso studied in this thesis. An example is presented on how the self-motion of thearm appears when the end-effector is stationary. The methods are applied to followstraight line trajectories while preventing the joints to exceed the limits. The resultsfound showed how exploiting the redundancy at the position level is being exact withlow computational cost. The validity of the methods is verified by Robotics Toolboxsimulations.
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Callh, Sebastian. "Trajectory-based Arrival Time Prediction using Gaussian Processes : A motion pattern modeling approach." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-158623.
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As cities grow, efficient public transport systems are becoming increasingly important. To offer a more efficient service, public transport providers use systems that predict arrival times of buses, trains and similar vehicles, and present this information to the general public. The accuracy and reliability of these predictions are paramount, since many people depend on them, and erroneous predictions reflect badly on the public transport provider. When public transport vehicles move throughout the cities, they create motion patterns, which describe how their positions change over time. This thesis proposes a way of modeling their motion patterns using Gaussian processes, and investigates whether it is possible to predict the arrival times of public transport buses in Linköping based on their motion patterns. The results are evaluated by comparing the accuracy of the model with a simple baseline model and a recurrent neural network (RNN), and the results show that the proposed model achieves superior performance to that of an RNN trained on the same amounts of data, with excellent explainability and quantifiable uncertainty. However, an RNN is capable of training on much more data than the proposed model in the same amount of time, so in a scenario with large amounts of data the RNN outperforms the proposed model.
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Kim, Sung Hyun. "Multi-layer approach to motion planning in obstacle rich environment." [College Station, Tex. : Texas A&M University, 2008. http://hdl.handle.net/1969.1/ETD-TAMU-2621.
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Lewis, John Henry. "Lung tumor tracking, trajectory reconstruction, and motion artifact removal using rotational cone-beam projections." Diss., [La Jolla] : University of California, San Diego, 2010. http://wwwlib.umi.com/cr/ucsd/fullcit?p3407863.
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Thesis (Ph. D.)--University of California, San Diego, 2010.Title from first page of PDF file (viewed June 23, 2010). Available via ProQuest Digital Dissertations. Vita. Includes bibliographical references (leaves 129-150).
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Wada, Nancy Shima. "A trajectory illusion and its relation to induced motion and smooth pursuit eye movements." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/MQ64023.pdf.
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Guan, Tianyi [Verfasser], and J. [Akademischer Betreuer] Beyerer. "Predictive energy-efficient motion trajectory optimization of electric vehicles / Tianyi Guan ; Betreuer: J. Beyerer." Karlsruhe : KIT Scientific Publishing, 2019. http://d-nb.info/1202111963/34.
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Xiang, Gong. "Motion Dynamics of Dropped Cylindrical Objects." ScholarWorks@UNO, 2017. http://scholarworks.uno.edu/td/2340.
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Dropped objects are among the top ten causes of fatalities and serious injuries in the oil and gas industry. Objects may be dropped during lifting or any other offshore operation. Concerns of health, safety, and the environment (HSE) as well as possible damages to structures require the prediction of where and how a dropped object moves underwater. This study of dropped objects is subdivided into three parts. In the first part, the experimental and simulated results published by Aanesland (1987) have been successfully reproduced and validated based on a two-dimensional (2D) theory for a dropped drilling pipe model. A new three-dimensional (3D) theory is proposed to consider the effect of axial rotation on dropped cylindrical objects. The 3D method is based on a modified slender body theory for maneuvering. A numerical tool called Dropped Objects Simulator (DROBS) has been developed based on this 3D theory. Firstly, simulated results of a dropped drilling pipe model using a 2D theory by Aanesland (1987) are compared with results from 3D theory when rolling frequency is zero. Good agreement is found. Further, factors that affect the trajectory, such as drop angle, normal drag coefficient, binormal drag coefficient, and rolling frequency are systematically investigated. It is found that drop angle, normal drag coefficient, and rolling frequency are the three most critical factors determining the trajectories. In the second part, a more general three-dimensional (3D) theory is proposed to physically simulate the dynamic motion of a dropped cylindrical object underwater with different longitudinal center of gravity (LCG). DROBS has been further developed based on this 3D theory. It is initially applied to a dropped cylinder with LCG = 0 (cylinder #1) falling from the surface of calm water. The calculated trajectories match very well with both the experimental and numerical results published in Aanesland (1987). Then DROBS is further utilized to simulate two dropped cylinders with positive LCG (cylinder #2) and negative LCG (cylinder #3) in Chu et al. (2005), respectively. The simulated results from DROBS show a better agreement with the measured data than the numerical results given in Chu et al. (2005). This comparison again validates and indicates the effectiveness of the DROBS program. Finally, it’s applied to investigate
the effects of varying LCG on the trajectory and landing points. Therefore, the newly developed DROBS program could be used to simulate the distribution of landing points of dropped cylindrical objects, as is very valuable in the risk-free zone prediction in offshore engineering. The third part investigates the dynamic motion of a dropped cylindrical object under current. A numerical procedure is developed and integrated into Dropped Objects Simulator (DROBS). DROBS is utilized to simulate the trajectories of a cylinder when dropped into currents from different directions (incoming angle at 0o; 90o; 180o; and 270o) and with different amplitudes (0m/s to 1.0m/s). It is found that trajectories and landing points of dropped cylinders are greatly influenced by currents. Cylinders falling into water are modeled as a stochastic process. Therefore, the related parameters, including the orientation angle, translational velocity and rotational velocity of the cylindrical object after fully entering the water, is assumed to follow normal distributions. DROBS is further used to derive the landing point distribution of a cylinder. The results are compared to Awotahegn (2015) based on Monte Carlo simulations. Then the Monte Carlo simulations are used for predicting the landing point distribution of dropped cylinders with drop angles from 0o to 90o under the influence of currents. The plots of overall landing point distribution and impact energy distribution on the sea bed provide a simple way to indicate the risk-free zones for offshore operation.
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Spera, Manuel <1978>. "Motion control and real-time systems: an approach to trajectory rebuilding in non-deterministic networks." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2008. http://amsdottorato.unibo.it/637/.
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Motion control is a sub-field of automation, in which the position and/or velocity of machines
are controlled using some type of device. In motion control the position, velocity, force, pressure,
etc., profiles are designed in such a way that the different mechanical parts work as an harmonious
whole in which a perfect synchronization must be achieved.
The real-time exchange of information in the distributed system that is nowadays an industrial
plant plays an important role in order to achieve always better performance, better effectiveness
and better safety. The network for connecting field devices such as sensors, actuators, field controllers
such as PLCs, regulators, drive controller etc., and man-machine interfaces is commonly
called fieldbus.
Since the motion transmission is now task of the communication system, and not more of kinematic
chains as in the past, the communication protocol must assure that the desired profiles, and
their properties, are correctly transmitted to the axes then reproduced or else the synchronization
among the different parts is lost with all the resulting consequences.
In this thesis, the problem of trajectory reconstruction in the case of an event-triggered communication
system is faced.
The most important feature that a real-time communication system must have is the preservation
of the following temporal and spatial properties: absolute temporal consistency, relative
temporal consistency, spatial consistency.
Starting from the basic system composed by one master and one slave and passing through
systems made up by many slaves and one master or many masters and one slave, the problems
in the profile reconstruction and temporal properties preservation, and subsequently the synchronization
of different profiles in network adopting an event-triggered communication system, have
been shown. These networks are characterized by the fact that a common knowledge of the global
time is not available. Therefore they are non-deterministic networks. Each topology is analyzed
and the proposed solution based on phase-locked loops adopted for the basic master-slave case
has been improved to face with the other configurations.
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Claussmann, Laurene. "Motion planning for autonomous highway driving : a unified architecture for decision-maker and trajectory generator." Thesis, Université Paris-Saclay (ComUE), 2019. http://www.theses.fr/2019SACLE014/document.
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Ce travail de thèse s'inscrit dans le développement d'un véhicule autonome en milieu autoroutier. Plus précisément, il s'agit de proposer une architecture unifiée de génération de trajectoires avec une prise de décision prenant en compte les limitations de l'environnement et des informations disponibles actuellement sur un véhicule automatisé.La méthode propose d'une part de générer des trajectoires sous forme de sigmoı̈de dans une représentation spatiotemporelle continue de l'espace de navigation, préalablement réduit par la modélisation d'intervalles sans collision en conditionnominale de conduite. Les paramètres de la sigmoı̈de sont ensuite optimisés par une stratégie de recuit simulé utilisant l'algorithme de prise de décision comme fonction d'évaluation de la trajectoire générée. De cette manière, les problèmes de discrétisation et de découplage position/vitesse sont évités. D'autre part, l'agrégation des théories de logique floue etdes croyances permet une prise de décision sur des critères hétérogènes et des données incertaines. Le formalisme présenté offre la possibilité d'adapter le comportement du véhicule aux passagers, notamment selon leur perception du risque et leur souhait d'une conduite souple ou sportive.L'approche développée a finalement été évaluée et validée en environnement de simulation puis sur un véhicule de test. La brique de planification a alors été intégrée à l'architecture existante du véhicule, en aval des briques de localisation et de perception des obstacles et en amont de la brique de contrôleThis thesis work is part of the development of a self-driving car in highway environments. More precisely, it aims to propose a unified architecture of trajectory planner and decision-maker taking into account the limitations of the environment and the available data within the current development of sensors technologies (distance limitations, uncertainties).On the one hand, the method generates sigmoid trajectories in a continuous spatiotemporal representation of the evolution space, which is reduced beforehand by modeling collision-free intervals in nominal conditions of driving. The sigmoid parameters are subsequently optimized with a simulated annealing approach that uses the decision-maker algorithm as the evaluation function for the generated trajectory. It thus makes it possible to elude both the discretization and position/speed decoupling problems. On the other hand, the aggregation of fuzzy logic and belief theory allows decision making on heterogeneous criteria and uncertain data. The proposed framework also handles personalization of the vehicle's behavior, depending on the passengers' risk perception and an aggressive or conservative driving style.The presented approach was finally evaluated and validated in a simulation environment, and then in a test vehicle. The planning block was integrated into the existing vehicle's architecture, interfaced with the localization, obstacles' perception and control blocks
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Ambike, Satyajit S. "Characteristics of Spatial Human Arm Motion and the Kinematic Trajectory Tracking of Similar Serial Chains." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1325169225.
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Behere, Sagar. "A Generic Framework for Robot Motion Planning and Control." Thesis, KTH, Centrum för Autonoma System, CAS, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-104806.
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This thesis deals with the general problem of robot motion planning and control. It proposes the hypothesis that it should bepossible to create a generic software framework capable of dealing with all robot motion planning and control problems, independent of the robot being used, the task being solved, the workspace obstacles or the algorithms employed. The thesis work then consisted of identifying the requirements and creating a design and implementation of such a framework. This report motivates and documents the entire process. The framework developed was tested on two different robot arms under varying conditions. The testing method and results are also presented.The thesis concludes that the proposed hypothesis is indeed valid.
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Gu, Tianyu. "Improved Trajectory Planning for On-Road Self-Driving Vehicles Via Combined Graph Search, Optimization & Topology Analysis." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/794.
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Trajectory planning is an important component of autonomous driving. It takes the result of route-level navigation plan and generates the motion-level commands that steer an autonomous passenger vehicle (APV). Prior work on solving this problem uses either a sampling-based or optimization-based trajectory planner, accompanied by some high-level rule generation components.
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Gotardo, Paulo Fabiano Urnau. "Modeling Smooth Time-Trajectories for Camera and Deformable Shape in Structure from Motion with Occlusion." The Ohio State University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=osu1280941484.
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Seimetz, Christina N. "Biomechanical Investigation of Head Kinematics and Skull Stiffness." Thesis, Virginia Tech, 2011. http://hdl.handle.net/10919/76900.
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This thesis presents two studies related to head injury. The study presented in Chapter 1 reviewed findings of cranial movement in animal and human specimens and evaluate the validity of cranial movement due to manual manipulation in humans through engineering analysis. The study had two parts. In Part I, the literature was reviewed to determine the cranial motion in animals and humans. Engineering analysis was done in Part II to determine the amount of force necessary to cause cranial motion in the studies from Part I using skull stiffness values from published studies. Chapter 2 explored data collection methodologies used in frontal sled tests. Several data collection methodologies exist for collecting kinematic data, such as Vicon motion analysis, video analysis, and sensors. Head trajectories from motion data and accelerometer data were plotted up to maximum forward excursion of the head for eight frontal sled tests, four conducted at Virginia Tech and four at the University of Virginia. In addition, the percent difference between maximum forward excursion values from sensor and motion data were calculated. Finally, Chapter 3 discusses the literary contributions of each study and to which journals they will be submitted.Master of Science
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Reza, Hasnain. "Detection, location, and trajectory tracing of moving objects in the real world two-dimensional images." Ohio : Ohio University, 1988. http://www.ohiolink.edu/etd/view.cgi?ohiou1182869492.
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Kilicaslan, Sinan. "Unconstrained Motion And Constrained Force And Motion Control Of Robots With Flexible Links." Phd thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/3/12606011/index.pdf.
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New control methods are developed for the unconstrained motion and constrained force and motion control of flexible robots. The dynamic equations of the flexible robots are partitioned as pseudostatic equilibrium equations and deviations from them. The pseudostatic equilibrium considered here is defined as a hypothetical state where the tip point variables have their desired values while the modal variables are instantaneously constant. Then, the control torques for the pseudostatic equilibrium and for the stabilization of the deviation equations are formed in terms of tip point coordinates, modal variables and contact force components. The performances of the proposed methods are illustrated on a planar two-link robot and on a spatial three-link robot. Unmodeled dynamics and measurement noises are also taken into consideration. Performance of the proposed motion control method is compared with the computed torque method.
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Zendegan, Saeid. "3D trajectory optimization of an acrobatic air race with direct collocation method and quaternion equations of motion." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amslaurea.unibo.it/18025/.
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The main purpose of this thesis is to develop a software to optimize the 3D air race trajectory. Air race competitions such as Red Bull are becoming very popular around the world, but behind this eye catching competitions there are always engineers supporting every team to help their pilots to make the fastest lap time in order to win the competition.
Nowadays, by the help of advanced computing systems and proficient optimization algorithm, engineers are able to model the trajectory of these air races and optimize them offline. These optimized trajectories are handed to the pilots before the competition, in order to help them train themselves in a simulator and then with a real aircraft.
In this thesis the equations of motion (EOM) of point-mass model is used for optimization. The first approach was with the EOM based on Euler angles. As we know from flight dynamics, with the Euler angles we will have a singularity in our equations when the aircraft is experiencing the ±π/2 pitch angle. In order to avoid the singularity in the Euler case, we switch to EOM based on Quaternions. Although the quaternions are used for the optimization of the trajectory, we will also represent the results for Euler based EOM.
The software used to develop the code for this optimization is MATLAB 2016b. Algorithm is proposed and implemented by the author. Build-in optimization function (FMINCON) is used to optimize the trajectory based on the proposed algorithm.
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Gao, Jiuchun. "Optimal motion planning in redundant robotic systems for automated composite lay-up process." Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0015/document.
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La thèse traite de la planification des mouvements optimaux dans les systèmes robotiques redondants pour l'automatisation des processus d’enroulement filamentaire. L'objectif principal est d'améliorer la productivité des cellules de travail en développant une nouvelle méthodologie d'optimisation des mouvements coordonnés du robot manipulateur, du positionneur de pièce et de l'unité d'extension de l'espace de travail. Contrairement aux travaux précédents, la méthodologie proposée offre une grande efficacité de calcul et tient compte à la fois des contraintes technologiques et des contraintes du système robotique, qui décrivent les capacités des actionneurs et s'expriment par les vitesses et accélérations maximales admissibles dans les articulations actionnées. La technique développée est basée sur la conversion du problème continu original en un problème combinatoire, où toutes les configurations possibles des composants mécaniques sont représentées sous la forme d'un graphe multicouche dirigé et le mouvement temporel optimal est généré en utilisant le principe de programmation dynamique. Ce mouvement optimal correspond au plus court chemin sur le graphique satisfaisant les contraintes de lissage. Les avantages de la méthodologie développée sont confirmés par une application industrielle d’enroulement filamentaire pour la fabrication de pièces thermoplastiques au CETIMThe thesis deals with the optimal motion planning in redundant robotic systems for automation of the composite lay-up processes. The primary goalis to improve the lay-up workcell productivity by developing a novel methodology of optimizing coordinated motions of the robotic manipulator,workpiece positioner and workspace extension unit,which ensure the shortest processing time and smooth movements of all mechanical components. In contrast to the previous works, the proposed methodology provides high computational efficiencyand also takes into account both the technological constraints and the robotic system constraints, which describe capacities of the actuators and are expressed by the maximum allowable velocities and accelerations in the actuated joints. The developed technique is based on conversion of the original continuous problem into a combinatorial one, where all possible configurations of the mechanical components are represented as a directed multi layergraph and the desired time-optimal motion is generated using dynamic programming principle for searching the shortest path on the graph satisfying the smoothness constraints. It is also proposed an enhancement of this technique by dividing the optimization procedure in two stages combining global and local searches. At the first stage, the developed algorithm is applied in the global search space generated with large discretization step. Then,the same technique is applied in the local search space, which is created with smaller step in the neighborhood of the obtained trajectory. The advantages of the developed methodology are confirmed by industrial implementation on the factory floor that deals with manufacturing of the high pressure vessel
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Grymin, David J. "Two-Step System Identification and Primitive-Based Motion Planning for Control of Small Unmanned Aerial Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/24520.
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This dissertation addresses motion planning, modeling, and feedback control for autonomous vehicle systems.
A hierarchical approach for motion planning and control of nonlinear systems operating in obstacle environments is presented. To reduce computation time during the motion planning process, dynamically feasible trajectories are generated in real-time through concatenation of pre-specified motion primitives. The motion planning task is posed as a search over a directed graph, and the applicability of informed graph search techniques is investigated. Specifically, a locally greedy algorithm with effective backtracking ability is developed and compared to weighted A* search. The greedy algorithm shows an advantage with respect to solution cost and computation time when larger motion primitive libraries that do not operate on a regular state lattice are utilized. Linearization of the nonlinear system equations about the motion primitive library results in a hybrid linear time-varying model, and an optimal control algorithm using the L2-induced norm as the performance measure is applied to ensure that the system tracks the desired trajectory. The ability of the resulting controller to closely track the trajectory obtained from the motion planner, despite various disturbances and uncertainties, is demonstrated through simulation.
Additionally, an approach for obtaining dynamically feasible reference trajectories and feedback controllers for a small unmanned aerial vehicle (UAV) based on an aerodynamic model derived from flight tests is presented. The modeling approach utilizes the two step method (TSM) with stepwise multiple regression to determine relevant explanatory terms for the aerodynamic models. Dynamically feasible trajectories are then obtained through the solution of an optimal control problem using pseudospectral optimal control software. Discrete-time feedback controllers are then obtained to regulate the vehicle along the desired reference trajectory. Simulations in a realistic operational environment as well as flight testing with the feedback controller demonstrate the capabilities of the approach.
The TSM is also applied for system identification of an aircraft using motion capture data. In this application, time domain system identification techniques are used to identify both linear and nonlinear aerodynamic models of large-amplitude pitching motions driven by control surface deflections. The resulting models are assessed based on both their predictive capabilities as well as simulation results.Ph. D.
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Burger, Alissa Dian. "From 'The Wizard of Oz' to 'Wicked': Trajectory of American Myth." Bowling Green State University / OhioLINK, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1236369185.
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Yu, Zitian. "Integrated Estimation and Motion Control for Electric Vehicles." The Ohio State University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=osu1531778655719369.
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Gandhi, Yogesh. "Motion planning and control for Differential Drive Wheel Mobile Robot (DDWMR)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017.
Find full textAbstract:
This thesis proposes algorithms for motion planning to navigate robot in cluttered environment and a robust velocity-based tracking controller for Differential Drive Wheel Mobile Robot (DDWMR).
First, the thesis presents, an offline A* path planning algorithm is used to find sequence of optimal waypoints in a two-dimensional occupancy grid also taking in account obstacle avoidance minimum distance criteria and using these waypoints, reference trajectory is generated based on the constraints on DDWMR.
Second, the design of online non-linear back-stepping tracking controller for DDWMR, based on PSO algorithm in the selection of optimal controller gains.
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Westerberg, Simon. "Semi-Automating Forestry Machines : Motion Planning, System Integration, and Human-Machine Interaction." Doctoral thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-89067.
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The process of forest harvesting is highly mechanized in most industrialized countries, with felling and processing of trees performed by technologically advanced forestry machines. However, the maneuvering of the vehicles through the forest as well as the control of the on-board hydraulic boom crane is currently performed through continuous manual operation. This complicates the introduction of further incremental productivity improvements to the machines, as the operator becomes a bottleneck in the process. A suggested solution strategy is to enhance the production capacity by increasing the level of automation. At the same time, the working environment for the operator can be improved by a reduced workload, provided that the human-machine interaction is adapted to the new automated functionality. The objectives of this thesis are 1) to describe and analyze the current logging process and to locate areas of improvements that can be implemented in current machines, and 2) to investigate future methods and concepts that possibly require changes in work methods as well as in the machine design and technology. The thesis describes the development and integration of several algorithmic methods and the implementation of corresponding software solutions, adapted to the forestry machine context. Following data recording and analysis of the current work tasks of machine operators, trajectory planning and execution for a specific category of forwarder crane motions has been identified as an important first step for short term automation. Using the method of path-constrained trajectory planning, automated crane motions were demonstrated to potentially provide a substantial improvement from motions performed by experienced human operators. An extension of this method was developed to automate some selected motions even for existing sensorless machines. Evaluation suggests that this method is feasible for a reasonable deviation of initial conditions. Another important aspect of partial automation is the human-machine interaction. For this specific application a simple and intuitive interaction method for accessing automated crane motions was suggested, based on head tracking of the operator. A preliminary interaction model derived from user experiments yielded promising results for forming the basis of a target selection method, particularly when combined with some traded control strategy. Further, a modular software platform was implemented, integrating several important components into a framework for designing and testing future interaction concepts. Specifically, this system was used to investigate concepts of teleoperation and virtual environment feedback. Results from user tests show that visual information provided by a virtual environment can be advantageous compared to traditional video feedback with regards to both objective and subjective evaluation criteria.
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Bishnoi, Abhiraj. "GPU-Assisted Collision Avoidance for Trajectory Optimization : Parallelization of Lookup Table Computations for Robotic Motion Planners Based on Optimal Control." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-290587.
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One of the biggest challenges associated with optimization based methods forrobotic motion planning is their extreme sensitivity to a good initial guess,especially in the presence of local minima in the cost function landscape.Additional challenges may also arise due to operational constraints, robotcontrollers sometimes have very little time to plan a trajectory to perform adesired function. To work around these limitations, a common solution is tosplit the motion planner into an offline phase and an online phase. The offlinephase entails computing reference trajectories for varying parameterizationsof the task space in the form of a lookup table. During the online phase,a stripped down version of the optimizer is supplied with a suitable initialguess from the lookup table using the current state estimate of the robot andits surrounding bodies. This method helps in alleviating problems related toboth local minima and operational time constraints, by seeding the optimizerwith a suitable initial guess that allows it to converge to the global minimummuch faster.The problem however, shifts to the computational complexity of computinga lookup table of reference trajectories for a fine enough discreti- zation ofthe input state space. For many robotic scenarios of interest, it is oftenimpractical and sometimes computationally infeasible to compute a look uptable using a serial, single core implementation of the offline phase of a motionplanner. The main contribution of this work is to develop and evaluate amethod for reducing the time spent on computing a lookup table of referencetrajectories during the offline phase of motion planners based on optimalcontrol. We implement a method to offload the computation of collisionavoidance constraints during trajectory optimization on a Graphics ProcessingUnit (GPU), while simultaneously benefiting from a task based approach todistribute lookup table computations for independent subsets of the input statespace across multiple processes on a cluster of machines. We demonstrate theefficacy of the proposed method in a practical setting by implementing andevaluating it within a representative motion planner based on optimal control.We observe that the implemented method is 115x faster than the originalserial version of the planner, using 86 processes on 5 machines with standardserver grade hardware and 5 Graphics Processing Units in total. Additionally,we observe that the implemented method results in solutions identical to theoriginal serial version in 96.6% of cases, lending credibility for its use inrobotic motion planning.En av de största utmaningarna med optimeringsbaserade metoder för rörelseplaneringinom robotik är deras extrema känslighet för en bra initial gissning,särskilt i närvaro av lokala minima i kostnadsfunktionslandskapet. Ytterligareutmaningar kan också uppstå på grund av operativa begränsningar. Robotkontrollerhar ibland väldigt lite tid att planera en väg för att utföra en önskadfunktion. För att kringgå dessa begränsningar är en vanlig lösning att dela upprörelseplaneraren i en offline-fas och en online-fas. Offlinefasen inkluderarberäkning av referensvägar för olika punkter i ingångstillståndsutrymmet iform av en uppslagstabell. Under online-fasen levereras en avskalad versionav optimeraren med en lämplig initial gissning från uppslagstabellen medden aktuella uppskattningen av roboten och dess omgivande kroppar. Dennametod hjälper till att lindra problem relaterade till både lokala minima ochdriftstidsbegränsningar genom att sådd optimeraren med en lämplig initialgissning som gör att den kan konvergera till det globala minimumet mycketsnabbare.Problemet flyttas emellertid nu till beräkningskomplexiteten för att beräknaen uppslagstabell över referensvägar för ett tillräckligt fint utrymme för ingångstillståndsutrymmet.För många robotscenarier av intresse är det ofta opraktisktoch ibland beräkningsmässigt omöjligt att beräkna en uppslagstabell med hjälpav en seriell, enda kärnimplementering av offline-fasen i en rörelseplanner.Huvudbidraget till detta arbete är att utveckla och utvärdera en metod för attminska tiden som används för att beräkna en uppslagstabell över referensvägarunder offline-fasen för rörelsesplanerare baserat på optimal kontroll. Vi implementeraren metod för att utföra en kollision undvika en grafikbehandlingsenhet(GPU), medan du använder en uppgiftsbaserad metod för att distribuerauppslagningsberäkningar för oberoende delmängder av inmatningsutrymmeöver flera processer i ett kluster av maskiner. Vi demonstrerar effektivitetenav den föreslagna metoden i en praktisk miljö genom att implementeraoch utvärdera den inom en representativ rörelseplanner baserat på optimalkontroll. Vi noterar att den implementerade metoden är 115 gånger snabbareän den ursprungliga serieversionen av schemaläggaren, med 86 processer på 5maskiner med standardhårdvara och totalt 5 GPU: er. Dessutom observerarvi att den implementerade metoden resulterar i lösningar som är identiskamed den ursprungliga serieversionen i mer än 96,6 % av fallen, vilket gertrovärdighet för dess användning i robotrörelse planering.
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Ellensohn, Felix [Verfasser], Daniel J. [Akademischer Betreuer] Rixen, Daniel J. [Gutachter] Rixen, and Richard [Gutachter] Romano. "Urban Motion Cueing Algorithms : Trajectory Optimization for Driving Simulators / Felix Ellensohn ; Gutachter: Daniel J. Rixen, Richard Romano ; Betreuer: Daniel J. Rixen." München : Universitätsbibliothek der TU München, 2020. http://d-nb.info/1204200246/34.
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Li, Ailin. "Miniaturization of Linear Ion Traps and Ion Motion Study in a Toroidal Ion Trap Mass Analyzer." BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6503.
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I describe the miniaturization of a linear-type ion trap mass spectrometer for possible applications in portable chemical analysis, and demonstrate the advantages of using lithographically patterned electrode plates in realizing an ion trap with dimension r0 less than 1 mm. The focus of the work was to demonstrate the viability and feasibility of the patterned electrode approach to trap miniaturization, and also to discover potential obstacles to its use. Planar ceramic substrates were patterned with metal electrodes using photolithography. Plates that were originally used in a linear trap with a half-spacing (r0) of 2.19 mm were positioned much closer together such that r0 = 0.95 mm. A capacitive voltage divider provided different radiofrequency (RF) amplitudes to each electrode, and the capacitor values were adjusted to provide the correct electric field at this closer spacing. Electron ionization mass spectra of toluene and dichloromethane demonstrate instrument performance with better than unit mass resolution. Compared with the larger plate spacing, the signal intensity is reduced, corresponding to the reduced trapping capacity of the smaller device, but the mass resolution of the larger device is retained. A further miniaturized linear ion trap with a half-spacing of 362 µm was designed and tested. A series of obstacles and troubleshooting on ion source, analytical method, and electronics were present. These experiments show promise for further miniaturization using patterned ceramic plates and provide a guide for the ion trap miniaturization. The feasibility of a wire linear ion trap was also demonstrated. Unit mass resolution was obtained, indicating a promise for further optimization and miniaturization of the wire linear ion trap. In addition to the practical experiments on the miniaturized linear ion traps, I theoretically studied ion motion in the toroidal ion trap using SIMION simulations, which show classical chaotic behavior of single ions. The chaotic motion is a result of the non-linear components of the electric fields as established by the trap electrodes, and not by Coulombic interaction from other ions. The chaotic behavior was observed specifically in the ejection direction of ions located in non-linear resonance bands within and adjacent to the region of stable trapping. The non-linear bands crossing through the stability regions correspond to hexapole resonance conditions, while the chaotic ejection observed immediately adjacent to the stable trapping region corresponds to a "fuzzy" ejection boundary. Fractal-like patterns were obtained in a series of zoomed-in regions of the stability diagram.
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Шендрик, Віра Вікторівна, Вера Викторовна Шендрик, Vira Viktorivna Shendryk, Е. Kuznetsov, and Y. Mashyn. "Investigation of industrial robot-manipulator computer model motion control." Thesis, Sumy State University, 2017. http://essuir.sumdu.edu.ua/handle/123456789/55777.
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This article provides a technology for
develop a physical and mathematical simulation of the
robot's computer model. The purpose of the work is to
learn how to define the movement of robot elements.
A complete, controlled computer model of an
industrial robot manipulator has been created. Model
control is implemented using the modeling
environment software. The technology developed is
used to master the basics of robotics.
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Henrie, Joshua H. "Planning Continuous Curvature Paths Using Constructive Polylines." Diss., CLICK HERE for online access, 2008. http://contentdm.lib.byu.edu/ETD/image/etd2542.pdf.
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Huawei, Wang. "IDENTIFICATION OF MOTION CONTROLLERS IN HUMAN STANDING AND WALKING." Cleveland State University / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=csu1588964890459579.
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Van, der Walt Jennifer. "Developing a concept that can be used to quantify the motion of flyrock, with the intention of eventually producing a measuring tool for future flyrock research." Diss., University of Pretoria, 2019. http://hdl.handle.net/2263/73702.
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Flyrock remains a significant risk to the health and safety of the mine’s employees and infrastructure as well as the safety of the neighbouring communities and their property. Losses and damages can result in significant financial and reputation consequences. The lack of fundamental research in recent years and quantifiable data relating to the relationship between blast design parameters and the risk of flyrock motivated this project. A number of authors concluded that major gaps in knowledge relative to flyrock caused by its random nature still remain a weakness in the field.
Recent papers published (since 2010) proposed a wide range of potential approaches and techniques to predict or investigate flyrock. However, the majority of these papers concluded that the proposed results were site-specific and could not be applied to other environments.
The focus of this project was to develop a concept that is able to quantify the flight path of the flyrock resulting from a blast. The motivation behind the development of this concept was to enable future researchers to quantify the impact of the different blast design parameters on the measured flyrock.
Various technologies were considered and investigated during this project. After a comparative analysis of these technologies, it was decided to use photogrammetry as the foundation of the proposed concept tool. The proposed concept consists of three main phases, namely (1) data acquisition, (2) image processing and data analysis and (3) data interpretation.
To date, progress has been achieved with phase one and phase two. In phase one, all objectives have been met. However, there are still areas which need refinement, specifically regarding the placement of the cameras in the field. In phase two, success was achieved with the proof of concept exercise in a controlled environment using a clay pigeon as the projectile. The process of calibrating the lenses has been established, however, further optimization is possible. Point-cloud data was successfully generated in the concept test, but converting the image data from subsequent quarry test blasts proved more challenging and is still a work in progress. Once phase two has been satisfactorily resolved, attention will focus on phase three.
Results to date have given a positive indication that the concept is viable and that additional work will prove the technology functional. Ultimately, it is envisioned that this tool can be used for one of three purposes, namely:
• Mines can generate a database with accurate historical flyrock of their blasting operations.
• Research teams can implement this tool to conduct quantitative research and investigations into flyrock and the impact of different blast design parameters on the risk of flyrock.
• Point-cloud data combined with ballistics calculations can be used to visualise blasts and flyrock in Virtual Reality for training and education.Dissertation (MEng)--University of Pretoria, 2019.
AEL Mining Services Chair in Innovative Rock Breaking
Mining Engineering
MEng
Unrestricted
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Chou, Chen-Kuan, and 周陳寬. "Trajectory planning for multi-axis motion control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/97060180624838998492.
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碩士國立雲林科技大學
電機工程系
102
In this thesis has been integrated Point-to-Point motion and contour motion into more complete trajectory planning. Machine tool's demand as time goes by increase, Machine's requirement transforms simple point processing into complex path constraint contour processing, the basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex, so burden the massive calculation. However, the main condition of across the more complex algorithm is CPU's Performance increase, even maybe use hardware acceleration. In this thesis have two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT based on cubic Hermite interpolation. And then implement it and pass through packaged into easier use tools.
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Chen, Jaw-Yeh, and 陳肇業. "The estimation of 3D object motion trajectory." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/47066164761883791110.
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博士國立交通大學
電機與控制工程系
90
The main approaches in this dissertation are the discussions of correspondence, pose estimation, and modified optical flow problems for 3D object motion estimation. Binocular image sequence data is used to solve the correspondence problem. When stereo imaging technique is used to produce binocular image sequence data, some properties naturally occur; then the correspondence problem can be solved by a very simple procedure. Pose estimation problem usually needs to find the least-squares solution of the error function; then the singular value decomposition is applied. The procedure always uses all feature points; hence, the computation burden is heavy. A norm vector-based procedure is proposed to obtain the pose and hence the motion trajectory. We use the change of norm vector to determine the plane, in which the rotation axis lies; then another change is used to determine the rotation axis and the rotation angle is obtained. Then the translation can be determined. Since only four points are used, the computation burden is light. Many optical flow techniques are not suitable when rotation is presented. Hence, a modified optical flow technique is proposed in this dissertation. Traditional methods usually obtain the flow in Cartesian coordinate; The flow is obtained in polar (spherical) coordinate in this dissertation. When the flow is calculated, then the rotation and translation component can be calculated very easily. At last, we extend the above discussions to 3D space optical flow.
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Teng, Shang-Ju, and 鄧尚儒. "Motion Trajectory Based Video Indexing and Retrieval." Thesis, 2002. http://ndltd.ncl.edu.tw/handle/07158040655742557732.
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碩士國立清華大學
資訊工程學系
90
This thesis presents a technique to efficiently index and retrieve video clips in terms of motion-trajectory-based similarity. We describe a motion trajectory in three representations: the horizontal and vertical movements of the trajectory, and the motion trail that indicates shape of the trajectory. Each representation is approximated by a polynomial function, and the polynomial coefficients are then indexed for retrieval. To measure the matching distance, we combine different spatio-temporal characteristics to provide flexible retrieval processes. In addition, we also proposed a multiscale mode to improve the retrieval efficiency. A unified framework is developed to deal with various query types: query-by-example, query-by-sketch, and query-by-specification. We have performed many experiments to confirm the effectiveness and efficiency of our method. Experimental results indicate satisfactory performance of our work.
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Zhang, Ming-Kai, and 張銘凱. "Multi-axis Motion Control of Trajectory Planning." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/46064709718039563906.
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碩士國立雲林科技大學
電機工程系
103
This thesis develop an architecture which integrate Point-to-Point motion and contour motion into Trajectory planning, and can work with DSP. Machine's requirement transforms simple point processing into complex contour processing with the progress of the times. The basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex. However, contour motion can be realized now, the major cause is CPU’s performance increased even use hardware acceleration. This thesis has two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT which is based on cubic Hermite interpolation and Spline which is based on cubic Spline interpolation. Then implement it.
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Yu, Shang-Li, and 于尚立. "Motion-based Video Retrieval by Trajectory Matching." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/22209157147694698298.
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碩士元智大學
電機工程學系
91
This thesis proposes a motion-based video retrieval system to retrieve desired videos from a video database through trajectory matching. First, in order to extract the trajectories of moving objects, a camera compensation method is proposed for estimating possible camera motions from time-varying backgrounds. The thesis uses an affine transform to model all possible global camera motions. Then, through feature extraction, feature matching, and a voting technique, desired camera motions can be accurately estimated from pair of image frames. Thus, the trajectories of moving objects can be easily found by image differencing and trajectory tracking. Once the trajectories of moving objects have been extracted, for each subsequence of videos, a set of control points are then sampled and recorded for further indexing. Before retrieving, all the sets of control points will be first transformed into different Bezier curves. Then, similarity comparisons of different video contents can be performed by comparing the sampled points extracted along the Bezier curves. According to the Bezier representation, a novel indexing framework is then proposed to retrieve desired video sequences from video databases no matter how different scaling and translations exist in these sequences. In addition, the proposed system has good properties in dealing with partial matching of curves. Thus, even though an incomplete query trajectory is given, all desired video sequences can be very accurately retrieved and returned to users. A great variety of experiments were conducted to verify the efficiency, effectiveness, and robustness of the proposed system. Experimental results have proved the superiority of our proposed method.
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Liang, Wei-Bin, and 梁維彬. "Video Retrieval Based On Object''s Motion Trajectory." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/71400665631081593153.
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碩士義守大學
資訊工程學系
91
With the fast growth of digital video, it is an important issue to develop an automatic and efficient video retrieval system for managing these data effectively. Contrary to spatial features in still images, video data also contain temporal features, such as visual motion trajectories of moving objects. In this thesis, we focus ourselves on developing a motion-based video indexing and retrieval. Compared with traditional strategies, we firstly propose a compact representation of motion trajectory for a moving object. Based on this representation, a two-layer motion matching strategy, named motion-map matching and elastic matching, is adopted to achieve both efficient and reliable retrieval. Moreover, we also discuss different query conditions, which contain directed matching, partial matching and translation/scaling invariance, so as to provide a useful and diversified motion-based query. Finally, we describe a prototype of motion-based video retrieval. Experimental results are given to demonstrate the effects of proposed methods.
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Chan-HsuanChang and 張展瑄. "Trajectory Processing on MoCap Data for Motion Retargeting." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/96y5br.
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Lin, Yi-Cheng, and 林意承. "Multi-Camera 3D Rigid Body Motion Trajectory Measurement." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/jrq97b.
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碩士國立中興大學
機械工程學系所
107
In computer vision, camera obtained the two-dimensional image from an object. We could calculate the transformation of coordinate systems between camera and object by using Perspective N Points(PnP), then proceeding to know the movement which include translation and rotation. And this method could also use on the calibration of robot arm. In this research, we have a non-contact measurement system established by three cameras and the standard part which composed of precision steel balls would be driven by linear guideway and rotated table. Three-dimensional coordinates of the standard part would be obtained at different positions, while three cameras shoot from various directions. After using edge detection to obtain the edge information of the image, the center position of the image could be detected. In this way, we would have the coordinate position of the object in two dimensions and three dimensions, and we ultimately use the weighted average trajectory improve measurement methods which was proposed, calculates a more accurate object movement trajectory.