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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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O'Hara, Keith Joseph. "Leveraging distribution and heterogeneity in robot systems architecture". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42706.
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Like computer architects, robot designers must address multiple, possibly competing, requirements by balancing trade-offs in terms of processing, memory, communication, and energy to satisfy design objectives. However, robot architects currently lack the design guidelines, organizing principles, rules of thumb, and tools that computer architects rely upon. This thesis takes a step in this direction, by analyzing the roles of heterogeneity and distribution in robot systems architecture.
This thesis takes a systems architecture approach to the design of robot systems, and in particular, investigates the use of distributed, heterogeneous platforms to exploit locality in robot systems design. We show how multiple, distributed heterogeneous platforms can serve as general purpose robot systems for three distinct domains with different design objectives: increasing availability in a search and rescue mission, increasing flexibility and ease-of-use for a personal educational robot, and decreasing the computation and sensing resources necessary for navigation and foraging tasks.
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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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Sung, Ja-Young. "Towards the human-centered design of everyday robots". Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39539.
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The recent advancement of robotic technology brings robots closer to assisting us in our everyday spaces, providing support for healthcare, cleaning, entertaining and other tasks. In this dissertation, I refer to these robots as everyday robots. Scholars argue that the key to successful human acceptance lies in the design of robots that have the ability to blend into everyday activities. A challenge remains; robots are an autonomous technology that triggers multi-faceted interactions: physical, intellectual, social and emotional, making their presence visible and even obtrusive. These challenges need more than technological advances to be resolved; more human-centered approaches are required in the design. However to date, little is known about how to support that human-centered design of everyday robots.
In this thesis, I address this gap by introducing an initial set of design guidelines for everyday robots. These guidelines are based on four empirical studies undertaken to identify how people live with robots in the home. These studies mine insights about what interaction attributes of everyday robots elicit positive or negative user responses. The guidelines were deployed in the development of one type of everyday robot: a senior-care robot called HomeMate. It shows that the guidelines become useful during the early development process by helping designers and robot engineers to focus on how social and emotional values of end-users influence the design of the technical functions required.
Overall, this thesis addresses a question how we can support the design of everyday robots to become more accepted by users. I respond to this question by proposing a set of design guidelines that account for lived experiences of robots in the home, which ultimately can improve the adoption and use of everyday robots.
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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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Switzer, Barbara T. "Robotic path planning with obstacle avoidance /". Online version of thesis, 1993. http://hdl.handle.net/1850/11712.
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Robinette, Paul. "Developing robots that impact human-robot trust in emergency evacuations". Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/54415.
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High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near future, robots will perform tasks to help people in such situations, thus robots must understand why a person makes a trust decision in order to effectively aid the person. High casualty rates in several emergency evacuations motivate our use of this scenario as an example of a high-risk, time-critical situation. Emergency guidance robots can be stored inside of buildings then activated to search for victims and guide evacuees to safety. In this dissertation, we determined the conditions under which evacuees would be likely to trust a robot in an emergency evacuation.
We began by examining reports of real-world evacuations and considering how guidance robots can best help. We performed two simulations of evacuations and learned that robots could be helpful as long as at least 30% of evacuees trusted their guidance instructions. We then developed several methods for a robot to communicate directional information to evacuees. After performing three rounds of evaluation using virtually, remotely and physically present robots, we concluded that robots should communicate directional information by gesturing with two arms. Next, we studied the effect of situational risk and the robot's previous performance on a participant's decision to use the robot during an interaction. We found that higher risk scenarios caused participants to align their self-reported trust with their decisions in a trust situation. We also discovered that trust in a robot drops after a single error when interaction occurs in a virtual environment. After an exploratory study in trust repair, we have learned that a robot can repair broken trust during the emergency by apologizing for its prior mistake or giving additional information relevant to the situation. Apologizing immediately after the error had no effect.
Robots have the potential to save lives in emergency scenarios, but could have an equally disastrous effect if participants overtrust them. To explore this concept, we created a virtual environment of an office as well as a real-world simulation of an emergency evacuation. In both, participants interacted with a robot during a non-emergency phase to experience its behavior and then chose whether to follow the robot’s instructions during an emergency phase or not. In the virtual environment, the emergency was communicated through text, but in the real-world simulation, artificial smoke and fire alarms were used to increase the urgency of the situation. In our virtual environment, we confirmed our previous results that prior robot behavior affected whether participants would trust the robot or not. To our surprise, all participants followed the robot in the real-world simulation of an emergency, despite half observing the same robot perform poorly in a navigation guidance task just minutes before. We performed additional exploratory studies investigating different failure modes. Even when the robot pointed to a dark room with no discernible exit the majority of people did not choose to exit the way they entered.
The conclusions of this dissertation are based on the results of fifteen experiments with a total of 2,168 participants (2,071 participants in virtual or remote studies conducted over the internet and 97 participants in physical studies on campus). We have found that most human evacuees will trust an emergency guidance robot that uses understandable information conveyance modalities and exhibits efficient guidance behavior in an evacuation scenario. In interactions with a virtual robot, this trust can be lost because of a single error made by the robot, but a similar effect was not found with real-world robots. This dissertation presents data indicating that victims in emergency situations may overtrust a robot, even when they have recently witnessed the robot malfunction. This work thus demonstrates concerns which are important to both the HRI and rescue robot communities.
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Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.
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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.Committee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.
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Pires, Leo Santana. "Uma contribuição ao estudo da dinamica não linear e controle de um particular sistema robotico levando-se em conta as interações entre as juntas". [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264708.
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Orientadores: Helder Anibal Hermini, Jose Manoel BalthazarDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Meêanica
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Resumo: Uma aproximação unificada para projeto e controle de manipuladores robóticos que retenha todas as não linearidades inerentes na dinâmica é desenvolvido para uma configuração robô-motor considerado como um sistema interagente. Este projeto de sistema interagente, baseado no modelo de teoria de controle de desacoplagem não-linear de Beekmann, desacopla a configuração robô-motor para os subsistemas robô, motor e interação cm série. Esta aproximação está em contraste ao tratamento convencional do motor como uma pura fonte dc torque c o negligenciamento da interação dinâmica entre a junta do robô e o motor, e ao desconsiderar a formulação não-linear
Abstract: A unified approach to a robotic controI design, which retains all the nonlinearities inherent in the dynamics, is developed for the motor-robot configuration considered as an imeracting system. This control system design, based on the Beekmann model's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approch is in contrast to the conventional treatment of the motor as apure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism and not consider the nonlinear formulation
Mestrado
Projeto Mecanico e Mecanica dos Solidos
Mestre em Engenharia Mecânica
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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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Yevsieiev, V., e S. Shmatko. "Analysis of Crawler Robots". Thesis, International Science Group, 2022. https://openarchive.nure.ua/handle/document/20282.
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The issues of robot equilibrium on the surface oriented to the horizon at different angles are also insufficiently studied. Studying these issues will help determine the critical modes of operation of vertical movement robots and avoid accidents.
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Huang, Chien-Ming. "Joint attention in human-robot interaction". Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/41196.
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Joint attention, a crucial component in interaction and an important milestone in human development, has drawn a lot of attention from the robotics community recently. Robotics researchers have studied and implemented joint attention for robots for the purposes of achieving natural human-robot interaction and facilitating social learning. Most previous work on the realization of joint attention in the robotics community has focused only on responding to joint attention and/or initiating joint attention. Responding to joint attention is the ability to follow another's direction of gaze and gestures in order to share common experience. Initiating joint attention is the ability to manipulate another's attention to a focus of interest in order to share experience. A third important component of joint attention is ensuring, where by the initiator ensures that the responders has changed their attention. However, to the best of our knowledge, there is no work explicitly addressing the ability for a robot to ensure that joint attention is reached by interacting agents. We refer to this ability as ensuring joint attention and recognize its importance in human-robot interaction.
We propose a computational model of joint attention consisting of three parts: responding to joint attention, initiating joint attention, and ensuring joint attention. This modular decomposition is supported by psychological findings and matches the developmental timeline of humans. Infants start with the skill of following a caregiver's gaze, and then they exhibit imperative and declarative pointing gestures to get a caregiver's attention. Importantly, as they aged and social skills matured, initiating actions often come with an ensuring behavior that is to look back and forth between the caregiver and the referred object to see if the caregiver is paying attention to the referential object.
We conducted two experiments to investigate joint attention in human-robot interaction. The first experiment explored effects of responding to joint attention. We hypothesize that humans will find that robots responding to joint attention are more transparent, more competent, and more socially interactive. Transparency helps people understand a robot's intention, facilitating a better human-robot interaction, and positive perception of a robot improves the human-robot relationship. Our hypotheses were supported by quantitative data, results from questionnaire, and behavioral observations. The second experiment studied the importance of ensuring joint attention. The results confirmed our hypotheses that robots that ensure joint attention yield better performance in interactive human-robot tasks and that ensuring joint attention behaviors are perceived as natural behaviors by humans. The findings suggest that social robots should use ensuring joint attention behaviors.
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Puehn, Christian G. "Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction". Case Western Reserve University School of Graduate Studies / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.
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Kandhari, Akhil. "Control and Analysis of Soft Body Locomotion on a Robotic Platform". Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.
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Baba, Akihiko. "Robot navigation using ultrasonic feedback". Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=677.
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Thesis (M.S.)--West Virginia University, 1999.Title from document title page. Document formatted into pages; contains viii, 122 p. : ill. Includes abstract. Includes bibliographical references (p. 57-59).
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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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Luh, Cheng-Jye 1960. "Hierarchical modelling of mobile, seeing robots". Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276998.
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This thesis describes the implementation of a hierarchical robot simulation environment which supports the design of robots with vision and mobility. A seeing robot model applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.
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Upham, Ellis Linda. "Perception and displays for teleoperated robots". Doctoral diss., Orlando, Fla. : University of Central Florida, 2008. http://purl.fcla.edu/fcla/etd/CFE0002330.
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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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Iagnemma, Karl Dubowsky S. "Mobile robots in rough terrain : estimation, motion planning, and control with application to planetary rovers /". Berlin ; New York : Springer, 2004. http://www.loc.gov/catdir/toc/fy0606/2004106986.html.
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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.
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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielleSteerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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Snyder, Benjamin M. "SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY". Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196.
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Michaud, Christian 1958. "Multi-robot workcell with vision for integrated circuit assembly". Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65433.
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Gargas, Eugene Frank III. "Generation and use of a discrete robotic controls alphabet for high-level tasks". Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43651.
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The objective of this thesis is to generate a discrete alphabet of low-level robotic controllers rich enough to mimic the actions of high-level users using the robot for a specific task. This alphabet will be built through the analysis of various user data sets in a modified version of the motion description language, MDLe. It can then be used to mimic the actions of a future user attempting to perform the task by calling scaled versions of the controls in the alphabet, potentially reducing the amount of data required to be transmitted to the robot, with minimal error.
In this thesis, theory is developed that will allow the construction of such an alphabet, as well as its use to mimic new actions. A MATLAB algorithm is then built to implement the theory. This is followed by an experiment in which various users drive a Khepera robot through different courses with a joystick. The thesis concludes by presenting results which suggest that a relatively small group of users can generate an alphabet capable of mimicking the actions of other users, while drastically reducing bandwidth.
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Perko, Eric Michael. "Precision Navigation for Indoor Mobile Robots". Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1345513785.
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Bartholomew, Paul D. "Optimal behavior composition for robotics". Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51872.
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The development of a humanoid robot that mimics human motion requires extensive programming as well as understanding the motion limitations of the robot. Programming the countless possibilities for a robot’s response to observed human motion can be time consuming. To simplify this process, this thesis presents a new approach for mimicking captured human motion data through the development of a composition routine. This routine is built upon a behavior-based framework and is coupled with optimization by calculus to determine the appropriate weightings of predetermined motion behaviors. The completion of this thesis helps to fill a void in human/robot interactions involving mimicry and behavior-based design. Technological advancements in the way computers and robots identify human motion and determine for themselves how to approximate that motion have helped make possible the mimicry of observed human subjects. In fact, many researchers have developed humanoid systems that are capable of mimicking human motion data; however, these systems do not use behavior-based design. This thesis will explain the framework and theory behind our optimal behavior composition algorithm and the selection of sinusoidal motion primitives that make up a behavior library. This algorithm breaks captured motion data into various time intervals, then optimally weights the defined behaviors to best approximate the captured data. Since this routine does not reference previous or following motion sequences, discontinuities may exist between time intervals. To address this issue, the addition of a PI controller to regulate and smooth out the transitions between time intervals will be shown. The effectiveness of using the optimal behavior composition algorithm to create an approximated motion that mimics capture motion data will be demonstrated through an example configuration of hardware and a humanoid robot platform. An example of arm motion mimicry will be presented and includes various image sequences from the mimicry as well as trajectories containing the joint positions for both the human and the robot.
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Aguilar, Jeffrey Jose. "Exploring lift-off dynamics in a jumping robot". Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/45961.
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We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.
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Kabir, Isak, e Kalle Kindvall. "Social robots powered by IBM Watson as a support for children with health problems". Thesis, Uppsala universitet, Avdelningen för visuell information och interaktion, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326085.
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Over the last few years, there has been a growing interest for social robots withhuman-like behavior and their application in healthcare and education. However,there are still plenty of issues that needs to be resolved. One of these challenges isto enable the social robots to fill its role effectively, by creating engagement. In this report the study, that was conducted at IBM Sweden, aims to understandhow IBM Watson can be utilized in the Pepper robot; to engage and supportchildren from the Ronald McDonald House in Uppsala. This is a place for childrenwith health problems and their families to live temporarily. Furthermore, supportivebehaviors are investigated since such behaviors are suggested to be important toincrease the engagement. An initial prototype that used Watson's natural languageprocessing and Pepper, was developed based on user requirements gatheredthrough interviews using a User Centered Design methodology. The prototype wasiteratively developed, and a final evaluation was conducted that examined both theperception of the robot as well as the engagement it created. The evaluation showed that the children wanted to interact with the robot again andhighlighted that they were highly engaged. They perceived the robot as a friend andthe supportive behaviors such as giving praise, responding quickly and maintainingeye contact were most important. The main support the children wanted were tohelp them feel less lonely and the conclusion of this study is that this is a suitablegoal for a robot system.
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Sequeira, Gerard. "Vision based leader-follower formation control for mobile robots". Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Sequeira_09007dcc804429d4.pdf.
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Thesis (M.S.)--University of Missouri--Rolla, 2007.Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 13, 2008) Includes bibliographical references (p. 39-41).
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Silva, Jorge Vicente Lopes da. "Otimização na geração automatica de modelos dinamicos para o controle e a estimação de parametros de robos". [s.n.], 1990. http://repositorio.unicamp.br/jspui/handle/REPOSIP/258922.
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Orientador: Edson de Paula FerreiraDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
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Resumo: Este trabalho apresenta contribuições no sentido de agilizar e otimizar a modelagem geométrica e dinâmica de robôs. A finalidade principal na utilização destes modelos é o desenvolvimento de estratégias de controle mais eficientes, que consigam compensar efeitos indesejáveis, quando é exigido um desempenho superior dos robôs. Estes modelos são de grande complexidade e sua obtenção manual, além de demorada, é extremamente árida e bastante sujeita a erros. Por este motivo, implementamos um sistema para a geração automática de modelos geométricos e modelos dinâmicos com base no formalismo de Lagrange, utilizando recursos para otimização destes modelos. É proposto um algoritmo eficiente para modelagem dinâmica, o qual elimina automaticamente um grande número de redundâncias. Este algoritmo é apresentado à nível de implementação
Abstract: This work presents contributions aiming at time saving and model improvement in the generation of geometric and dynamic robot models. The main purpose is to enable the generation of models suited for use in the development of more efficient control strategies, 50 as to compensa te effects that become undesirable when a better robot performance is required. These are quite complex models and the manual derivation of them is tedious, costly (time-consuming) and often error-prone. 50, it was implemented a system for automatic generation of symbolic geometric and dynamic robot models based in the Lagrange formulation and that also cares about model optimization. It is also proposed an efficient algorithm for dynamic modelling, which automatically eliminates a great number of redundancies. This algorithm is presented in the implementation level
Mestrado
Automação
Mestre em Engenharia Elétrica
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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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Kwok, Chung Tin. "Robust real-time perception for mobile robots /". Thesis, Connect to this title online; UW restricted, 2004. http://hdl.handle.net/1773/7017.
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Vakilinejad, Mohammad. "Amélioration de la précision des robots industriels pour la découpe de matériaux composites". Thesis, Paris, ENSAM, 2019. http://www.theses.fr/2019ENAM0071.
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La participation des bras robotiques industriels à différentes applications de fabrication est en constante évolution. Ces dispositifs, qui n'étaient autrefois utilisés que dans des applications fondées sur leur répétabilité acceptable, prennent maintenant la place d'opérateurs humains dextérités ou de dispositifs d'usinage rigides dans les tâches de fabrication de haute précision. Toutefois, les défauts hérités de ces structures nécessitent des études plus approfondies pour garantir des performances acceptables. Dans cette thèse, les efforts ont été consacrés en premier lieu à observer la contribution des différentes sources d'erreur dans la fabrication robotisée impliquée. Les principaux contributeurs à l'imprécision du robot ont été étudiés pour les processus d'identification et de compensation. Un modèle élastostatique d'un robot industriel est généré. Une nouvelle méthode d'identification des erreurs de transmission des articulations est abordée, capable de réduire massivement le temps d'identification. Pour améliorer la qualité des pièces dans le processus d'usinage par ultrasons de nid d'abeille robotisé, une nouvelle approche est proposée pour intégrer le comportement de conformité de l'outil à celui de la structure du robot. Une procédure détaillée de développement du modèle de force d'usinage et de mesure des erreurs géométriques est également présentée pour ce processus d'usinage. Pour réduire l'effet des sources d'erreurs non-géométriques, un processus d'optimisation est exécuté pour le placement optimal de la pièce dans l'espace de travail du robotThe involvement of industrial robotic arms in different manufacturing applications is going through an ever-changing era. These devices which were once only used in applications based on their acceptable repeatability are now taking place of dexterous human operators or rigid machining devices in high precision manufacturing tasks. However, the inherited shortcomings of these structures require further investigations to ensure acceptable performance. In this thesis, efforts were dedicated firstly to observe the contribution of different error sources in robotic involved manufacturing. The main contributors to the robot inaccuracy were investigated for identification and compensation processes. An elastostatic model of an industrial robot is generated. A novel method in identifying joint transmission errors is addressed capable of massively reducing the identification time. To enhance the workpiece quality in robotic-based honeycomb ultrasonic machining process, a new approach to integrate tool compliance behaviour with the one of robot structure is proposed. A detailed procedure of developing the machining force model and geometrical error measurement is also presented for this machining process. To reduce the effect of non-geometrical error sources, an optimization process is executed for optimal placement of workpiece in robot workspace
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Wooden, David T. "Graph-based Path Planning for Mobile Robots". Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-11092006-180958/.
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Thesis (Ph. D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2007.Magnus Egerstedt, Committee Chair ; Patricio Vela, Committee Member ; Ayanna Howard, Committee Member ; Tucker Balch, Committee Member ; Wayne Book, Committee Member.
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Terrell, Robert Vern Liu Tsai Lu. "TOURBOT a research and product design study applying human robot interaction and universal design principles to the development of a tour guide robot /". Auburn, Ala, 2009. http://hdl.handle.net/10415/1732.
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Monahan, Melissa A. "Scalability study for robotic hand platform /". Online version of thesis, 2010. http://hdl.handle.net/1850/12225.
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Nagorniy, S. "Robots". Thesis, Видавництво СумДУ, 2012. http://essuir.sumdu.edu.ua/handle/123456789/25996.
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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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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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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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Elghazaly, Gamal. "Hybrid cable thruster-actuated underwater vehicle manipulator system : modeling, analysis and control". Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS067.
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L’industrie offshore, pétrolière et gazière est le principal utilisateur des robots sous-marins, plus particulièrement de véhicules télé-opérés (ou ROV, Remotely Operated Vehicle). L'inspection, la construction et la maintenance de diverses installations sous-marines font parties des applications habituelles des ROVs dans l’industrie offshore. La capacité à maintenir un positionnement stable du véhicule ainsi qu’à soulever et déplacer des charges lourdes est essentielle pour certaines de ces applications. Les capacités de levage des ROVs sont cependant limitées par la puissance de leur propulsion. Dans ce contexte, cette thèse présente un nouveau concept d’actionnement hybride constitué de câbles et de propulseurs. Le concept vise à exploiter les fortes capacités de levage des câbles, actionnés par exemple depuis des navires de surfaces, afin de compléter l’actionnement d’un robot sous-marin. Plusieurs problèmes sont soulevés par la nature hybride (câbles et propulseurs) de ce système d'actionnement. En particulier, nous étudions l’effet de l'actionnement supplémentaire des câbles par rapport à un actionnement exploitant uniquement des propulseurs et nous tâchons de minimiser les efforts exercés par ces derniers. Ces deux objectifs sont les principales contributions de cette thèse. Dans un premier temps, nous modélisons la cinématique et la dynamique d'un robot sous-marin actionné à la fois par des propulseurs et des câbles et équipé d'un bras manipulateur. Un tel système possède une redondance cinématique et d'actionnement.. L'étude théorique sur l'influence de l'actionnement supplémentaire par câbles est appuyée par une étude en simulation, comparant les capacités de force d'un système hybride (câbles et propulseurs) à celles d'un système actionné uniquement par des propulseurs. L'évaluation des capacités est basée sur la détermination de l'ensemble des forces disponibles, en considérant les limites des forces d'actionnement. Une nouvelle méthode de calcul est proposée, pour déterminer l'ensemble des forces disponibles. Cette méthode est basée sur le calcul de la projection orthogonale de polytopes et son coût calculatoire est analysé et comparé à celui d'une méthode de l’état de l’art. Nous proposons également une nouvelle méthode pour le calcul de la distribution des forces d'actionnement, permettant d'affecter une priorité supérieure au sous-système d'actionnement par câbles afin de minimiser les efforts exercés par les propulseurs. Plusieurs cas d'études sont proposés pour appuyer les méthodes proposéesThe offshore industry for oil and gas applications is the main user of underwater robots, particularly, remotely operated vehicles (ROVs). Inspection, construction and maintenance of different subsea structures are among the applications of ROVs in this industry. The capability to keep a steady positioning as well as to lift and deploy heavy payloads are both essential for most of these applications. However, these capabilities are often limited by the available on-board vehicle propulsion power. In this context, this thesis introduces the novel concept of Hybrid Cable-Thruster (HCT)-actuated Underwater Vehicle-Manipulator Systems (UVMS) which aims to leverage the heavy payload lifting capabilities of cables as a supplementary actuation for ROVs. These cables are attached to the vehicle in a setting similar to Cable-Driven Parallel Robots (CDPR). Several issues are raised by the hybrid vehicle actuation system of thrusters and cables. The thesis aims at studying the impact of the supplementary cable actuation on the capabilities of the system. The thesis also investigate how to minimize the forces exerted by thrusters. These two objectives are the main contributions of the thesis. Kinematic, actuation and dynamic modeling of HCT-actuated UVMSs are first presented. The system is characterized not only by kinematic redundancy with respect to its end-effector, but also by actuation redundancy of the vehicle. Evaluation of forces capabilities with these redundancies is not straightforward and a method is presented to deal with such an issue. The impact of the supplementary cable actuation is validated through a comparative study to evaluate the force capabilities of an HCT-actuated UVMS with respect to its conventional UVMS counterpart. Evaluation of these capabilities is based on the determination of the available forces, taking into account the limits on actuation forces. A new method is proposed to determine the available force set. This method is based on the orthogonal projection of polytopes. Moreover, its computational cost is analyzed and compared with a standard method. Finally, a novel force resolution methodology is introduced. It assigns a higher priority to the cable actuation subsystem, so that the forces exerted by thrusters are minimized. Case studies are presented to illustrate the methodologies presented in this thesis
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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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Chellal, Ryad. "Commande robuste des robots parallèles à câbles avec mesure extéroceptive". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD039/document.
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Cette thèse présente un travail complet sur la modélisation, l'identification et la commande des robots parallèles à câbles dans le but d'améliorer les performances dynamiques en termes de rapidité, de précision et de robustesse obtenues, tout en gérant les problèmes liés à l'utilisation de câbles. Dans le cadre de ces recherches, les techniques d'identification et de commande sont améliorées grâce à l'utilisation de mesures extéroceptives, notamment en utilisant la vision. Des méthodes issues des domaines de la robotique et de l'automatique sont mises en oeuvre et comparées. Les validations expérimentales sont effectuées sur un démonstrateur disponible au laboratoire : un robot INCA 6D conçu par la société Haption, équipé d'un système de capture de mouvement Bonita développé par la société ViconThis thesis presents a complete work on modelling, identification and control of cable-driven parallel robots in order to improve the dynamic performances in terms of speed, precision and robustness, while managing the problems related to the use of cables. In the context of these researches, the identification and control techniques are improved thanks to the use of exteroceptive sensors, in particular using vision. Methods from the fields of robotics and control are implemented and compared. The experimental validations are performed on a demonstrator available in the laboratory : an INCA 6D robot designed by Haption company, equipped with a Bonita motion capture system developed by Vicon company
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Smarr, Cory-Ann Cook. "Applying a qualitative framework of acceptance of personal robots". Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/53096.
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Personal robots can help people live safer, more efficient and comfortable lives. However, such benefits cannot be achieved if people do not use, or accept, personal robots. The use of a technology is predominantly influenced by an individual's intention to use it, which is influenced by his or her attitudes toward it (Davis, 1989). Presently, the key factors that impact the use of personal robots are not fully understood. Two studies were conducted as first step assessments of the Smarr, Fisk, and Rogers (2013) theoretically-based framework of acceptance of personal robots. In study 1, 14 participants used a personal robot (a robot lawn mower) at their homes for about six weeks. Their acceptance and factors important for acceptance identified in the framework were measured using pre-use and post-use interviews and questionnaires, and weekly diaries. The framework was conceptually validated; participants mentioned 16 of the 20 factors in the Smarr et al. (2013) framework. However, the framework did not fully account for the breadth of factors discussed by participants, thereby suggesting variables may need to be added to or removed from the framework. In study 2, 280 participants reported their initial acceptance of a personal robot (a robot mower) with different levels of reliability and communication of feedback in an online survey. Level of robot reliability did significantly affect attitudinal and intentional acceptance. Follow up analyses indicated a trend that participants who received no information on reliability had numerically higher acceptance than participants who were informed that the robot had 70% reliability or 90% reliability. Neither communication of feedback nor its interaction with reliability affected acceptance. The Smarr et al. (2013) framework explained about 60% of the variance in intentional acceptance and 57% in attitudinal acceptance of a personal robot. Eight of the 15 relationships tested were supported via path analysis. Findings largely supported the Smarr et al. (2013) framework in explaining what impacts intentional and attitudinal acceptance of a personal robot. Results from these studies can inform the Smarr et al. (2013) framework of robot acceptance and other models of acceptance, and can guide designers in developing acceptable personal robots.
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Bertone, Osvaldo Hugo. "Desenvolvimento de uma plataforma universal para aplicações em robôs móveis". [s.n.], 2012. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985.
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Orientador: Marco Antonio Robert AlvesTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: Este trabalho visa o desenvolvimento de uma plataforma básica com o propósito de ser-vir de estrutura para aplicações em robôs móveis. Esta plataforma consta de módulos de comunicação para o meio exterior (Bluetooth, WiFi e ZigBee) e com um barramento de comunicação interior que permite a inclusão de módulos que controlam sensores e atuadores (sensores como de distância, câmeras de vídeo, GPS, Bussola digital, acelerômetros, umidade, temperatura, pressão, etc., e atuadores como motores, servos, válvulas, etc.). A plataforma básica consta de protocolos de comunicação e um set de comandos tanto nas comunicações via rádio como no barramento interno o que permite o desenvolvimento de novas aplicações. O software interno, também é um software de código aberto que permite aos pesquisadores, hobbistas, profissionais, alunos e professores modificar e desenvolver qualquer tipo de aplicação tanto para que a plataforma seja montada em estruturas diferentes como também o desenvolvimento de software desktop para comando do robô via internet, celular ou qualquer tipo de tele-comunicação futura. Com este trabalho se pretende preencher um vazio que fará viável sua aplicação nas áreas de educação básica, esta não apenas nas disciplinas tradicionais, como Matemática e Geografia, mas também em disciplinas transversais, nas quais os alunos poderão aprender a programar rotinas para educação no trânsito, seleção de lixo reciclável, ecologia (reconhecimento de águas), inclusão social e reconhecimentos de MAPas, utilizando sistemas de programação em blocos. No caso dos pesquisadores e hobbistas, os produtos seriam utilizados para o desenvolvimento de novos módulos e outras aplicações mais sofisticadas, podendo tudo isso ser realizado via tele-operação. Como foi desenvolvido um único sistema a ser usado tanto na educação básica quanto para pesquisas de alto nível tecnológico, o sistema é flexível, possuindo um software com programação em blocos, para as escolas de ensino fundamental e médio; e um software com programação em C, para pesquisadores e hobbistas
Abstract: This study aims at developing a basic platform in order to provide a structure for applications in mobile robots. This platform consists of modules for communication to the outside world (Bluetooth, WiFi and ZigBee) and an internal communication bus that allows the inclusion of modules that control sensors and actuators (such as distance sensors, video cameras, GPS, digital compass , accelerometers, humidity, temperature, pressure, etc ... as motors and actuators, servos, valves, etc ...). The basic platform consists of communication protocols and a set of commands as much as radio communications in the internal bus that allows the development of new applications. The internal software is also an open source software that allows researchers, hobbyists, professionals, students and teachers to modify and develop any type of application for both the platform is mounted on different structures as well as the development of desktop software for remote control of robot via the Internet, mobile phone or any type of tele-communication future. This work is intended to fill a void that will make feasible its application in the areas of basic education, this not only in traditional disciplines such as math and geography, but also in cross-disciplines in which students can learn to program routines for traffic education, selection of recyclable waste, ecology recognition (water), social inclusion and recognition of MAPas using systems programming block. For researchers and hobbyists, the products would be used for the development of new modules and other more sophisticated applications, may all be performed via the teleoperation. Was developed as a single system to be used both in basic education and for research on high technology, the system is flexible, having a software programming blocks to the elementary schools and middle, and a software programming in C for researchers and hobbyists
Doutorado
Eletrônica, Microeletrônica e Optoeletrônica
Doutor em Engenharia Elétrica