Rozprawy doktorskie: „Robotics”

1

Siegel, Michael Steven. "Persuasive robotics : how robots change our minds". Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/46665.

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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2009.
Includes bibliographical references (p. 169-174).
This thesis explores the extent to which socially capable humanoid robots have the potential to influence human belief, perception and behavior. Sophisticated computational systems coupled with human-like form and function render such robots as potentially powerful forms of persuasive technology. Currently, there is very little understanding of the persuasive potential of such machines. As personal robots become a reality in our immediate environment, a better understanding of the mechanisms behind, and the capabilities of, their ability to influence, is becoming increasingly important. This thesis proposes some guiding principles by which to qualify persuasion. A study was designed in which the MDS (Mobile Dexterous Social) robotic platform was used to solicit visitors for donations at the Museum of Science in Boston. The study tests some nonverbal behavioral variables known to change persuasiveness in humans, and measures their effect in human-robot interaction. The results of this study indicate that factors such as robot-gender, subject-gender, touch, interpersonal distance, and the perceived autonomy of the robot, have a huge impact on the interaction between human and robot, and must be taken into consideration when designing sociable robots. This thesis applies the term persuasive robotics to define and test the theoretical and practical implications for robot-triggered changes in human attitude and behavior. Its results provide for a vast array of speculations with regard to what practical applications may become available using this framework.
by Michael Steven Siegel.
S.M.

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2

Ray, Adam A. Roppel Thaddeus A. "Cooperative robotics using wireless communication". Auburn, Ala., 2005. http://repo.lib.auburn.edu/2005%20Fall/Thesis/RAY_ADAM_44.pdf.

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Remy, Sekou. "How to teach a new robot new tricks an interactive learning framework applied to service robotics /". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/31678.

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Thesis (Ph.D)--Electrical and Computer Engineering, Georgia Institute of Technology, 2010.
Committee Chair: Dr. Ayanna M. Howard; Committee Member: Dr. Charles Kemp; Committee Member: Dr. Magnus Egerstedt; Committee Member: Dr. Patricio Vela. Part of the SMARTech Electronic Thesis and Dissertation Collection.

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Vinnik, K., Оксана Робертівна Гладченко, Оксана Робертовна Гладченко i Oksana Robertivna Hladchenko. "Robotics". Thesis, Sumy State University, 2020. https://essuir.sumdu.edu.ua/handle/123456789/77843.

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Robotics is applied science that is responsible for the design, development, construction, operation and the use of robots and also for the computer systems which are necessary for the robotic control and sensory feedback based on output signals from the sensors and information processing of automated technical robotic systems. Robots are of great use in human life nowadays. They work in places where people cannot work. As more and more robots are designed to perform individual tasks, they must be classified.

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Salisbury, Elliot. "Crowd robotics : real-time crowdsourcing for crowd controlled robotic agents". Thesis, University of Southampton, 2018. https://eprints.soton.ac.uk/423477/.

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Major man-made and natural disasters have a significant and long-lasting economic and social impact on countries around the world. The response eort in the first few hours of the aftermath of the disaster is crucial to saving lives and minimising damage to infrastructure. In these conditions, emergency response organisations on the ground face a major challenge in trying to understand what is happening, and where the casualties are. Crowdsourcing is often used in disasters to analyse the masses of data generated, and report areas of importance to the first responders, but the results are to slow to inform immediate decision making. This thesis describes techniques for utilising real-time crowdsourcing to analyse the disaster data in real-time. We utilise this real-time analysis to influence or control robotic search agents, unmanned aerial vehicles, that are increasingly being used in disaster scenarios. We investigate methods for reliably and promptly aggregating real-time crowd input, for two different crowd robotic applications. First, direct control, used for directing a robotic search and rescue agent around a complicated and dynamic environment. Second, real-time locational sensing, used for rapidly mapping disasters and to augment a pilot's video feed, such that they can make more informed decisions on the fly, but could be used to inform a higher artificial intelligence process to direct a robotic agent. We describe two systems, CrowdDrone and CrowdAR, that use state-of-the-art methods for human-intelligent control and sensing for crowd robotics.

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Barlas, 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.

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Gauthier, David. "Interprocess communication for distributed robotics". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65455.

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Romatoski, Rebecca R. (Rebecca Rose). "Robust end effecter for the introduction to Robotics Laboratory robotic arms". Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36707.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.
In the MIT ci ss Introduction to Robotics, a two link robotic arm is used to learn about robots however, the arm is limited since its only function is movement. In order to create a more meaningful and useful experience for students in the class, an end effecter with position feedback is going to be design and created as a third link for the current arm. Once complete, it will add functionality to the robot, namely picking up objects, by providing students with hands-on experience accomplishing a fundamental human task with a robot. The end effecter is comprised of a gravity link with two finger grippers each having rotating compliant tips which will compress around the object selected for lifting. The gravity link will insure that the two fingers are always vertical and the rotation on the tips will allow the fingers to be in the correct orientation so they can grasp around an object and pick it up. This solution creates a more practical experience and provides increased learning tasks for students in Introduction to Robotics.
by Rebecca R. Romatoski.
S.B.

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Fjær, Dag Henrik, i Kjeld Karim Berg Massali. "Adaptive Robotics". Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-9861.

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This report explores continuous-time recurrent neural networks (CTRNNs) and their utility in the field of adaptive robotics. The networks herein are evolved in a simulated environment and evaluated on a real robot. The evolved CTRNNs are presented with simple cognitive tasks and the results are analyzed in detail.

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Davies, Brian. "Medical robotics". Thesis, Imperial College London, 1995. http://hdl.handle.net/10044/1/8795.

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Ong, Ka Yin Caroline. "Philosophical robotics". Thesis, University of Sussex, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.430958.

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Whiton, Adam (Adam M. ). "Sartorial robotics". Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/117454.

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Thesis: Ph. D., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, February 2014.
No formal thesis title-page. Title from abstract page. "September 23, 2013." Cataloged from PDF version of thesis.
Includes bibliographical references (pages 113-119).
Sartorial Robotics is a method of merging fashion theory and robotics through the design and development of robotic systems. These systems facilitate interaction and play as well as mimic the materiality, aesthetics, and construction techniques of textiles, apparel and fashion. This will enhance the social aspects of human-robotic interaction and assist in how we situate robotics in our lives and cultures. Building upon a history of robot aesthetics and a formulaic approach to analyze and understand fashion, a series of design principles for Sartorial Robotics were established and applied in the research and development of robotic systems that utilize the human-centric system of clothing to create robotics for human-robot social interaction. The Group Identity Surface is a soft-architecture system utilizing thermochromic textiles and computer vision to facilitate human-machine teammate building. Zipperbot, a robotic continuous closure for fabric edge joining, was developed to explore autonomous control of a sartorial gesture and performed as a wearable robot which was evaluated through social interactions. Clothing is a uniquely human pursuit and is nearly universal in its adoption and use. It plays a prominent role in our individual cultures transmitting a mixture of social signals and meanings through the semiotics of fashion. It is through this performance of assemblage of fabric surfaces we reconfigure ourselves and our identities. Merging robotics and fashion within the practice of Sartorial Robotics will enhance the explorations of identities for both humans and robots.
Adam Whiton.
Ph. D.

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13

Плохута, Тетяна Миколаївна, Татьяна Николаевна Плохута, Tetiana Mykolaivna Plokhuta i A. K. Krets. "Japanese robotics". Thesis, Видавництво СумДУ, 2008. http://essuir.sumdu.edu.ua/handle/123456789/16020.

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Taranova, D. V. "Swarm robotics". Thesis, Sumy State University, 2016. http://essuir.sumdu.edu.ua/handle/123456789/45874.

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Collective behavior, exhibited by a large number of animals that have the same size and work together toward the one goal is called swarm behavior. This term is applied to insects, but can also be used to any other entity or animal. If we look on it wider, we will see that swarming is a collective motion of self-driven entities.

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Breckwoldt, William Andrew. "The Simulation and Testing of Fast Locomotion with Wheel-Legs". Case Western Reserve University School of Graduate Studies / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case153428064749947.

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Hornfeck, Kenneth B. "A Customizable Socially Interactive Robot with Wireless Health Monitoring Capability". Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1301595272.

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17

Kim, Sung-Phil. "Design and analysis of optimal decoding models for brain-machine interfaces". [Gainesville, Fla.] : University of Florida, 2005. http://purl.fcla.edu/fcla/etd/UFE0010077.

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Donoso, Bernardo. "Parametric modeling and design of robot transmissions using a new binary matrix solution methodology /". Digital version accessible at:, 1998. http://wwwlib.umi.com/cr/utexas/main.

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Ziesmer, Jacob Ames. "Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping". [Milwaukee, Wis.] : e-Publications@Marquette, 2009. http://epublications.marquette.edu/theses_open/2.

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Chan, Kenneth Ling-Man. "A vision system for a surgical instrument-passing robot". Thesis, University of British Columbia, 1985. http://hdl.handle.net/2429/25083.

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To help control the high cost of health care delivery, a robotic system is proposed for use in passing surgical instruments in an operating room. The system consists of a vision system, a robotic arm, a speech recognition and synthesis unit, and a microcomputer. A complete vision system has been developed using standard and new techniques to recognize arthroscopic surgical instruments. Results of the vision system software evaluation gave an overall recognition accuracy of over 99%. Also, error conditions were analysed and found to be consistent with the results of a clinical survey on the proposed instrument-passing robot. As well, a payback and cost benefit analysis using estimated system costs and potential labour savings showed that the instrument-passing robot is economically feasible. Based on the results of this thesis, it was concluded that the instrument-passing robot would be beneficial for reducing the high cost of health care.
Applied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate

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21

Rockey, Chad A. "Low-cost Sensor Package for Smart Wheelchair Obstacle Avoidance". Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1327595053.

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Nipper, Nathan James. "Robotic balance through autonomous oscillator control and the dynamic inclinometer". [Gainesville, Fla.] : University of Florida, 2001. http://etd.fcla.edu/etd/uf/2001/anp1586/NathanNipperThesis.PDF.

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Thesis (M.E.)--University of Florida, 2001.
Title from first page of PDF file. Document formatted into pages; contains vii, 54 p.; also contains graphics. Vita. Includes bibliographical references (p. 53).

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23

Peng, Shiqi. "A biologically inspired four legged walking robot". Thesis, Peng, Shiqi (2006) A biologically inspired four legged walking robot. PhD thesis, Murdoch University, 2006. https://researchrepository.murdoch.edu.au/id/eprint/255/.

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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robot's realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.

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Peng, Shiqi. "A biologically inspired four legged walking robot". Peng, Shiqi (2006) A biologically inspired four legged walking robot. PhD thesis, Murdoch University, 2006. http://researchrepository.murdoch.edu.au/255/.

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This Ph.D. thesis presents the design and implementation of a biologically inspired four-phase walking strategy using behaviours for a four legged walking robot. In particular, the walking strategy addresses the balance issue, including both static and dynamic balance that were triggered non-deterministically based on the robot's realtime interaction with the environment. Four parallel Subsumption Architectures (SA) and a simple Central Pattern Producer (CPP) are employed in the physical implementation of the walking strategy. An implementation framework for such a parallel Subsumption Architecture is also proposed to facilitate the reusability of the system. A Reinforcement Learning (RL) method was integrated into the CPP to allow the robot to learn the optimal walking cycle interval (OWCI), appropriate for the robot walking on various terrain conditions. Experimental results demonstrate that the robot employs the proposed walking strategy and can successfully carry out its walking behaviours under various experimental terrain conditions, such as flat ground, incline, decline and uneven ground. Interactions of all the behaviours of the robot enable it to exhibit a combination of both preset and emergent walking behaviours.

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25

Chrzanowski, David M. "MANTISBOT: A ROBOTIC PLATFORM FOR DEVELOPMENT OF COMPLEX NEURAL CONTROL". Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1417782255.

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Vrána, Vojtěch. "Návrh robotické buňky pro obsluhu tryskače pro čištění odlitků". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444305.

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The main goal of this master’s thesis is to create a design of robotic cell for operating of blasting machine. Operation of blasting machine consists of robotic manipulation of aluminium castings from input container to the blasting machine conveyor. After blasting operation aluminium castings are manipulated by robot from conveyor to output container. The part of the master's thesis is proposal of several variants of solution of design of robotic cell. Afterwards the best option is selected. The thesis also deals with design and selection of functional components in robotic cell. Functional verification of robotic cell is made in software Tecnomatix Process Simulate. Technical-economics evaluation is also part of this master’s thesis.

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Wilson, Christopher Roppel Thaddeus A. "Hardware testbed for collaborative robotics using wireless communication". Auburn, Ala, 2009. http://hdl.handle.net/10415/1898.

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Strickland, Paul. "Task oriented robotics". Thesis, University of Portsmouth, 1993. https://researchportal.port.ac.uk/portal/en/theses/task-oriented-robotics(2d98c551-7b7d-4dcf-ad19-23b0c5c060ee).html.

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An alternative between product dedicated automation and general purpose robots is presented. with the new approach a given robot is customised to fulfil the requirements of the manufacturing tasks to be automated, is programmed in terms of production tasks or can be truly automated. This allows exploitation of the natural relationship between production tasks and robot systems. Current construction of industrial robots relies on a one-to-one relationship between robot and controller. The perceived way forward with this constraint has been the functionally related general purpose Industrial Robot. paradoxically, industrial robots are 'bolted' to task specific environments which have fixed repertoires of materials and tools to act upon. Computer integration of these functional machines involves human interaction to constrain the general purpose robots to relatively simple production tasks. This increases the overall cost, levels of expertise required to program the robots and lead-times in reprogramming. Unquestionably these factors have led to a reluctance towards exploitation of industrial robots. The research undertaken endeavoured to provide an alternative to this method of automation. The research completed allows robots to be programmed in terms of production tasks and dissolves the necessity to specifically design a robot controller for a given robot configuration. A modular robotic framework which consists of a number of generic modules has been employed. A loosely coupled transputer computer network has been implemented to encompass task, robot coordination and robot axis levels. At task level a 'production orientated programming environment' reflects the corresponding manual production activities. Information is gathered from this environment to allow 'task related rules' to be formulated. These 'task rules' have been utilised to fully automate, allowing product specifications to be translated to machine actions. The robot coordination level translates global coordinates to joint actions. A set of closed loop inverse kinematic equations have been generalised to ensure that the robot controller is not dependent upon a given robotic structure. These generic equations are customised to the localised constraints of each modular robotic element of the robot structure. Robust axis control is utilised to decouple robot control at joint level. 'Mix-and match' hardware and software techniques have been created which facilitate customisation of a given robot axis, and in turn, the ascending levels of the system. Hardware design capitalised on new advances in compact components which allowed self contained modular robotics elements to be formed.

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Habit, L. "Paradoxes of robotics". Thesis, Київський національний університет технологій та дизайну, 2018. https://er.knutd.edu.ua/handle/123456789/11385.

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Streletskyi, Ye S., i S. S. Strizhak. "Robotics serving surgery". Thesis, Sumy State University, 2017. http://essuir.sumdu.edu.ua/handle/123456789/62810.

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31

Morales, Néstor, i Manuel Serrano. "Autonomous Robotics Platforms". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-17261.

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Nowadays, it is of crucial importance for the manufacturing industry to be prepared for the application and understanding of autonomous mobile robots. Given this fact, educational institutions have to provide knowledge and experience to students. These autonomous mobile robots are made and controlled using different platforms and programming languages. Currently, the University of Skövde wishes to expand the range of tools to be available for building and experimenting with autonomous robots. For this purpose, this thesis project has two main goals. The first goal is finding the best available robotic platform for small scale, self-built, programmable robots. Such a platform has to include all the hardware necessary for later implementation with the software. The platform is evaluated in this thesis following different criteria. The second goal is to build a robot using the chosen platform. The robot has to perform a certain task taking advantage of its specific hardware. The development of the task has been achieved using the Robot Operative System (ROS). This thesis provides step by step instructions of how to build the platform and perform the task.

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32

Moshkina, Lilia V. "An integrative framework of time-varying affective robotic behavior". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39568.

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As robots become more and more prevalent in our everyday life, making sure that our interactions with them are natural and satisfactory is of paramount importance. Given the propensity of humans to treat machines as social actors, and the integral role affect plays in human life, providing robots with affective responses is a step towards making our interaction with them more intuitive. To the end of promoting more natural, satisfying and effective human-robot interaction and enhancing robotic behavior in general, an integrative framework of time-varying affective robotic behavior was designed and implemented on a humanoid robot. This psychologically inspired framework (TAME) encompasses 4 different yet interrelated affective phenomena: personality Traits, affective Attitudes, Moods and Emotions. Traits determine consistent patterns of behavior across situations and environments and are generally time-invariant; attitudes are long-lasting and reflect likes or dislikes towards particular objects, persons, or situations; moods are subtle and relatively short in duration, biasing behavior according to favorable or unfavorable conditions; and emotions provide a fast yet short-lived response to environmental contingencies. The software architecture incorporating the TAME framework was designed as a stand-alone process to promote platform-independence and applicability to other domains. In this dissertation, the effectiveness of affective robotic behavior was explored and evaluated in a number of human-robot interaction studies with over 100 participants. In one of these studies, the impact of Negative Mood and emotion of Fear was assessed in a mock-up search-and-rescue scenario, where the participants found the robot expressing affect more compelling, sincere, convincing and "conscious" than its non-affective counterpart. Another study showed that different robotic personalities are better suited for different tasks: an extraverted robot was found to be more welcoming and fun for a task as a museum robot guide, where an engaging and gregarious demeanor was expected; whereas an introverted robot was rated as more appropriate for a problem solving task requiring concentration. To conclude, multi-faceted robotic affect can have far-reaching practical benefits for human-robot interaction, from making people feel more welcome where gregariousness is expected to making unobtrusive partners for problem solving tasks to saving people's lives in dangerous situations.

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Tang, Yilun. "Robot navigation and localization in regular office environment /". View abstract or full-text, 2010. http://library.ust.hk/cgi/db/thesis.pl?CSED%202010%20TANG.

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Johansen, Maria. "Adaptive Robotics : A behavior-based system for control of mobile robots". Thesis, Norwegian University of Science and Technology, Department of Computer and Information Science, 2010. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-10855.

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This report will explore behavior-based robotics and relevant AI techniques. A system for autonomous control of mobile robots inspired by behavior-based robotics, in particular Rodney Brooks' subsumption architecture, have been implemented, adapted for use in a multiagent environment. The system is modular and flexible, allowing for easy addition and removal of system parts. A weight-based command fusion approach is taken to action selection, making it possible to satisfy multiple behaviors simultaneously.

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Pini, Giovanni. "Towards autonomous task partitioning in swarm robotics: experiments with foraging robots". Doctoral thesis, Universite Libre de Bruxelles, 2013. http://hdl.handle.net/2013/ULB-DIPOT:oai:dipot.ulb.ac.be:2013/209469.

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In this thesis, we propose an approach to achieve autonomous task partitioning in swarms of robots. Task partitioning is the process by which tasks are decomposed into sub-tasks and it is often an advantageous way of organizing work in groups of individuals. Therefore, it is interesting to study its application to swarm robotics, in which groups of robots are deployed to collectively carry out a mission. The capability of partitioning tasks autonomously can enhance the flexibility of swarm robotics systems because the robots can adapt the way they decompose and perform their work depending on specific environmental conditions and goals. So far, few studies have been presented on the topic of task partitioning in the context of swarm robotics. Additionally, in all the existing studies, there is no separation between the task partitioning methods and the behavior of the robots and often task partitioning relies on characteristics of the environments in which the robots operate.

This limits the applicability of these methods to the specific contexts for which they have been built. The work presented in this thesis represents the first steps towards a general framework for autonomous task partitioning in swarms of robots. We study task partitioning in foraging, since foraging abstracts practical real-world problems. The approach we propose in this thesis is therefore studied in experiments in which the goal is to achieve autonomous task partitioning in foraging. However, in the proposed approach, the task partitioning process relies upon general, task-independent concepts and we are therefore confident that it is applicable in other contexts. We identify two main capabilities that the robots should have: i) being capable of selecting whether to employ task partitioning and ii) defining the sub-tasks of a given task. We propose and study algorithms that endow a swarm of robots with these capabilities.
Doctorat en Sciences de l'ingénieur
info:eu-repo/semantics/nonPublished

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Igelmo, Victor. "Using a general robot programming system to control an industrial robot". Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.

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Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operating System (ROS), Yet Another Robot Language (YARP), etc. These systems require more time to fully set up, but once they are set up supposedly they can be used for a lot of different applications and can be used on several industrial robots from different manufacturers. Currently, University of Skövde have robots from Universal Robots (UR) with several peripheral equipment which has limited control because the built-in language does not support it. Therefore, they need help with both investigating which robot system could be used and implementing that robot system. This thesis will prove the suitability of using ROS to control aforesaid hardware, fulfilling all the requirements. It will be also demonstrated the feasibility of ROS in the long-term, according to the future plans for this equipment in University of Skövde.

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Gaudiello, Ilaria. "Learning robotics, with robotics, by robotics : a study on three paradigms of educational robotics, under the issues of robot representation, robot acceptance, and robot impact on learning". Electronic Thesis or Diss., Paris 8, 2015. http://www.theses.fr/2015PA080081.

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La relation entre progrès technologique et innovation pédagogique a récemment engendré un nouveau champ de recherche, à la croisée des chemins entre la Psychologie, les Sciences de l’Education et l’Intelligence Artificielle : la Robotique Educationnelle (RE). La présente thèse fournit un état de l’art critique sur la RE, ses origines et son positionnement au sein des technologies de l’information et de la communication pour l’enseignement (TICE). A travers une analyse des finalités éducatives atteignables en fonction du statut technologique et des modalités d’apprentissage spécifiques aux différents types de robots, nous définissons trois paradigmes pédagogiques : (i) l’apprentissage de la robotique, (ii) l'apprentissage avec la robotique, et (iii) l'apprentissage par la robotique. Ces trois paradigmes sont abordés à travers trois thématiques, dans une perspective de recherche fondamentale en Psychologie : (i) les représentations mentales que les humains ont du robot, (ii) l’acceptation et la confiance dans les interactions homme-robot et (iii) les apprentissages favorisés par les robots en contexte éducatif
Through a psychological perspective, the thesis concerns the three ER learning paradigms that are distinguished upon the different hardware, software, and correspondent modes of interaction allowed by the robot. Learning robotics was investigated under the issue of robot representation. By robot representation, we mean its ontological and pedagogical status and how such status change when users learn robotics. In order to answer this question, we carried out an experimental study based on pre- and post-inquiries, involving 79 participants. Learning with robotics was investigated under the issue of robot’s functional and social acceptance. Here, the underlying research questions were as follows: do students trust in robot’s functional and social savvy? Is trust in functional savvy a pre-requisite for trust in social savvy? Which individuals and contextual factors are more likely to influence this trust? In order to answer these questions, we have carried an experimental study with 56 participants and an iCub robot. Trust in the robot has been considered as a main indicator of acceptance in situations of perceptual and socio-cognitive uncertainty and was measured by participants’ conformation to answers given by iCub. Learning by robotics was investigated under the issue of robot’s impact on learning. The research questions were the following: to what extent the combined RBI & IBSE frame has a positive impact on cognitive, affective, social and meta-cognitive dimensions of learning? Does this combined educational frame improve both domain-specific and non-domain specific knowledge and competences of students? In order to answer these questions, we have carried a one-year RBI & IBSE experimental study in the frame of RObeeZ, a research made through the FP7 EU project Pri-Sci-Net. The longitudinal experiments involved 26 pupils and 2 teachers from a suburb parisian primary school

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38

Gaudiello, Ilaria. "Learning robotics, with robotics, by robotics : a study on three paradigms of educational robotics, under the issues of robot representation, robot acceptance, and robot impact on learning". Thesis, Paris 8, 2015. http://www.theses.fr/2015PA080081.

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La relation entre progrès technologique et innovation pédagogique a récemment engendré un nouveau champ de recherche, à la croisée des chemins entre la Psychologie, les Sciences de l’Education et l’Intelligence Artificielle : la Robotique Educationnelle (RE). La présente thèse fournit un état de l’art critique sur la RE, ses origines et son positionnement au sein des technologies de l’information et de la communication pour l’enseignement (TICE). A travers une analyse des finalités éducatives atteignables en fonction du statut technologique et des modalités d’apprentissage spécifiques aux différents types de robots, nous définissons trois paradigmes pédagogiques : (i) l’apprentissage de la robotique, (ii) l'apprentissage avec la robotique, et (iii) l'apprentissage par la robotique. Ces trois paradigmes sont abordés à travers trois thématiques, dans une perspective de recherche fondamentale en Psychologie : (i) les représentations mentales que les humains ont du robot, (ii) l’acceptation et la confiance dans les interactions homme-robot et (iii) les apprentissages favorisés par les robots en contexte éducatif
Through a psychological perspective, the thesis concerns the three ER learning paradigms that are distinguished upon the different hardware, software, and correspondent modes of interaction allowed by the robot. Learning robotics was investigated under the issue of robot representation. By robot representation, we mean its ontological and pedagogical status and how such status change when users learn robotics. In order to answer this question, we carried out an experimental study based on pre- and post-inquiries, involving 79 participants. Learning with robotics was investigated under the issue of robot’s functional and social acceptance. Here, the underlying research questions were as follows: do students trust in robot’s functional and social savvy? Is trust in functional savvy a pre-requisite for trust in social savvy? Which individuals and contextual factors are more likely to influence this trust? In order to answer these questions, we have carried an experimental study with 56 participants and an iCub robot. Trust in the robot has been considered as a main indicator of acceptance in situations of perceptual and socio-cognitive uncertainty and was measured by participants’ conformation to answers given by iCub. Learning by robotics was investigated under the issue of robot’s impact on learning. The research questions were the following: to what extent the combined RBI & IBSE frame has a positive impact on cognitive, affective, social and meta-cognitive dimensions of learning? Does this combined educational frame improve both domain-specific and non-domain specific knowledge and competences of students? In order to answer these questions, we have carried a one-year RBI & IBSE experimental study in the frame of RObeeZ, a research made through the FP7 EU project Pri-Sci-Net. The longitudinal experiments involved 26 pupils and 2 teachers from a suburb parisian primary school

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39

Roun, Jiří. "Digitální zprovoznění robotizovaného výrobního systému pro obsluhu obráběcího stroje". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443731.

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This master‘s thesis is about the digital commissioning of a robotic production system for a machine tool tending. The initial research describes the current state of the art in the field of industrial robotics. Their types and possibilities are followed by the types and SW capabilities for digital commissioning. The system analysis of the robotic work cell. The practical part of this thesis describes the creation of the digital model and SW design. At the end of the thesis is performed virtual testing of the robotic system.

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Mayhew, James Bernard. "Cartesian control of truss-based manipulators using the virtual serial manipulator approach". Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178050800.

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Klepko, Robert. "A rule-based hierarchical robot control system /". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66195.

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Saab, Wael. "Design and Implementation of Articulated Robotic Tails to Augment the Performance of Reduced Degree-of-Freedom Legged Robots". Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/82908.

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This dissertation explores the design, and implementation of articulated robotic tail mechanisms onboard reduced degree-of-freedom (DOF) legged robots to augment performance in terms of stability and maneuverability. Fundamentally, this research is motivated by the question of how to improve the stability and maneuverability of legged robots. The conventional approach to address these challenges is to utilize leg mechanisms that are composed of three or more active DOFs that are controlled simultaneously to provide propulsion, maneuvering, and stabilization. However, animals such as lizards and cheetahs have been observed to utilize their tails to aid in these functionalities. It is hypothesized that by using an articulated tail mechanism to aid in these functionalities onboard a legged robot, the burden on the robot's legs to simultaneously maneuver and stabilize the robot may be reduced. This could allow for simplification of the leg's design and control algorithms. In recent years, significant progress has been accomplished in the field of robotic tail implementation onboard mobile robots. However, the main limitation of this work stems from the proposed tail designs, the majority of which are composed of rigid single-body pendulums that provide a constrained workspace for center-of-mass positioning, an important characteristics for inertial adjustment applications. Inspired by lizards and cheetahs that adjust their body orientation using flexible tail motions, two novel articulated, cable driven, serpentine-like tail mechanisms are proposed. The first is the Roll-Revolute-Revolute Tail which is a 3-DOF mechanism, designed for implementation onboard a quadruped robot, that is capable of forming two mechanically decoupled tail curvatures via an s-shaped cable routing scheme and gear train system. The second is a the Discrete Modular Serpentine Tail, designed for implementation onboard a biped robot, which is a modular two-DOF mechanism that distributes motion amongst links via a multi-diameter pulley. Both tail designs utilize a cable transmission system where cables are routed about circular contoured links that maintain equal antagonistic cable displacements that can produce controlled articulated tail curvatures using a single active-DOF. Furthermore, analysis and experimental results have been presented to demonstrate the effectiveness of an articulated tail's ability to: 1) increase the manifold for center-of-mass positioning, and 2) generate enhanced inertial loading relative to conventionally implemented pendulum-like tails. In order to test the tails ability to augment the performance of legged robots, a novel Robotic Modular Leg (RML) is proposed to construct both a reduced-DOF quadrupedal and bipedal experimental platform. The RML is a modular two-DOF leg mechanism composed of two serially connected four-bar mechanisms that utilizes kinematic constraints to maintain a parallel orientation between it's flat foot and body without the use of an actuated ankle. A passive suspension system integrated into the foot enables the dissipation of impact energy and maintains a stable four point-of-contact support polygon on both flat and uneven terrain. Modeling of the combined legged robotic systems and attached articulated tails has led to the derivation of dynamic formulations that were analyzed to scale articulated tails onboard legged robots to maximize inertial adjustment capabilities resulting from tail motions and design a control scheme for tail-aided maneuvering. The tail prototypes, in conjunction with virtual simulations of the quadruped and biped robot, were used in experiments and simulations to implement and analyze the methods for maneuvering and stabilizing the proposed legged robots. Results successfully demonstrate the tails' ability to augment the performance of reduced-DOF legged robots by enabling comparable walking criteria with respect to conventional legged robots. This research provides a firm foundation for future work involving design and implementation of articulated tails onboard legged robots for enhanced inertial adjustment applications.
Ph. D.

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Tang, Stanley C. "Robot positioning error analysis and correction". Thesis, This resource online, 1987. http://scholar.lib.vt.edu/theses/available/etd-04122010-083623/.

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Herb, Gregory M. "A real-time robot collision avoidance safety system". Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-06082009-170801/.

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Bigheti, Jeferson André [UNESP]. "Navegação de robôs em ambientes internos usando slam". Universidade Estadual Paulista (UNESP), 2011. http://hdl.handle.net/11449/87178.

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Made available in DSpace on 2014-06-11T19:22:34Z (GMT). No. of bitstreams: 0 Previous issue date: 2011-08-18Bitstream added on 2014-06-13T18:49:36Z : No. of bitstreams: 1 bigheti_ja_me_bauru.pdf: 1603477 bytes, checksum: 39e00820c0f650d5c640f29bc5870194 (MD5)
Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
A proposta deste trabalho é dotar um robô móvel com a capacidade de mapear e se localizar no ambiente simultaneamente onde tal problema é conhecido na literatura clássica como SLAM (Simultaneous Localizaton and Mapping). Para operar, o robô deve ser capaz de manter uma estimativa da sua posição com base nos sensores embarcados veículo, adquirir e utilizar conhecimento sobre o mundo ao seu redor, possuir a habilidade de reconhecer obstáculos, e responder em tempo real as situações que possam ocorrer neste ambiente. Este trabalho propõe também a utilização de um sensor de ultra-som com varredura frontal de 180 graus, para detecção de landmarks (marcos) naturais em um ambiente interno para construção do mapa na memória do sistema de controle do robô. As informações do deslocamento do robô são fornecidas pelo sistema de odometria com encoder. Essas informações de deslocamento do robô a distância dos landmarks são combinadas através da aplicação do Filtro de Kalman Estendido (EKF), para o cálculode posição e orientação estimados do robô bem como a posição estimada dos landmarks (mapa). Trata-se de um trabalho com resultados preliminares, que tem como contribuição específica realizar a tarefa de localização e mapeamento simultaneamente (SLAM) usando um sensor de ultra-som rotativo. São apresentados também os resultados de simulação da técnica de localização e mapeamento simultâneo usando o Filtro de Kalman Estendido (EKT) e complementadas com avaliações experimentais em ambiente reais, aplicado a um robô móvel trabalhando como um transportador de materiais automatizado no chão de fábrica. Discussões são apresentadas sobre os sensores usados, a complexidade computacional, a associação de dados e a modelagem e controle do robô móvel
The purpose of this paper is to provide a mobile robot with the ability to simultaneously map and locate the environment. This problem is know in classical literature as SLAM (Simultaneous Localization and Mapping). To operate, the robot must be able to maintain an estimation of its position based on sensors attached to the vehicle, acquire and use knowledge about the world around it, have the ability to recognize obstacles and respond in real time situations that may occur in this environment. This paper also proposes the use of an ultrasonic sensor to scan an angle of 180 degrees, for detection of landmarks in a natural environment in order to build the internal map inside the robot's controller memory. The displacement information is provided by the robot odometry system with encoder. This information is combined through the application of Extended Kalmar filter (EKT). This is a preliminary work, which has the specific contribution the task of locating and mapping simultaneously (SLAM) using a rotating ultrasonic sensor. There is also presented the simulation of the technique of simultaneous localization and mapping using the extended Kalman filter (EKT) in addition of experimental evaluations in real environment, applied to a mobile robot working as an automated carried materials on the factory floor. Discussions are presented on the used sensors, the computational complexity, data combination and modeling and control of mobile robot

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Dunn, Katana. "Learning Robotics Online: Teaching a blended robotics course for secondary school students". Thesis, University of Canterbury. School of Teacher Education, 2015. http://hdl.handle.net/10092/10281.

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This thesis explores the use of an online robotics course, in the context of Technology Education, for senior secondary school students in an urban New Zealand (NZ) school. The reasons for using an online course are discussed through investigating the need for quality resources to assist schools in providing students with appropriate learning experiences, and knowledge to enable them to make informed choices with respect to technology careers. There is a shortage of students pursuing technology careers and that in turn influences the NZ economy (Baron & McLaren, 2006). The purpose of the study was to examine how an online robotics course can be used for teaching robotics and engaging students in a blended environment. The author planned, implemented, monitored and reviewed an online course in robotics through an action research approach using formative evaluation methods to determine the effectiveness of the individual action research cycles. After reflection at the end of each AR cycle, the online course was modified and updated to improve student engagement. Qualitative methods were used to analyse online discussions, classroom observations and discussions, and one to one interviews with the participants. Research findings identified four themes that influenced student engagement with the online robotics course: access to the online course, the students’ background knowledge and skills, the students’ interaction with the online course and the students’ conation or internal motivation. The research findings are discussed in terms of areas that need to be addressed when using an online course to teach robotics. These areas are the course design, student considerations and course implementation. Course design, or how the course is structured, includes opportunities for students to develop their thinking skills, experiences and activities for learning, and opportunities for conversation and interaction. Course design must also accommodate student considerations. Student considerations focus on the needs of the learners and their readiness to ensure successful engagement in the online course in terms of their background knowledge and skills in electronics and Web 2.0 tools, their conation and their key competencies. Course implementation includes the factors that need to be taken into account in the execution of the online course such as reliable access to the online course, the students’ interactions with the online course, and the learning culture of the school and classroom, and the role of the teacher. The thesis justifies the rational for using an online robotics course and describes how an online robotics course can address and advance student learning outcomes, how online tools can be used for assessment purposes, the aspects of course design that are successful for teaching robotics and online learning experiences that provide positive outcomes for students. Recommendations for teaching practice in terms of school-wide programmes to develop and support students’ digital literacy and key competencies, and teacher professional development in Technology Education and online robotics courses are provided. Suggestions for future research are given in terms of student conation, the development of critical thinking skills through forums and how teachers’ philosophies can be aligned to Technology Education and the intent of the NZ Curriculum.

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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.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.
Cataloged 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.

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Bergfeldt, Niklas. "Cooperative Robotics : A Survey". Thesis, University of Skövde, Department of Computer Science, 2000. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-473.

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This dissertation aims to present a structured overview of the state-of-the-art in cooperative robotics research. As we illustrate in this dissertation, there are several interesting aspects that draws attention to the field, among which 'Life Sciences' and 'Applied AI' are emphasized. We analyse the key concepts and main research issues within the field, and discuss its relations to other disciplines, including cognitive science, biology, artificial life and engineering. In particular it can be noted that the study of collective robot behaviour has drawn much inspiration from studies of animal behaviour. In this dissertation we also analyse one of the most attractive research areas within cooperative robotics today, namely RoboCup. Finally, we present a hierarchy of levels and mechanisms of cooperation in robots and animals, which we illustrate with examples and discussions.

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Jones, E. L. "Learning in behavioural robotics". Thesis, University of Edinburgh, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.653135.

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The research described in this thesis examines how machine learning mechanisms can be effectively used in a behavioural robot system to improve the reliability of the system and reduce the development workload, without reducing the flexibility of the system. The justification for this is that for a robot to be performing effectively it is frequently necessary to have gained experience of its performance under a particular configuration before that configuration can be altered to produce a performance improvement. Machine learning mechanisms can automate this activity of testing, evaluating and then changing. From studying how other researchers have developed working robot systems the activities which require most effort and experimentation are: the selection of the optimal parameter settings; the establishment of the action-sensor couplings which are necessary for the effective handling of uncertainty; and choosing which way to achieve a goal. One way to implement the first two kinds of learning is to specify a model of the coupling or the interaction of parameters and results, and from that model derive an appropriate learning mechanism that will find an optimal parametrisation for that model that will enable good performance to be obtained. From this starting point it has been possible to show how equal, or better performance can be obtained by using learning mechanisms which are neither derived from nor require a model of the task being learned. Instead, by combining iteration and a task specific profit function it is possible to use a generic behavioural module based on a learning mechanism to achieve the task.

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Selmane, M. K. "Image processing for robotics". Thesis, University of Newcastle Upon Tyne, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.382902.

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