Tesis sobre el tema "Space robotic"
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St, John-Olcayto Ender. "Machine vision for space robotic applications". Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43000.
Texto completoTitle as it appears in the M.I.T. Graduate List, June, 1990: Machine vision for simulated spacecraft operations.
Includes bibliographical references (leaf 70).
by Ender St. John-Olcayto.
M.S.
Dolci, Marco. "Space Exploration Robotic Systems - Orbital Manipulation Mechanisms". Doctoral thesis, Politecnico di Torino, 2018. http://hdl.handle.net/11583/2705511.
Texto completoSong, Peilin. "Robotic manipulator control, fundamentals of task space design". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ28063.pdf.
Texto completoBailey, Zachary James. "A trade space model for robotic lunar exploration". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59552.
Texto completoThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 147-152).
The last decade has seen a resurgence of interest in the moon as a target for planetary exploration. In light of the growing interest in the robotic exploration of the moon, this thesis presents a quantitative methodology for exploring the trade space of potential in situ robotic lunar spacecraft designs. A science value model was developed, using Multi-Attribute Utility Theory (MAUT), to estimate the effectiveness of a spacecraft design towards assessing a set of specified science objectives. An engineering model was developed to estimate the masses of spacecraft designs within the trade space. These models were integrated together to explore the objectives of minimizing mass and maximizing science return. Two methods for exploration of the trade space were presented: a stochastic design space search method, and a multi-objective simulated annealing method. Using these techniques, the optimality of a reference mission was investigated, and ways to improve science utility performance were shown. The exploration of a trade space under uncertainty, using an -Pareto search method, was investigated, and recommendations for designers were presented.
by Zachary James Bailey.
S.M.
Meyen, Forrest Edward. "Engineering a robotic exoskeleton for space suit simulation". Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
Cave, Gary L. "Development and control of robotic arms for the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)". Thesis, Monterey, California. Naval Postgraduate School, 2002. http://hdl.handle.net/10945/4614.
Texto completoThe objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS). The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control. The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment. It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control. A "star sensor" CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle. The on-board computer system leverages PXI technology and a single source, simplifying systems integration. The vehicle is powered by two lead-acid batteries for completely autonomous operation. A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location.
Wong, Pang Fei 1979. "Algorithms for efficient dynamics simulation of space robotic systems". Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99548.
Texto completoMangalgiri, Vickram S. (Vickram Suresh) 1979. "Analysis for robotic assembly of large flexible space structures". Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/27038.
Texto completoIncludes bibliographical references (leaves 79-83).
Space solar power is a renewable, environment-friendly alternative to satisfy future terrestrial power needs. Space solar power stations will need to have large dimensions (on the order of hundreds of meters) to be able to collect enough power to make them cost effective. It will be infeasible to transport these large structures, fully assembled, from earth to space, or use human astronauts for their construction in space, leaving robotic assembly as the only viable option. The focus of the current work is to identify potential challenges to the large structure assembly process in space and develop methods to address them. One of the major causes of failure in the assembly process would be dimensional mismatch between the two structures to be joined. The first part of this thesis analyses the static and dynamic effects on a typical large space structure using finite element models and predicts the deformation that the structure will undergo due to thermal and vibration effects in space. Forced assembly methods using cooperative robots are developed to compensate for these dimensional errors. The second part of the thesis deals with the application of forced assembly methods to representative assembly scenarios. The scenarios are categorized based on the nature of the deformation involved. The differences between the use of thrusters and manipulators by robots are discussed and assembly plans are developed for each scenario using either or both types of actuators. A genetic algorithm based planner is developed and implemented to optimize the assembly process within the limits of the assumptions made.
by Vikram S. Mangalgiri.
S.M.
Tai, Emily. "Design of an anthropomorphic robotic hand for space operations". College Park, Md.: University of Maryland, 2007. http://hdl.handle.net/1903/7284.
Texto completoThesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
Dai, J. S. "Screw image space and its application to robotic grasping". Thesis, University of Salford, 1993. http://usir.salford.ac.uk/43023/.
Texto completoClaret, Robert Josep Arnau. "The robot null space : new uses for new robotic systems". Doctoral thesis, Universitat Politècnica de Catalunya, 2019. http://hdl.handle.net/10803/671009.
Texto completoEsta tesis doctoral se enmarca en el uso de la redundancia de un robot para ejecutar varias tareas simultáneamente con distintos niveles de prioridad en dos sistemas robóticos distintos. La memoria de la tesis se estructura en dos partes, de acuerdo con el sistema robótico tratado. El primer sistema es un robot humanoide sobre el que se propone un uso novedoso de su espacio nulo: su potencial para transmitir emociones como una tarea secundaria mientras el robot está ejecutando otra tarea con máxima prioridad. Se propone un mapa para convertir emociones descritas como puntos en un espacio tridimensional a movimientos del robot, que se utilizan para alimentar el espacio nulo. El modelo propuesto ha sido implementado y validado en un robot Pepper mediante un estudio con usuarios. En este estudio se ejecuta un movimiento de saludo como tarea principal, y se utiliza el espacio nulo para dotar al robot de movimientos con carga emocional. De los resultados del estudio se concluye que el espacio nulo de un robot es un mecanismo apropiado para transmitir emociones. El segundo sistema robótico estudiado es una novedad en sí mismo: consiste en un sistema robótico teleoperado formado por un manipulador móbil, un dron con cámara de visióny un dispositivo háptico. El operador teleopera el manipulador móbil mediante el dispositivo háptico, utilizando la realimentación visual que le proporciona la cámara del dron. Se plantea el modelo cinemático del sistema robótico y se propone un algoritmo para la coordinación del robot y el dron que evite el control explícito del éste, a fin de reducir la carga de trabajo del operador. Se presentan los resultados de un estudio con usuarios para validar que el nivel de carga de trabajo del operador y la curva de aprendizaje son adecuados. Se propone también el uso del espacio nulo del manipulador móbil para evitar que el robot se interponga entre el objeto en el elemento terminal del robot y la cámara, lo que entorpecería la teleoperación. Se propone un algoritmo para la activación del movimiento de la cámara que garantiza que el operador no pierde de vista el objeto teleoperado y que únicamente se activa cuando el robot está a punto de salir de su campo de visión. Adicionalmente, se estudia la inversa continua, un operador matemático que utiliza el espacio nulo y que es indicado para ejecutar transiciones suaves entre varias tareas con distintos niveles de prioridad; se proponen dos mejoras que evitan la aparición de inestabilidades y que las tareas de menor prioridad afecten a las de mayor prioridad durante las transiciones. Los algoritmos propuestos son validades mediante simulaciones y experimentación real.
Martin, Eric 1969 Feb 26. "Interaction of payload and attitude controller in space robotic systems". Thesis, McGill University, 1994. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22662.
Texto completoSilva, Adenilson Roberto da. "Parameters identification and failure detection applied to space robotic manipulators". Instituto Nacional de Pesquisas Espaciais, 2001. http://urlib.net/sid.inpe.br/jeferson/2004/09.06.08.57.
Texto completoPhysical parameters identification is useful in many applications, especially in aerospace and robotics fields. Aerospace and robotics system analysis normally requires accurate physical system models for control. On the other hand, the identification of physical parameters, besides the normal identification requirements (system excitation, for instance), involves several tasks: mathematical modeling and algorithm selection for instance. In this thesis, a detailed modeling of a robotic joint has been presented. The models are derived in an increasing degree of complexity (which means that, in theory, the mathematical representation is approaching to the real system), where the typical non-linear terms of a robotic joint have been taken into account. A new procedure to select suitable robotic trajectories based on the singular value decomposition (SVD) of measurement matrix is also presented. The identification task has been carried out by deriving (or improving) and implementing new algorithms. The strategies and algorithms have shown good performance in both: accuracy and also concerning computer load. In order to allow the inclusion of non-linear terms in the parameters vector, a new algorithm (TS -Two Step Algorithm) based on a modified version of Recursive Least Squares (mRLS) with a variable forgetting factor and MCS (Multi Level Coordinate Search) algorithms has been derived. The results have shown that the TS algorithm has excellent performance in identifying the unknown parameters vector by using both: real and simulated data. In addition, an integrated procedure for sensors failure detection and isolation (FDI) based on subspace theory is derived. The MOESP (MIMO Output Error State Space Model Identification) algorithm has been used to build a model, which serves as a reference for the FDI algorithm. The FDI algorithm has shown high reliability in detecting and isolating all the simulated failures in the sensors. Finally, the TS and the FDI algorithms have been integrated in a single environment to simulate an integrated situation where the system is time variant and the sensors also fail. The results have shown that reliable parameters are obtained even in case of multi failure. All derived models and algorithms have been tested by using data collected from IRJ (Intelligent Robotic Joint) experiment built at DLR (German Aerospace Centers) in Oberpfaffenhofen.
Bunuan, Paul F. "FIDOE: A Proof-of-concept Martian Robotic Support Cart". Digital WPI, 1999. https://digitalcommons.wpi.edu/etd-theses/906.
Texto completoChhatpar, Siddharth R. "Localization for Robotic Assemblies with Position Uncertainty". Case Western Reserve University School of Graduate Studies / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=case1133555909.
Texto completoPatel, Ketan. "Frequency and time domain contact parameter estimation for space robotic operations". Thesis, McGill University, 2003. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=19579.
Texto completoMcCarthy, Bryan Patrick. "Flight hardware development for a space-based robotic assembly and servicing testbed". Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/90780.
Texto completoCataloged from PDF version of thesis. "This material is declared a work of the United States Government and is not subject to copyright protection in the United States."
Includes bibliographical references (pages 161-165).
Robotic assembly and servicing missions in space are becoming increasingly attractive for their potential to expand space capabilities and save money. Future missions may construct large systems on-orbit, service existing space assets, or remove retired satellites from valuable locations in the Geosynchronous orbit, among other things. Due to the high-risk nature of these missions, rigorous test facilities are a necessity. This thesis examines the existing testbeds for robotic assembly and servicing technologies and argues that a new, space-based testbed is necessary. It presents initial ground testing results for applicable control concepts, which also indicate that the dynamic authenticity associated with a six-degree-of-freedom on-orbit testbed is crucial for further development. This thesis then presents the requirements for such a testbed and describes the SPHERES Facility on the International Space Station. The facility, created by members of MIT's Space Systems Laboratory, has many of the desired testbed characteristics and can be easily expanded to meet the requirements through a hardware augmentation known as the Halo. The thesis develops the requirements for the Halo and then steps through the conception, design, and implementation of that hardware, along with the planned operations aboard the International Space Station.
by Bryan Patrick McCarthy.
S.M.
Romero, Ignacio. "Dynamic analysis and control system design of a deployable space robotic manipulator". Thesis, Cranfield University, 2001. http://dspace.lib.cranfield.ac.uk/handle/1826/13328.
Texto completoViggh, Herbert E. M. "Artificial intelligence applications in teleoperated robotic assembly of the EASE space structure". Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/39358.
Texto completoBibliography: leaf 197.
by Herbert E. M. Viggh.
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
Hall, Jason S. "Design and integration of a three degrees-of freedom robotic vehicle with control moment gyro for the Autonomous Multiagent Physically Interacting Spacecraft (AMPHIS) testbed". Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; National Technical Information Service [distributor], 2006. http://www.dtic.mil/dtic/.
Texto completo"September 2006." Thesis advisor: Romano, Marcello. Performed by Naval Postgraduate School, Monterey, CA. Includes bibliographical references (p. 73-74). Also available online from the Naval Postgraduate School (NPS), Dudley Knox Library site and the DTIC Online site.
Curtis, Phillip. "Frequency-domain range data registration for three-dimensional space modeling in robotic applications". Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27120.
Texto completoALHAMMADI, Khalid A. "Applying Wide Field of View Retroreflector Technology to Free Space Optical Robotic Communications". NCSU, 2006. http://www.lib.ncsu.edu/theses/available/etd-10012006-175414/.
Texto completoChuang, Ming-Chuen. "The application of multidimensional scaling to a robotic vision model of space perception /". Thesis, Connect to Dissertations & Theses @ Tufts University, 1988.
Buscar texto completoSubmitted to the Dept. of Engineering Design. Includes bibliographical references. Access restricted to members of the Tufts University community. Also available via the World Wide Web;
Lichter, Matthew D. (Matthew Daniel) 1977. "Concept development for lightweight binary-actuated robotic devices, with application to space systems". Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8546.
Texto completo"June 2001."
Includes bibliographical references (leaves 66-71).
Exploratory space missions of the future will require robotic systems to lead the way by negotiating and mapping very rough terrain, collecting samples, performing science tasks, and constructing facilities. These robots will need to be adaptable and reconfigurable in order to achieve a wide variety of objectives. Conventional designs using gears, motors, bearings, encoders, and many discrete components will be too complex, heavy, and failure-prone to allow highly-reconfigurable systems to be feasible. This thesis develops new concepts that may potentially enable the design of self-transforming space explorers. The vision of this research is to integrate compliant bistable mechanisms with large numbers of binary-actuated embedded smart materials. Compliant mechanisms are lightweight and robust. Binary actuation is the idea of using an actuator in a discrete on/off manner rather than in a continuous manner. A binary actuator is easy to control and robust, and by using tens or hundreds of binary actuators, one can approximate a continuous system, much like a digital computer can approximate an analog system. The first part of this thesis examines the fundamental planning issues involved with systems having large numbers of binary actuators. The notion of a workspace is described and applied to the optimization of a manipulator design. Methods for solving the forward and inverse kinematics are discussed in the context of this application. These methods are extended to the trajectory and locomotion planning problems. Methods for planning systems of substantial complexity are developed in the context of exploratory space robotics. The second part of this thesis presents experimental demonstrations that examine elements of the concept. The results of several design prototypes are discussed.
by Matthew D. Lichter.
S.M.
Hamann, Heiko. "Space-Time Continuous Models of Swarm Robotic Systems Supporting Global-to-Local Programming /". [S.l. : s.n.], 2008. http://digbib.ubka.uni-karlsruhe.de/volltexte/1000009904.
Texto completoRICCOBONO, DARIO. "Space Exploration Robotic Systems ¿ Sample Chain Analysis and Development for Enceladus Surface Acquisition". Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2957730.
Texto completoEllery, Alexander. "Systems design and control of a freeflying space robotic manipulator system (ATLAS) for in-orbit satellite servicing operations". Thesis, Cranfield University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359995.
Texto completoWood, John Travis Ian. "Almeria-Mars: A web based robotic simulation". CSUSB ScholarWorks, 2003. https://scholarworks.lib.csusb.edu/etd-project/33.
Texto completoOno, Masahiro S. M. Massachusetts Institute of Technology. "Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42199.
Texto completoIncludes bibliographical references (p. 77-79).
A new large space structure transportation method proposed recently is modified and experimentally validated. The proposed method is to use space robots' manipulators to control the vibration, instead of their reaction jets. It requires less fuel than the reaction jet-based vibration control methods, and enables quick damping of the vibration. The key idea of this work is to use the decoupled controller, which controls the vibration mode and rigid body mode independently. The performance of the proposed method and the control algorithm is demonstrated and quantitatively evaluated by both simulation and experiments.
by Masahiro Ono.
S.M.
Winters, Amy. "Why does soft matter? : exploring the design space of soft robotic materials and programmable machines". Thesis, Royal College of Art, 2017. http://researchonline.rca.ac.uk/2842/.
Texto completoArora, Akash. "Multi-Modal Active Perception for Robotic Information Gathering in Science Missions". Thesis, The University of Sydney, 2018. http://hdl.handle.net/2123/18415.
Texto completoTerán, Espinoza Antonio. "Probabilistic and learning approaches through concurrent parameter estimation and adaptive control for in-space robotic assembly". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112480.
Texto completoCataloged from PDF version of thesis.
Includes bibliographical references (pages 143-148).
Autonomous and multi-agent space operations within the context of in-space robotic servicing, assembly, and debris removal have received particular attention from both research and industry communities. The presence of uncertainties and unknown system parameters amongst these missions is prevalent, as they primarily deal with unknown or uncooperative target objects, e.g., asteroids or unresponsive, unsupervised tumbling spacecraft. To lower the inherent risk associated with these types of operations, possessing an accurate knowledge of the aforementioned characteristics is essential. In order to achieve this, approaches that employ a unified framework between parameter estimation and learning methodologies through a Composite Adaptation (CA) structure are presented. Furthermore, to evaluate the likelihood of mission success or objective completion, a probabilistic approach upon the system's operations is introduced; by employing probability distributions to model the control system's response and pairing these with the analysis of objectives' requirements and agents' characteristics, the calculation of on-board feasibility and performance assessments is presented. A formulation for the estimator and the controllers is developed, and results for the adaptive approach are demonstrated through hardware implementation using MIT's Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) ground testing facilities. On-orbit test session data is analyzed, and further improvements upon the initial learning approach are verified through simulations.
by Antonio Terán Espinoza.
S.M.
Wall, D. G. "A graph-theory-based C-space path planner for mobile robotic manipulators in close-proximity environments". Thesis, Cranfield University, 2016. http://dspace.lib.cranfield.ac.uk/handle/1826/10262.
Texto completoHuang, Jian, Pei Di, Toshio Fukuda, 敏男 福田 y Takayuki Matsuno. "Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems". IEEE, 2008. http://hdl.handle.net/2237/11149.
Texto completoHosseini, Shahrzad. "Human-robotic performance quantification under time-delay for lunar mission control scenarios". Thesis, Toulouse, ISAE, 2020. http://www.theses.fr/2020ESAE0019.
Texto completoThe Space Exploration Strategy of the Agency requires an affordable and efficient approach to operating and controlling space systems. In the exploration programme an optimum approach to integrate human decision makers in orbit and on the ground must be found. In the proposed activity the next logical step is taken: a systematic analysis of existing experimental data and execution of new experiments to find the most efficient and affordable approach to human-robotic integrated technology and operations. In a first phase, existing experimental data from METERON, but also large datasets from non- space operations will be processed to provide a clear metric of operations performance with respect to quantitative parameters of communication link properties, robotic asset capabilities, level of automation, and operator environment. The second phase of the study will define and implement affordable ground-based experiments with robotic assets deployed in analogue environments and operators hosted in a simulation environment. The third and final phase of the activity will culminate in the drafting of three documents in addition to the PhD thesis: 1) Crew-training manual for operating human-robotic technology on ESA exploration missions 2) Guideline for assessing human performance for human-robotic operations in the frame of astronaut selection 3) Human-robotic technology assessment document
Sherry, Marion Mattis 1945. "AUTOMATED AND ROBOTIC TECHNIQUES FOR LABORATORY FLUID HANDLING IN MICROGRAVITY ON THE SPACE STATION (ISOELECTRIC FOCUSING, NASA, ELECTROPHORESIS, HUMAN/MACHINE INTERFACE, AUTOANALYZER)". Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/276415.
Texto completoDu, Minzhen. "Assessment of a Low Cost IR Laser Local Tracking Solution for Robotic Operations". Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/103320.
Texto completoMaster of Science
This thesis aimed to assess the feasibility of using an off-the-shelf virtual reality tracking system as a low cost precision pose estimation solution for robotic operations in both indoor and outdoor environments. Such a tracking solution has the potential of assisting critical operations related to planetary exploration missions, parcel handling/delivery, and wildfire detection/early warning systems. The boom of virtual reality experiences has accelerated the development of various low-cost, precision indoor tracking technologies. For the purpose of this thesis we choose to adapt the SteamVR Lighthouse system developed by Valve, which uses photo-diodes on the trackers to detect the rotating IR laser sheets emitted from the anchored base stations, also known as lighthouses. Some previous researches had been completed using the first generation of lighthouses, which has a few limitations on communication from lighthouses to the tracker. A NASA research has cited poor tracking performance under sunlight. We choose to use the second generation lighthouses which has improved the method of communication from lighthouses to the tracker, and we performed various experiments to assess their performance outdoors, including under sunlight. The studies of this thesis have two stages, the first stage focused on a controlled, indoor environment, having an Unmanned Aerial Vehicle (UAS) perform repeatable flight patterns and simultaneously tracked by the Lighthouse and a reference indoor tracking system, which showed that the tracking precision of the lighthouse is comparable to the industrial standard indoor tracking solution. The second stage of the study focused on outdoor experiments with the tracking system, comparing UAS flights between day and night conditions as well as positioning accuracy assessments with a CNC machine under indoor and outdoor conditions. The results showed matching performance between day and night while still comparable to industrial standard indoor tracking solution down to centimeter precision, and matching simulated CNC trajectory down to millimeter precision. There is also some room for improvement in regards to the experimental method and equipment used, as well as improvements on the tracking system itself needed prior to adaptation in real-world applications.
Salsi, Matteo. "Foam Making Sense - Integration of agent-based logics, behavioral robotic deposition and material feedback for multi-performance ridged shells, with a case study of an open space enhancer integration of agent-based logics, behavioral robotic deposition and material feedback for multiperformance ridged shells, with a case study of an open space enhancer". Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.
Buscar texto completoBarlas, Fırat Alizade Rasim. "Design Of A Mars Rover Suspension Mechanism /". [S.l. : s.n.], 2004. http://library.iyte.edu.tr/tezler/master/makinamuh/T000341.pdf.
Texto completoBaskar, Ajith Kumar. "Evaluation Methodology Of Lubricants For Space Exploration Robotics". Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-81782.
Texto completoBueno, José Nuno Almeida Dias. "Controle robusto para robô manipulador espacial planar de base livre flutuante com dois braços". Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-31082017-093441/.
Texto completoRobotic manipulators gained greater importance in space operations by being able to replace humans in dangerous or very long and repetitive tasks. Free-floating manipulators are highlighted, because they can be coupled to satellites or space stations and represent a great challenge to control engineers. These robots have two operation modes: controlled base and free-floating base. In the first mode, the base has its attitude and translation controlled by propulsion jets or reaction wheels, so that the robot behavior is similar to a fixed-base manipulator. However, there is considerable fuel and electrical energy consumption, besides additional disturbances inserted in the system. In the second mode, which is considered in this work, the base is not controlled during operation and is able to move freely in response to movements of the arm. Even though there is a remarkable fuel and electrical energy saving, the dynamic coupling between base and arm must be taken into account during modelling and controller design. To model the space manipulator considered in this work the Dynamically Equivalent Manipulator method was used, which maps a free-floating manipulator into a underactuated fixed-base manipulator. Thus, it is possible to apply known control techniques for terrestrial manipulators on free-floating ones. This work discusses robust and adaptive controllers applied on a planar dual-arm free-floating space manipulator in order to track trajectories defined in the workspace. The considered control systems are: Robust Recursive Linear Quadratic Regulator, Robust H-infinity and Adaptive Sliding Modes. Results showed that the controllers had distinct performances but were still able to perform trajectory tracking in workspace with very small tracking errors. A quantitative comparison was also elaborated with performance indexes considering integral of torques and L2 norm of tracking errors.
Sarjoughian, Hessam Seyed 1959. "Intelligent agents and hierarchical constraint-driven diagnostic units for a teleoperated fluid handling laboratory". Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/277219.
Texto completoVerbryke, Matthew R. "Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot". University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.
Texto completoLaw, Po-lun. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space /". Hong Kong : University of Hong Kong, 1995. http://sunzi.lib.hku.hk/hkuto/record.jsp?B18973097.
Texto completoCover title: Model-based variable-structure control of robot maniqulators in joint space and in Cartesian space. Includes bibliographical references (leaf 161-175).
Palmer, Andrew W. "Belief Space Scheduling". Thesis, The University of Sydney, 2015. http://hdl.handle.net/2123/14280.
Texto completoLiu, Jason Hon Wei. "Robotic minimally invasive tools for restricted access confined spaces". Thesis, University of Leeds, 2016. http://etheses.whiterose.ac.uk/15489/.
Texto completoKhan, Rubaiyat. "Robotic user interface enabled interactive dialogue with intelligent spaces". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/37209.
Texto completoIncludes bibliographical references (leaves 81-86).
Users can communicate with ubiquitous computing environments by natural means such as voice communication. However, users of the Intelligent Room at MIT CSAIL, a ubiquitous environment, have reported dissatisfaction communicating with the room due to the absence of a focal point and the room's inability to hold a dialogue. To enrich the user's interactive experience, we integrated a Robotic User Interface to the room, and augmented the room's natural language system to enable it to hold dialogues with users. The robotic teddy bear serves two purposes. First, it acts as the focal point of the room which users can address. Second, it enables the room to physically communicate with users by robotic gestures. We also incorporated a book recommendation system to illustrate the room's new ability to converse with users. These enhancements have heightened user experience in communicating with the Intelligent Room, as indicated by our user study.
by Rubaiyat Khan.
M.Eng.
羅普倫 y Po-lun Law. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space". Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1995. http://hub.hku.hk/bib/B31212463.
Texto completoYork, Max. "Control systems for in-orbit microgravity facilities". Thesis, Bangor University, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305975.
Texto completoHartley, David Mark. "A study of motion interpolation in a finite twist image space". Thesis, University of Salford, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301407.
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