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Marvel, Jeremy Alan. "Autonomous Learning for Robotic Assembly Applications". Cleveland, Ohio : Case Western Reserve University, 2010. http://rave.ohiolink.edu/etdc/view?acc_num=case1268187684.
Pełny tekst źródłaDepartment of EECS - Computer Engineering Title from PDF (viewed on 2010-05-25) Includes abstract Includes bibliographical references and appendices Available online via the OhioLINK ETD Center
Edqvist, Erik. "Polymer Actuators for Micro Robotic Applications". Licentiate thesis, Uppsala University, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-88981.
Pełny tekst źródłaIn this thesis a multilayer actuator structure is developed for the I-SWARM project. In order to build an energy efficient and low voltage actuator system for the 3x3x3 mm3 robot, the resonance drive mode in combination with a ten layer multilayer structure build upon the most suitable substrate material was used. Two different sizes of the locomotion module were built. The first one is five times larger than the small version. It has five active layers and is simpler to work with and to test. The small module has three 2x0.4 mm can-tilevers on a 3x3mm body and ten active layers.
The multilayer process involve easily defined flexible printed circuit (FPC) board as substrate material, spin coating piezoelectric poly(vinylidenefluoride- tetrafluoroethylene) P(VDF-TrFE) as active stack material, and evaporated aluminum electrodes on each active polymer layer. By using different shadow masks for each electrode layer, special inter con-tact areas can be contacted from above after the polymer has been removed by an Inductively Coupled Plasma (ICP) etch. The contours of the locomo-tion module was etched in a Reactive Ion Etch (RIE) equipment. Both the cupper layer in the FPC and the electrode layers of the active stack, were used as etch mask.
The deflections of the cantilevers were measured at low voltages to ensure as realistic drive voltage as possible for the I-SWARM robot. The large struc-ture showed a 250 µm deflection at 4 V and 170 Hz resulting in a Q-value of 19. The deflection of the small structure was 8 µm at 3.3 V and 5000 Hz and the measured Q-value was 31.
St, John-Olcayto Ender. "Machine vision for space robotic applications". Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43000.
Pełny tekst źródłaTitle 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.
Martins, Daniel Filipe de Almeida. "Image processing system for robotic applications". Master's thesis, Universidade de Aveiro, 2008. http://hdl.handle.net/10773/2011.
Pełny tekst źródłaA procura e reconhecimento de padrões foi sempre um desafio para a mente humana e sem dúvida a sua maior capacidade. Esta tese encontra-se inserida no domínio do RoboCup e apresenta uma solução em tempo-real para a detecção de objectos através do processamento de imagem. Ao longo do trabalho, desenvolvemos vários algoritmos para análise de imagem com vista a encontrar objectos através da sua cor e das suas propriedades morfológicas. Nos algoritmos baseados na procura por cor, foram usados métodos de segmentação de cor e procura radial na imagem, permitindo bom desempenho em tempo-real. A pesquisa por propriedades morfológicas baseia-se em algoritmos de detecção de contornos em conjunto com a transformada circular de Hough. Ambos algoritmos, procura por cor e por características morfológicas, provaram a sua fiabilidade, sendo capazes de boas taxas de detecção em condições de tempo-real. Para além do anteriormente referido, foi desenvolvida uma biblioteca para manipular imagens e assegurar uma abstracção sobre os possíveis modos da imagem e uma ferramenta para ajudar na calibração da visão perspectiva. ABSTRACT: The search and recognition of patterns has always been a challenge for the human mind, and without any doubts its biggest capacity. This thesis is inserted in the RoboCup domain and presents a real-time solution to object detection using image analysis. In this work, we developed several image analysis algorithms to find objects based in their color and morphological properties. The color based search algorithms use color segmentation methods along with radial image scanning, allowing real-time performances. The morphological analysis is based in edge detection algorithms and the circular Hough transform. Both algorithms, search for color and morphological properties, proved their reliability, being capable of good detection ratios in real-time situations. Moreover, this thesis presents several tools, namely, an image library created to better manipulate the images and assure abstraction over the possible image modes acquired by digital cameras, and a tool to help in the perspective vision calibration.
Keating, Steven J. (Steven John). "Renaissance robotics : novel applications of multipurpose robotic arms spanning design fabrication, utility, and art". Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/78184.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (p. 204-208).
This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale additive manufacturing, jammable granular system design, light painting, and volumetric sensing. While most current applications of robotics in manufacturing rely on repetitive automation and assembly tasks, the flexibility, dexterity, and precision of industrial robotic arms provide for design opportunities of multi-functionary roles. Through exploration and demonstration, a multipurpose fabrication platform was developed using a KUKA KR5 sixx R850 robotic arm. The platform is capable of conventional manufacturing techniques spanning the three traditional fabrication categories: additive, subtractive, and formative. Case studies and digital design fabrication protocols were developed as part of the robotic platform to demonstrate these three types of fabrication including 3D printing, multi-axis milling, and clay sculpting, respectively. Compound processes, such as combining 3D printing and milling, were developed that offer product-, and process-based improvements over standalone techniques. The benefits and drawbacks of a multi-fabrication platform are discussed, including cost, physical footprint, resolution, and flexibility. In addition to replicating conventional manufacturing techniques with a single robotic platform, several novel applications were developed which take advantage of the flexibility of an arm system. First, functionally graded 3D printing was explored using concrete through which density gradients were shown to achieve higher structural efficiency. A novel construction-scale additive manufacturing process capable of 3D printing building components was developed. Secondly, direct recycling 3D printing was developed where waste thermoplastic products are transformed into feedstock and printed into new components within a single operation. Work conducted on jammed granular structures, where external pressure controls system stiffness and strength, resulted in several new formative fabrication possibilities. Combined with robotics, waste-free digital casting using jammable materials was enabled along with a variety of design projects including the design of robotic arms themselves. Finally, the use of robotic arms for fabrication of material and environmental properties without mechanical force transfer was explored. Coined immaterial fabrication,t his fabrication category captures methods that do not fall within the definitions of additive, subtractive, or formative processes. Work produced in this area includes a volumetric sensing technique and robotic light paintings that reveal thermal, electromagnetic, and optical fields.
by Steven J. Keating.
S.M.
Armangué, Quintana Xavier. "Modelling stereoscopic vision systems for robotic applications". Doctoral thesis, Universitat de Girona, 2003. http://hdl.handle.net/10803/7720.
Pełny tekst źródłaAquesta tesi està enfocada en l'estudi de la geometria dels sistemes de visió estereoscòpics formats per dues càmeres amb l'objectiu d'obtenir informació geomètrica 3D de l'entorn d'un vehicle. Aquest objectiu tracta de l'estudi del modelatge i la calibració de càmeres i en la comprensió de la geometria epipolar. Aquesta geometria està continguda en el que s'anomena emph{matriu fonamental}. Cal realitzar un estudi del càlcul de la matriu fonamental d'un sistema estereoscòpic amb la finalitat de reduir el problema de la correspondència entre dos plans imatge. Un altre objectiu és estudiar els mètodes d'estimació del moviment basats en la geometria epipolar diferencial per tal de percebre el moviment del robot i obtenir-ne la posició. Els estudis de la geometria que envolta els sistemes de visió estereoscòpics ens permeten presentar un sistema de visió per computador muntat en un robot mòbil que navega en un entorn desconegut. El sistema fa que el robot sigui capaç de generar un mapa dinàmic de l'entorn a mesura que es desplaça i determinar quin ha estat el moviment del robot per tal de emph{localitzar-se} dins del mapa.
La tesi presenta un estudi comparatiu dels mètodes de calibració de càmeres més utilitzats en les últimes dècades. Aquestes tècniques cobreixen un gran ventall dels mètodes de calibració clàssics. Aquest mètodes permeten estimar els paràmetres de la càmera a partir d'un conjunt de punts 3D i de les seves corresponents projeccions 2D en una imatge. Per tant, aquest estudi descriu un total de cinc tècniques de calibració diferents que inclouen la calibració implicita respecte l'explicita i calibració lineal respecte no lineal. Cal remarcar que s'ha fet un gran esforç en utilitzar la mateixa nomenclatura i s'ha estandaritzat la notació en totes les tècniques presentades. Aquesta és una de les dificultats principals a l'hora de poder comparar les tècniques de calibració ja què cada autor defineix diferents sistemes de coordenades i diferents conjunts de paràmetres. El lector és introduït a la calibració de càmeres amb la tècnica lineal i implícita proposada per Hall i amb la tècnica lineal i explicita proposada per Faugeras-Toscani. A continuació es passa a descriure el mètode a de Faugeras incloent el modelatge de la distorsió de les lents de forma radial. Seguidament es descriu el conegut mètode proposat per Tsai, i finalment es realitza una descripció detallada del mètode de calibració proposat per Weng. Tots els mètodes són comparats tant des del punt de vista de model de càmera utilitzat com de la precisió de la calibració. S'han implementat tots aquests mètodes i s'ha analitzat la precisió presentant resultats obtinguts tant utilitzant dades sintètiques com càmeres reals.
Calibrant cada una de les càmeres del sistema estereoscòpic es poden establir un conjunt de restriccions geomètri ques entre les dues imatges. Aquestes relacions són el que s'anomena geometria epipolar i estan contingudes en la matriu fonamental. Coneixent la geometria epipolar es pot: simplificar el problema de la correspondència reduint l'espai de cerca a llarg d'una línia epipolar; estimar el moviment d'una càmera quan aquesta està muntada sobre un robot mòbil per realitzar tasques de seguiment o de navegació; reconstruir una escena per aplicacions d'inspecció, propotipatge o generació de motlles. La matriu fonamental s'estima a partir d'un conjunt de punts en una imatges i les seves correspondències en una segona imatge. La tesi presenta un estat de l'art de les tècniques d'estimació de la matriu fonamental. Comença pels mètode lineals com el dels set punts o el mètode dels vuit punts, passa pels mètodes iteratius com el mètode basat en el gradient o el CFNS, fins arribar las mètodes robustos com el M-Estimators, el LMedS o el RANSAC. En aquest treball es descriuen fins a 15 mètodes amb 19 implementacions diferents. Aquestes tècniques són comparades tant des del punt de vista algorísmic com des del punt de vista de la precisió que obtenen. Es presenten el resultats obtinguts tant amb imatges reals com amb imatges sintètiques amb diferents nivells de soroll i amb diferent quantitat de falses correspondències.
Tradicionalment, l'estimació del moviment d'una càmera està basada en l'aplicació de la geometria epipolar entre cada dues imatges consecutives. No obstant el cas tradicional de la geometria epipolar té algunes limitacions en el cas d'una càmera situada en un robot mòbil. Les diferencies entre dues imatges consecutives són molt petites cosa que provoca inexactituds en el càlcul de matriu fonamental. A més cal resoldre el problema de la correspondència, aquest procés és molt costós en quant a temps de computació i no és gaire efectiu per aplicacions de temps real. En aquestes circumstàncies les tècniques d'estimació del moviment d'una càmera solen basar-se en el flux òptic i en la geometria epipolar diferencial. En la tesi es realitza un recull de totes aquestes tècniques degudament classificades. Aquests mètodes són descrits unificant la notació emprada i es remarquen les
semblances i les diferencies entre el cas discret i el cas diferencial de la geometria epipolar. Per tal de poder aplicar aquests mètodes a l'estimació de moviment d'un robot mòbil, aquest mètodes generals que estimen el moviment d'una càmera amb sis graus de llibertat, han estat adaptats al cas d'un robot mòbil que es desplaça en una superfície plana. Es presenten els resultats obtinguts tant amb el mètodes generals de sis graus de llibertat com amb els adaptats a un robot mòbil utilitzant dades sintètiques i seqüències d'imatges reals.
Aquest tesi finalitza amb una proposta de sistema de localització i de construcció d'un mapa fent servir un sistema estereoscòpic situat en un robot mòbil. Diverses aplicacions de robòtica mòbil requereixen d'un sistema de localització amb l'objectiu de facilitar la navegació del vehicle i l'execució del les trajectòries planificades. La localització es sempre relativa al mapa de l'entorn on el robot s'està movent. La construcció de mapes en un entorn desconegut és una tasca important a realitzar per les futures generacions de robots mòbils. El sistema que es presenta realitza la localització i construeix el mapa de l'entorn de forma simultània. A la tesi es descriu el robot mòbil GRILL, que ha estat la plataforma de treball emprada per aquesta aplicació, amb el sistema de visió estereoscòpic que s'ha dissenyat i s'ha muntat en el robot. També es descriu tots el processos que intervenen en el sistema de localització i construcció del mapa. La implementació d'aquest processos ha estat possible gràcies als estudis realitzats i presentats prèviament (calibració de càmeres, estimació de la matriu fonamental, i estimació del moviment) sense els quals no s'hauria pogut plantejar aquest sistema. Finalment es presenten els mapes en diverses trajectòries realitzades pel robot GRILL en el laboratori.
Les principals contribucions d'aquest treball són:
·Un estat de l'art sobre mètodes de calibració de càmeres. El mètodes són comparats tan des del punt de vista del model de càmera utilitzat com de la precisió dels mètodes.
·Un estudi dels mètodes d'estimació de la matriu fonamental. Totes les tècniques estudiades són classificades i descrites des d'un punt de vista algorísmic.
·Un recull de les tècniques d'estimació del moviment d'una càmera centrat en el mètodes basat en la geometria epipolar diferencial. Aquestes tècniques han estat adaptades per tal d'estimar el moviment d'un robot mòbil.
·Una aplicació de robòtica mòbil per tal de construir un mapa dinàmic de l'entorn i localitzar-se per mitja d'un sistema estereoscòpic. L'aplicació presentada es descriu tant des del punt de vista del maquinari com del programari que s'ha dissenyat i implementat.
Human eyes have been widely studied by the scientific community so that its operation principle is widely known. Computer vision tries to copy the way human beings perceive visual information by means of using cameras acting as eyeballs and computers aspiring to process this information in an --intelligent way". The complex task of being conscious of reality is obviously divided into a set of simpler problems which covers from image acquisition to scene description. One of the main applications is robot perception in which a mobile robot is equipped with a computer vision system. Robots may be able to navigate around an unknown structured environment acquiring visual information of their surroundings with the aim of estimating the position and orientation of every obstacle. Moreover, the pose of the vehicle has to be estimated as accurate as possible. Hence, the motion of the vehicle might be also computed allowing the localization of the vehicle with respect to the 3D map.
This thesis is focused on the study of the geometry involved in stereo vision systems composed by two cameras with the aim of obtaining 3D geometric information of the vehicle surroundings. This objective deals to the study of camera modelling and calibration and the comprehension of the epipolar geometry. Then, the computation of the fundamental matrix of a stereoscopic system is surveyed with the aim of reducing the correspondence problem between both image planes. An accurate estimation of the fundamental matrix allows us not only to compute 3D information of the vehicle environments, but to validate it. Nevertheless, the traditional case of the epipolar geometry has some limitations in the common case of a single camera attached to a mobile robot. Disparities between two consecutive images are rather small at common image rates leading to numerical inaccuracies on the computation of the fundamental matrix. Then, another objective is the study of general vision-based egomotion estimation methods based on the differential epipolar constraint with the aim of perceiving the robot movement instead of its position.
The study of the geometry involved in stereo vision systems leads us to present a computer vision system mounted on a vehicle which navigates in an unknown environment. Two main tasks are faced: a) the localization of the vehicle; and b) the building of an absolute 3D map.
El sistema de visión humano ha sido ampliamente estudiado por la comunidad científica de forma que su principio de funcionamiento es profundamente conocido. La Visión por Computador trata de copiar la forma que nosotros los humanos percibimos la información visual por medio del uso de cámaras actuando como ojos y un ordenador aspirando a procesar toda la información de "forma inteligente". La compleja tarea de ser consciente de la realidad es obviamente dividida en un conjunto de problemas mucho más simples, los cuales abarcan des de la adquisición de la imagen a la descripción de la escena. Una de las numerosas aplicaciones es la percepción por parte de un robot, donde un robot móvil es equipado con un sistema informático de visión por computador. Estos robots deben ser capaces de navegar a lo largo de un entorno estructurado desconocido mediante la adquisición de información visual de su alrededor, con el objetivo de estimar la posición y orientación de todos los obstáculos. Además, la posición del vehículo debe ser estimada de la forma más precisa posible. De esta forma, el movimiento del vehículo puede ser también calculado lo que permite la localización del vehículo con respeto al mapa 3D.
Esta tesis profundiza en el estudio de la geometría existente en los sistemas de visión estéreo compuestos por dos cámaras con la intención de obtener información geométrica 3D del entorno del vehículo. Este objetivo lleva consigo la necesidad inicial de realizar un estudio de modelado de la cámara y calibración, y la compensación de la geometría epipolar. A continuación, el cálculo de la matriz fundamental de un sistema esteresocópico es analizado para reducir el problema de la correspondencia entre ambos planos de la imagen. Una estimación precisa de la matriz fundamental nos permite no solamente obtener la información 3D del entorno, sino también validar la misma. No obstante, la geometría epipolar tradicional sufre algunas limitaciones en el caso de una cámara montada en un robot móvil. La disparidad entre dos imágenes consecutivas es realmente mínima trabajando a velocidad estándar lo que conlleva a errores numéricos en el cálculo de la matriz fundamental. Por esta razón, otro objetivo es el estudio de los métodos de estimación del movimiento basados en la geometría epipolar diferencial con el objetivo de pervivir el movimiento del robot y su posición.
El estudio de la geometría inmersa en los sistemas de visión estéreo nos lleva a presentar un sistema de visión por computador montado en un vehículo capaz de navegar en un entorno desconocido. Dos tareas básicas son consideradas: a) la localización del vehículo; y b) la construcción de un mapa 3D absoluto.
Aleixo, Patrícia Nunes. "Object detection and recognition for robotic applications". Master's thesis, Universidade de Aveiro, 2014. http://hdl.handle.net/10773/13811.
Pełny tekst źródłaThe computer vision assumes an important relevance in the development of robotic applications. In several applications, robots need to use vision to detect objects, a challenging and sometimes difficult task. This thesis is focused on the study and development of algorithms to be used in detection and identification of objects on digital images to be applied on robots that will be used in practice cases. Three problems are addressed: Detection and identification of decorative stones for textile industry; Detection of the ball in robotic soccer; Detection of objects in a service robot, that operates in a domestic environment. In each case, different methods are studied and applied, such as, Template Matching, Hough transform and visual descriptors (like SIFT and SURF). It was chosen the OpenCv library in order to use the data structures to image manipulation, as well as other structures for all information generated by the developed vision systems. Whenever possible, it was used the implementation of the described methods and have been developed new approaches, both in terms of pre-processing algorithms and in terms of modification of the source code in some used functions. Regarding the pre-processing algorithms, were used the Canny edge detector, contours detection, extraction of color information, among others. For the three problems, there are presented and discussed experimental results in order to evaluate the best method to apply in each case. The best method for each application is already integrated or in the process of integration in the described robots.
A visão por computador assume uma importante relevância no desenvolvimento de aplicações robóticas, na medida em que há robôs que precisam de usar a visão para detetar objetos, uma tarefa desafiadora e por vezes difícil. Esta dissertação foca-se no estudo e desenvolvimento de algoritmos para a deteção e identificação de objetos em imagem digital para aplicar em robôs que serão usados em casos práticos. São abordados três problemas: Deteção e identificação de pedras decorativas para a indústria têxtil; Deteção da bola em futebol robótico; Deteção de objetos num robô de serviço, que opera em ambiente doméstico. Para cada caso, diferentes métodos são estudados e aplicados, tais como, Template Matching, transformada de Hough e descritores visuais (como SIFT e SURF). Optou-se pela biblioteca OpenCv com vista a utilizar as suas estruturas de dados para manipulação de imagem, bem como as demais estruturas para toda a informação gerada pelos sistemas de visão desenvolvidos. Sempre que possivel utilizaram-se as implementações dos métodos descritos tendo sido desenvolvidas novas abordagens, quer em termos de algoritmos de preprocessamento quer em termos de alteração do código fonte das funções utilizadas. Como algoritmos de pre-processamento foram utilizados o detetor de arestas Canny, deteção de contornos, extração de informação de cor, entre outros. Para os três problemas, são apresentados e discutidos resultados experimentais, de forma a avaliar o melhor método a aplicar em cada caso. O melhor método em cada aplicação encontra-se já integrado ou em fase de integração dos robôs descritos.
Abularach, Maria Nicte Andrade Carleton University Dissertation Computer Science. "Some learning applications to robotic motion problems". Ottawa, 1987.
Znajdź pełny tekst źródłaFastier-Wooller, Jarred W. "Innovative Tactile Sensing Systems for Robotic Applications". Thesis, Griffith University, 2022. http://hdl.handle.net/10072/413983.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Eng & Built Env
Science, Environment, Engineering and Technology
Full Text
Venator, Edward Stephen. "A Low-cost Mobile Manipulator for Industrial and Research Applications". Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665.
Pełny tekst źródłaEconomy, A. Tommy. "A proposed methodology for the control of a semi-robotic convoy". Thesis, This resource online, 1991. http://scholar.lib.vt.edu/theses/available/etd-12052009-020030/.
Pełny tekst źródłaKharma, Nawwaf Nayef. "An incremental machine learning mechanism for robotic applications". Thesis, Imperial College London, 1999. http://hdl.handle.net/10044/1/7957.
Pełny tekst źródłaLopez-Bonilla, Roman Ernesto. "Object recognition in three-dimensions for robotic applications". Thesis, University of Bradford, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305752.
Pełny tekst źródłaGosine, Raymond Gerard. "An interactive robotic workstation for applications in rehabilitation". Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334039.
Pełny tekst źródłaWiens, Alexander Joshua. "Slender elastic swimmers : kinematics, dynamics, and robotic applications". Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/120198.
Pełny tekst źródłaThis 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 (pages 143-151).
Fish present a natural source of inspiration for the design of high-performance under-water robots. Conventionally, fish-like robotic systems consist of a chain of rigid links connected by a series of rigid actuators. Devices of this nature have demonstrated impressive speeds and maneuverability, but from a practical perspective, their mechanical complexity can make them expensive to build and prone to failure. One possible solution is to replace the mechanical body of the swimmer with a passive elastic element. In this scenario, the robot uses a single actuator, housed within a rigid forebody, to generate a fish-like propagating wave along a flexible trailing tail. A number of groups have explored this approach, but so far, these devices have demonstrated relatively limited performance. Here, we study the kinematics and dynamics of elastic swimmers and apply the results of this process to guide the design and testing of a high-performance passive robotic swimmer. We begin the investigation with a first-principles approach. We use analytical models of fish hydrodynamics to characterize the kinematics of efficient propulsion in swimming animals. Armed with the insight developed through this process, we construct a numerical model of a passive elastic swimming sheet. Through the application of optimization methods, we demonstrate that the sheet can achieve 70-80% of the efficiency of an equivalent swimmer with actuators along its entire body. Based on this, we design, build, and test a passive elastic swimming robot which uses a novel inertia-based actuation system. Experiments with the robot show that it can achieve a top speed of 1m/s (3.17 body lengths/s) and a peak turning rate of 515 deg/s, among the highest reported to date, while swimming at efficiencies comparable to those of fully actuated systems.
by Alexander Joshua Wiens.
Ph. D.
Paluszek, Matthew Alan. "Methods and Applications of Controlling Biomimetic Robotic Hands". Thesis, Virginia Tech, 2014. http://hdl.handle.net/10919/25335.
Pełny tekst źródłaMaster of Science
Olsson, Lars Jonas. "Multisensory object recognition and tracking for robotic applications". Case Western Reserve University School of Graduate Studies / OhioLINK, 1995. http://rave.ohiolink.edu/etdc/view?acc_num=case1062772620.
Pełny tekst źródłaChao, Hung-Hsiang Jonathan. "Parallel/pipeline VLSI computing structures for robotic applications /". The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487260135357358.
Pełny tekst źródłaEnglevid, Jonas. "Robotic Process Automation : Analys och implementation". Thesis, Mittuniversitetet, Avdelningen för informationssystem och -teknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:miun:diva-33992.
Pełny tekst źródłaAnställda idag har nödvändiga vardagsuppgifter som inte kräver mänsklig inverkan och tanken är att frigöra dessa uppgifter. Projektets övergripande syfte är att undersöka två processer om de är lämpliga för automation samt att skapa och utvärdera en prototyp. Målen är att analysera processen, undersöka lämpliga verktyg för automatisering, jämföra verktygen, skapa en prototyp, utvärdera prototypen och utföra ett acceptanstest. Robotic Process Automation handlar om att automatisera uppgifter som människor gör. Bra kandidater för automatisering är tidskrävande, repetitiva, regelbaserade uppgifter, benägna till mänskliga fel med klara mål och förväntningar. Förstudien genomfördes i form av en litteraturstudie av webbaserade källor och analysen gjordes genom att bryta ner processen i olika delar. Jämförelsen genomfördes genom att undersöka de funk- tioner som verktygen har. Prototypen skapas på Windows i verktygen UiPath och roboten kommer att arbeta på Internet Explorer och mot Excel som kommer ha ett makro skrivet i Visual Basic for Applications. Beställaren kommer att titta på de kriterier som gavs och även på prototypens utdata och ge en subjektiv respons. Testprogrammen i UiPath, Workfusion och Selenium skapades med sina respektive funktioner. Prototypen loggar automatiskt in på Visma PX genom att skriva in användarnamn och lösenord. Sedan navigerar den i verktyget, söker på ett uppdrag och hämtar den data som finns. Indata filtreras och skrivs in i Excel för varje aktivitet och anställd. Slutligen körs ett makro som skapar grafer. Tidstesterna visar att UiPath är betydligt mer optimerad och snabbare på att slutföra testprogrammen. Jämförelserna visar att UiPath har starka fördelar med sitt verktyg.
De, Backer Jeroen, i Bert Verheyden. "Robotic Friction Stir Welding for Automotive and Aviation Applications". Thesis, University West, Division of Production Engineering, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-2171.
Pełny tekst źródłaFriction Stir Welding (FSW) is a new technology which joins materials by using frictional heat. Inthe first part of this thesis, a profound literature study is performed. The basic principles, therobotic implementation and possibilities to use FSW for high strength titanium alloys areexamined. In the next phase, a FSW-tool is modelled and implemented on an industrial robot in arobot simulation program. Reachability tests are carried out on car body parts and jet engineparts. By using a simulation program with embedded collision detection, all possible weldinglocations are determined on the provided parts. Adaptations like a longer FSW-tool and amodified design are suggested in order to get a better reachability. In different case studies, thenumber of required robots and the reduction of weight and time are investigated and comparedto the current spot welding process.
Altafini, Claudio. "Geometric control methods for nonlinear systems and robotic applications". Doctoral thesis, Stockholm : Tekniska högsk, 2001. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3151.
Pełny tekst źródłaBülow, Heiko [Verfasser]. "Applications of phase registration in robotic mapping / Heiko Bülow". Bremen : IRC-Library, Information Resource Center der Jacobs University Bremen, 2012. http://d-nb.info/1035019973/34.
Pełny tekst źródłaChauhan, Sunita. "The applications of HIFU and robotic technology in surgery". Thesis, Imperial College London, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.313994.
Pełny tekst źródłaDuval, Jean-François S. M. Massachusetts Institute of Technology. "FlexSEA : flexible, scalable electronics architecture for wearable robotic applications". Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/98647.
Pełny tekst źródła"June 2015." Cataloged from PDF version of thesis.
Includes bibliographical references (pages 135-136).
The work of this thesis aims to enable the fast prototyping of multi-axis wearable robotic systems by developing a new modular electronics system. The flexible, scalable electronics architecture (FlexSEA) developed for this thesis fills the void between embedded systems used in commercial devices and in research prototypes. This system provides the required hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to provide high-performance, real-time control of the actuators while keeping the high-level control development fast, safe and simple. The FlexSEA kits are composed of two custom circuit boards (advanced brushless motor driver and microcontroller board), one commercial embedded computer, a complete software stack and documentation. During its development it has been integrated into a powered prosthetic knee as well as an autonomous ankle exoskeleton. To assess the usability of the FlexSEA kit, a new user successfully used a kit to read sensors and control an output device in less than three hours. FlexSEA simplifies and accelerates wearable robotics prototyping.
by Jean-François Duval.
S.M.
Ruffatto, Donald F. III. "Hybrid electrostatic and micro-structured adhesives for robotic applications". Thesis, Illinois Institute of Technology, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3733995.
Pełny tekst źródłaCurrent adhesives and gripping mechanisms used in many robotics applications function on very specific surface types or at defined attachment locations. A controllable, i.e. ON-OFF, adhesive mechanism that can operate on a wide range of surfaces would be very advantageous. Such a device would have applications ranging from robotic gripping and climbing to satellite docking and inspection/service missions. The main goal of the research presented here was to create such an attachment mechanism through the use of a new hybrid adhesive technology. The newly developed adhesive technology is a hybridization of electrostatic and micro-structured dry adhesion. The result provides enhanced robustness and utility, particularly on rough surfaces. There were challenges not only in the integration of these two adhesive elements but also with its application in a complete gripping mechanism.
Electrostatic and directional dry adhesives were both individually investigated. The electrode geometry for an electrostatic adhesive was optimized for maximum adhesion force using finite element analysis software. Optimization results were then verified through experimental testing. New manufacturing techniques were also developed for electrostatic adhesives that utilized a metalized mesh embedded in a silicone polymer and Kapton film based construction, greatly improving adhesion. The micro-structured dry adhesive used was provided by Dr. Aaron Parness, from the NASA Jet Propulsion Lab (JPL), and consists of an array of vertical stalks with an angled front face, referred to as micro-wedges. The hybrid electrostatic dry adhesive (EDA) was created by fabricating the electrostatic adhesive directly on top of a dry adhesive mold. This process created an array of dry adhesive micro-wedges directly on the surface of the electrostatic adhesive. In operation the electrostatic adhesive provides a normal force which serves to pull the dry adhesive into the surface substrate. With greater surface contact more of the dry adhesive is able to engage, bring the electrostatic adhesive even closer to the surface and increasing its effectiveness. Therefore, the combination of these two technologies creates a positive feedback cycle whose whole is often greater than the sum of its parts.
An interface mechanism is needed to transmit applied loads from a rigid structure to the flexible adhesive while still maintaining its conformability. This is especially important for strong adhesion on rough surfaces, such as tile and drywall. Different concepts such as a structured fibrillar hierarchy and a fluid-filled backing pouch have been explored. Additionally, finite element analysis was used to evaluate different fribrillar shapes and geometries for the structured hierarchy. The goal was to equalize the load distribution across the adhesive while still maintaining surface compliance. A gripper mechanism was also created which used a servo for actuation and three rigid tiles with a directional dry adhesive. It was tested on a perching Micro Air Vehicle (MAV) as well as in the RoboDome facility at NASA's Jet Propulsion lab to simulate a satellite docking/capture maneuver.
Will, Desmond Jeffrey. "Design and implementation of robotic control for industrial applications". Thesis, Port Elizabeth Technikon, 2004. http://hdl.handle.net/10948/213.
Pełny tekst źródłaWare, Jonathan Andrew. "A multi resolution modular sensing system for robotic applications". Thesis, University of South Wales, 1992. https://pure.southwales.ac.uk/en/studentthesis/a-multi-resolution-modular-sensing-system-for-robotic-applications(b7166471-3e4f-4993-9e42-60ebec94dafb).html.
Pełny tekst źródłaMiller, Ross James. "Artificial Skin Tactile Sensor For Prosthetic and Robotic Applications". DigitalCommons@CalPoly, 2010. https://digitalcommons.calpoly.edu/theses/435.
Pełny tekst źródłaLovell, Nathan, i N/A. "Machine Vision as the Primary Sensory Input for Mobile, Autonomous Robots". Griffith University. School of Information and Communication Technology, 2006. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20070911.152447.
Pełny tekst źródłaLovell, Nathan. "Machine Vision as the Primary Sensory Input for Mobile, Autonomous Robots". Thesis, Griffith University, 2006. http://hdl.handle.net/10072/367107.
Pełny tekst źródłaThesis (PhD Doctorate)
Doctor of Philosophy (PhD)
School of Information and Communication Technology
Full Text
Bayar, Gokhan. "Configurable Robot Base Design For Mixed Terrain Applications". Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606530/index.pdf.
Pełny tekst źródłaRezazadegan, Fahimeh. "Human action recognition and prediction for robotics applications". Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/127283/1/__qut.edu.au_Documents_StaffHome_StaffGroupH%24_halla_Desktop_Fahimeh_Rezazadegan_Thesis.pdf.
Pełny tekst źródłaPark, Young Soo. "Practical applications of complex joint angle solutions for robotic manipulators". Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/18231.
Pełny tekst źródłaPateras, Claudia. "Object identification in mobile robotic applications through dialogue and sensing". Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22787.
Pełny tekst źródłaThe first step in this process involves bridging the gap between the user and system representations of the world. A number of concepts are expressed in natural language by vague terms like "the big box" and "very close to the door". We use fuzzy logic to map these vague terms onto the quantitative sensory data used in the computer representation of the environment. The uncertainty resulting from this mapping is abated by allowing the robotic agent to query the user for more information or to use sensors to collect missing data. We examine the trade-off between querying the user, sensing, and uncertainty in the situations where identification is not immediately realizable. Furthermore, we have devised an efficient questioning strategy based on the use of entropy to select the questions having the greatest discriminatory power over referent candidates. We have developed a framework to deal with each of these issues and have implemented a working system to demonstrate our strategies.
Webber, William T. "Magnetic inductive sensor applications for robotic ordnance detection and recovery". Thesis, Monterey, California. Naval Postgraduate School, 1995. http://hdl.handle.net/10945/7489.
Pełny tekst źródłaDixon, Theresa S. B. Massachusetts Institute of Technology. "Development of manufacturing technique for composite structures for robotic applications". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59906.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (p. 23-25).
An experimental study was performed with the aim of developing a technique for manufacturing composite parts for use in dynamic robotic applications in lieu of heavy and expensive metal parts used in conventional robotic systems. There is already a wide usage of sandwich board materials in load bearing applications, but these do not provide equal strength in all directions, particularly compressive strength. Additionally, these materials are only available in two-dimensional shapes. The process developed over the course of this project seeks to make a fully covered composite of any desired geometries. The specific robotics project addressed was the hyper dynamic quadruped robotic platform, which ultimately seeks to design and construct a robot capable of a high speed gallop. This thesis began exploring methods of fabricating parts for one of the legs of the platform, specifically a radius part. Manufactured components needed to be both light in weight to facilitate ease of movement for the robot and strong enough to withstand the forces from the shifting weight during running. Proposed design parameters called for a foam core with a hard plastic shell to meet these needs. This technique can lead to a cheaper manufacturing method with a potential impact on the future robotics industry. After an investigation into the properties of different liquid polyurethane foams and plastics, the manufacturing techniques explored began with machining molds for both the inner core and outer shell of composite parts into wax blocks. The project aims were to develop a prototyping process, but this can lead to mass-production. Two versions of a manufacturing process with these blocks were developed, one which uses an open mold and one which uses a closed mold. Either method is viable for fabrication, with a preference for the open mold in parts with simple geometry and small thickness, and for the closed mold in larger parts or ones with complicated or interrupted outer perimeters.
by Theresa Dixon.
S.B.
Sneath, Evan B. "Artificial neural network training for semi-autonomous robotic surgery applications". University of Cincinnati / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1416231638.
Pełny tekst źródłaFerreira, Joana Gil Távora de Almeida. "Distributed haptic interface for applications in robotic teleoperation and rehabilitation". Master's thesis, Universidade de Aveiro, 2017. http://hdl.handle.net/10773/23585.
Pełny tekst źródłaA tecnologia háptica está cada vez mais presente na sociedade em áreas tão diversas como a saúde, a robótica e o lazer. Nesta dissertação desenvolveuse um dispositivo háptico com o objetivo de ser utilizado na teleoperação robótica e na reabilitação. O dispositivo desenvolvido permite ao utilizador, através de uma interface gráfica, controlar uma rede de mini-motores vibratórios individualmente ou utilizando estímulos previamente definidos. O utilizador consegue assim definir que motor, ou que conjunto de motores, pretende activar e a intensidade dos mesmos. No desenvolvimento do sistema utilizou-se a arquitetura ROS e a arquitetura Qt para a implementação do sistema de comunicação e da interface gráfica, e a plataforma Arduino para o comando dos motores vibratórios. Para a funcionalidade do dispositivo na área da reabilitação foi desenvolvida uma luva/manga composta por dezasseis motores vibratórios dispostos em pontos estratégicos tendo em conta os nervos do ser humano. Todo o sistema foi testado e avaliado por pessoal médico e por uma amostra de voluntários com vários backgrounds. Uma análise realizada aos dados recolhidos mostrou que o método proposto foi bem sucedido.
The haptic technology is increasingly present in society in diverse areas such as health, robotics and recreation. In the present work, a haptic device with the objective of being used in robotic teleoperation and rehabilitation was developed. The developed device allows the user, through the use of a graphical interface, to control a network of mini vibration motors, either individually or using predefined stimuli. Therefore, the user can define which motor, or which group of motors, to turn on and its intensity. In the development of the system the platform ROS and platform Qt were used in the implementation of the communication system and the graphical interface, and the platform Arduino was used to do the command of the vibration motors. To the functionality of the device, a glove/sleeve composed by sixteen vibration motors displayed in strategical points according the human being dermatomes was developed. The entire system was tested and evaluated by clinicians and by a sample of volunteers with different backgrounds. An analysis to the collected data showed that the proposed method was successful.
Jing, Wei. "Coverage Planning for Robotic Vision Applications in Complex 3D Environment". Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1033.
Pełny tekst źródłaKayan, Ertan. "Uncertainty-Augmented Semantic 3D Map Labeling in Mobile Robotic Applications". Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-141188.
Pełny tekst źródłaDargahi, Javad. "The applications of polyvinylidene fluoride as a robotic tactile sensor". Thesis, Glasgow Caledonian University, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.688235.
Pełny tekst źródłaEllery, 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.
Pełny tekst źródłaBorgstrom, Per Henrik. "Novel cable-driven robotic platforms and algorithms for environmental sensing applications". Diss., Restricted to subscribing institutions, 2009. http://proquest.umi.com/pqdweb?did=2025611521&sid=1&Fmt=2&clientId=1564&RQT=309&VName=PQD.
Pełny tekst źródłaAxelsson, Henrik. "Optimal Control of Switched Autonomous Systems: Theory, Algorithms, and Robotic Applications". Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-04052006-131248/.
Pełny tekst źródłaAshraf Saad, Committee Member ; Spyros Reveliotis, Committee Member ; Anthony Yezzi, Committee Member ; Erik Verriest, Committee Member ; Yorai Wardi, Committee Co-Chair ; Magnus Egerstedt, Committee Chair.
Schmalz, Andrew Peter. "Classification, analysis, and control of planar tensegrity structures for robotic applications". Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 127 p, 2007. http://proquest.umi.com/pqdweb?did=1313919761&sid=12&Fmt=2&clientId=8331&RQT=309&VName=PQD.
Pełny tekst źródłaKing, Christopher J. "Vision and laser-based perception for real-time autonomous robotic applications". abstract and full text PDF (free order & download UNR users only), 2007. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1447629.
Pełny tekst źródłaOates, Robert Foster. "The suitability of the dendritic cell algorithm for robotic security applications". Thesis, University of Nottingham, 2010. http://eprints.nottingham.ac.uk/11485/.
Pełny tekst źródłaJia, Xinghua. "Physical Origin of Biological Propulsion and Inspiration for Underwater Robotic Applications". The Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1483681387845279.
Pełny tekst źródłaGoddard, Ralph Edward. "Nonholonomic dynamic control of robotic manipulators with applications to autonomous probing /". The Ohio State University, 1990. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487682558446616.
Pełny tekst źródłaHe, Hu. "Joint 2D and 3D cues for image segmentation towards robotic applications". Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/71760/1/Hu_He_Thesis.pdf.
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