Дисертації: "Navigation of robotic devices"

1

Синєгуб, Олександр Олександрович. "Інтелектуальна система прийняття рішень роботизованого пристрою в розумному домі". Master's thesis, КПІ Ім. Ігоря Сiкорського, 2019. https://ela.kpi.ua/handle/123456789/31707.

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Анотація:

Дипломний проект на тему: “Інтелектуальна система прийняття рішень роботизованого пристрою в розмуному домі” містить 80 сторінок тексту, рисунків - 21, таблиць - 10, використаних джерел - 15 та 7 додатків. Актуальність теми дипломного проекту продиктована тим, що в останні роки люди все більше і більше роблять свої будинки “розумними”. Це пояснюється тим, що системи такого будинку дозволяють заощаджувати час, підвищувати рівень комфорту та безпеки користувача. Проте, разом з інтеграцією роботизованих систем і пристроїв виникає питання безпеки їх функціональності в середовищі де вони працюють. Зокрема, виникає проблема безпечного переміщення мобільних пристроїв на території “розумного будинку”, де вони можуть заподіяти шкоди як собі, так і майну власників, не кажучи вже про здоров’я самих користувачів.  Також основною проблемою нині існуючих роботизованих пристроїв, що пересуваються без допомоги людини є навігація. Зокрема, ця проблема у будинку несе більш серйозних характер, через постійну зміну певних об’єктів у середовищі, наприклад меблів. Рішенням цих проблем може бути інтелектуальна система прийняття рішень для забезпечення безпечного переміщення роботизованого пристрою в РД, що буде прокладати безпечний маршрут. Метою даного проекту є забезпечення безпечного переміщення мобільного роботизованого пристрою в інтелектуальному домі. Об’єкт: Методи і засоби визначення місцеположення та можливих траєкторій переміщення роботизованих пристроїв в умовах обмеження приміщень і наявності перешкод. Предмет: Алгоритми визначення місцезнаходження і прокладання безпечних маршрутів для роботизованих пристроїв і систем при їх переміщенні в РД..
The diploma project on the theme: "The system for monitoring the safe movement of robotized devices and systems in the SH" contains 80 pages of text, drawings - 21 , tables - 10 , sources - 15 and 7 attachments. The urgency of the topic of the project is dictated by the fact that in recent years people increasingly make their homes "smart". This is due to the fact that the systems of this building can save time, increase the level of comfort and increase the safety of the user.  However, along with the integration of robotized systems and devices, there is a question of the safety of their functionality in the environment where they work. In particular, there is a problem of the safe movement of mobile devices in the "smart house", where they can cause damage to themselves and property of owners, not to mention the health of the users themselves. A solution to these problems may be a single monitoring system for the safe movement of robotic devices in the SH, which will monitor the positions of robots, lay a safe route and report it.  The purpose of this project is to develop a monitoring system to ensure the safe movement of robots in the smart house. Object - methods and means of determining the location and possible path of moving robotic devices and systems of different types in conditions of space constraints and the presence of obstacles.  Subject - algorithms for monitoring location and laying safe routes for robotic devices and systems in SH.

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Kirimlioglu, Serdar. "Multisensor Dead Reckoning Navigation On A Tracked Vehicle Using Kalman Filter." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614939/index.pdf.

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The aim of this thesis is to write a multisensor navigation algorithm and to design a test setup. After doing these, test the algorithm by using the test setup. In navigation, dead reckoning is a procedure to calculate the position from initial position with some measured inputs. These measurements do not include absolute position data. Using only an inertial measurement unit is an example for dead reckoning navigation. Calculating position and velocity with the inertial measurement unit is highly erroneous because, this calculation requires integration of acceleration data. Integration means accumulation of errors as time goes. For example, a constant acceleration error of 0.1 m/s^2 on 1 m/s^2 of acceleration will lead to 10% of position error in only 5 seconds. In addition to this, wrong calculation of attitude is going to blow the accumulated position errors. However, solving the navigation equations while knowing the initial position and the IMU readings is possible, the IMU is not used solely in practice. In literature, there are studies about this topic and in these studies
some other sensors aid the navigation calculations. The aiding or fusion of sensors is accomplished via Kalman filter. In this thesis, a navigation algorithm and a sensor fusion algorithm were written. The sensor fusion algorithm is based on estimation of IMU errors by use of a Kalman filter. The design of Kalman filter is possible after deriving the mathematical model of error propagation of mechanization equations. For the sensor fusion, an IMU, two incremental encoders and a digital compass were utilized. The digital compass outputs the orientation data directly (without integration). In order to find the position, encoder data is calculated in dead reckoning sense. The sensor triplet aids the IMU which calculates position data by integrations. In order to mount these four sensors, an unmanned tracked vehicle prototype was manufactured. For data acquisition, an xPC&ndash
Target system was set. After planning the test procedure, the tests were performed. In the tests, different paths for different sensor fusion algorithms were experimented. The results were recorded in a computer and a number of figures were plotted in order to analyze the results. The results illustrate the benefit of sensor fusion and how much feedback sensor fusion is better than feed forward sensor fusion.

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3

Moore, Justin C. "Robotic navigation of smooth contours." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40449.

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Анотація:

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
Includes bibliographical references (leaf 10).
The goal of this work is to develop a method for robotic navigation of smooth contours depending on the current and desired locations and orientations. Efficient trajectory generation is an essential capability for many autonomous mobile robots, operating in a variety of situations such as military, medical, and home environments. In this thesis, we propose a method that is based on fitting a spline curve that passes from the initial position and orientation of the robot to a goal position and orientation. The spline is continually recomputed as the robot moves through space. This yields a simple and inefficient method for robot navigation. The method has been implemented and tested in simulation using Matlab and good performance has been demonstrated. Future work should perform experiments with this method on a real robot and should introduce obstacle detection and avoidance.
by Justin C. Moore.
S.B.

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4

Mills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.

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This thesis investigates the problem of sensors used with mobile robots. Firstly, a colour sensor is considered, for its ability to detect objects having the three primary colours Red, Green and Blue (RGB). Secondly, an accelerometer was investigated, from which velocity was derived from the raw data using numerical integration. The purpose of the design and development of the sensors was to use them for robotic navigation and collision avoidance. This report presents the results of experiments carried out on the colour sensor and the accelerometer. A discussion of the results and some conclusions are also presented. It proved feasible to achieve the goal of detecting colours successfully but only for a limited distance. The accelerometer proved reliable but is not yet being applied in real time. Both the colour sensor and the accelerometer proved to be inexpensive. Some recommendations are made to improve both the colour sensor and the accelerometer sensors.

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5

Hsieh, Pin-Chun. "Autonomous robotic wheelchair with collision-avoidance navigation." Texas A&M University, 2008. http://hdl.handle.net/1969.1/86037.

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The objective of this research is to demonstrate a robotic wheelchair moving in an unknown environment with collision-avoidance navigation. A real-time path-planning algorithm was implemented by detecting the range to obstacles and by tracking specific light sources used as beacons. Infrared sensors were used for range sensing, and light-sensitive resistors were used to track the lights. To optimize the motion trajectory, it was necessary to modify the original motor controllers of the electrical wheelchair so that it could turn in a minimum turning radius of 28.75 cm around its middle point of axle. Then, with these kinematics, the real-time path planning algorithm of the robotic wheelchair is simplified. In combination with the newly developed wireless Internet-connection capability, the robotic wheelchair will be able to navigate in an unknown environment. The experimental results presented in this thesis include the performance of the control system, the motion trajectory of the two driving wheels turning in a minimum radius, and the motion trajectory of the real-time path-planning in a real-life testing environment. These experimental results verified that the robotic wheelchair could move successfully in an unknown environment with collision-avoidance navigation.

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Vieira, Miguel Castro Miguéis. "VLC based position etimation for robotic navigation." Master's thesis, Universidade de Aveiro, 2016. http://hdl.handle.net/10773/21666.

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Анотація:

Mestrado em Engenharia Eletrónica e Telecomunicações
Resumo não disponível
The widespread use of LED as arti cial illumination lead to the development of indoor positioning systems using visible light. On this work we gathered information on strategies and sensors used in visible light positioning (VLP). As such, we propose to estimate a robots position based on visible light communication (VLC) using a prototype developed in previous works. The work was divided in four stages. Initially, we veri ed that the prototype used was suitable to estimate its position. In order to overcome the prototype's limitations, a simulation environment was developed, where similar structures were tested. This allowed the comparison between the results obtained using the prototype and those from the simulator. At last, a noise model was implemented on the simulator to verify its in uence on the position estimation. The results show the viability of implementing VLP using a simple sensor based on a set of photo-diodes placed over a hemispherical dome, yielding a low-cost solution for VLP. When comparing the results obtained with the prototype and the simulator, we veri ed that the response is identical. With the implementation of the noise model, the results show an error of a few centimetres. We concluded that the photo-diodes eld of view is important when the position is estimated. The sensors eld of view should be big enough to intercept others in order to prevent blind spots but not too big since it would lead to errors because all sensors would receive signal.

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7

Gurunathan, Mohan 1975. "Guidance, navigation and control of a robotic fish." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/50052.

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Thesis (S.B. and M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
Includes bibliographical references (p. 70).
by Mohan Grurnathan.
S.B.and M.Eng.

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8

Bordallo, Micó Alejandro. "Intention prediction for interactive navigation in distributed robotic systems." Thesis, University of Edinburgh, 2017. http://hdl.handle.net/1842/28802.

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Modern applications of mobile robots require them to have the ability to safely and effectively navigate in human environments. New challenges arise when these robots must plan their motion in a human-aware fashion. Current methods addressing this problem have focused mainly on the activity forecasting aspect, aiming at improving predictions without considering the active nature of the interaction, i.e. the robot’s effect on the environment and consequent issues such as reciprocity. Furthermore, many methods rely on computationally expensive offline training of predictive models that may not be well suited to rapidly evolving dynamic environments. This thesis presents a novel approach for enabling autonomous robots to navigate socially in environments with humans. Following formulations of the inverse planning problem, agents reason about the intentions of other agents and make predictions about their future interactive motion. A technique is proposed to implement counterfactual reasoning over a parametrised set of light-weight reciprocal motion models, thus making it more tractable to maintain beliefs over the future trajectories of other agents towards plausible goals. The speed of inference and the effectiveness of the algorithms is demonstrated via physical robot experiments, where computationally constrained robots navigate amongst humans in a distributed multi-sensor setup, able to infer other agents’ intentions as fast as 100ms after the first observation. While intention inference is a key aspect of successful human-robot interaction, executing any task requires planning that takes into account the predicted goals and trajectories of other agents, e.g., pedestrians. It is well known that robots demonstrate unwanted behaviours, such as freezing or becoming sluggishly responsive, when placed in dynamic and cluttered environments, due to the way in which safety margins according to simple heuristics end up covering the entire feasible space of motion. The presented approach makes more refined predictions about future movement, which enables robots to find collision-free paths quickly and efficiently. This thesis describes a novel technique for generating "interactive costmaps", a representation of the planner’s costs and rewards across time and space, providing an autonomous robot with the information required to navigate socially given the estimate of other agents’ intentions. This multi-layered costmap deters the robot from obstructing while encouraging social navigation respectful of other agents’ activity. Results show that this approach minimises collisions and near-collisions, minimises travel times for agents, and importantly offers the same computational cost as the most common costmap alternatives for navigation. A key part of the practical deployment of such technologies is their ease of implementation and configuration. Since every use case and environment is different and distinct, the presented methods use online adaptation to learn parameters of the navigating agents during runtime. Furthermore, this thesis includes a novel technique for allocating tasks in distributed robotics systems, where a tool is provided to maximise the performance on any distributed setup by automatic parameter tuning. All of these methods are implemented in ROS and distributed as open-source. The ultimate aim is to provide an accessible and efficient framework that may be seamlessly deployed on modern robots, enabling widespread use of intention prediction for interactive navigation in distributed robotic systems.

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9

Gagne-Roussel, Dave. "Vision-based navigation and control of a robotic vehicle." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27361.

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A recurrent problem in mobile robotics is the difficulty to accurately estimate a robot's localization. The ability to successfully estimate the localization of a mobile robot is highly dependent on the type of sensory data used to infer its pose. Traditionally, this has been achieved with odometry and the integration of wheel encoders signals. A major drawback of this approach, however, is the inability to provide an accurate estimate of the heading orientation; a significant cause of odometry drift leading to navigation failure. Accordingly, there is a need for improved localization methods, and vision-based estimation holds promise for this purpose. This research proposes an alternative solution to pure odometry localization. To that end a visual pose estimation algorithm which combines robotic vision and odometry is proposed. The method utilizes scene image vanishing points for recovering the orientation of a mobile robot in a two-dimensional space. To assess the performance of the visual pose estimation algorithm on an operational prototype robotic vehicle developed in the course of the current research, an original pose tracking controller using the geometrical properties of Cardinal splines is implemented. The visual pose estimation algorithm is validated experimentally and compared against six sensory fusion schemes. The results show that the localization accuracy can be improved by one order of magnitude when compared to pure wheel encoder odometry. With regards to motion control, the pose tracking controller is also evaluated for the case of rectilinear trajectories. Future work on large-scale navigation strategies will be developed based on these ideas.

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10

Verstaevel, Nicolas. "Self-organization of robotic devices through demonstrations." Thesis, Toulouse 3, 2016. http://www.theses.fr/2016TOU30060/document.

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La théorie des AMAS (Adaptive Multi-Agent Systems) propose de résoudre des problèmes complexes par auto-organisation pour lesquels aucune solution algorithmique n'est connue. Le comportement auto-organisateur des agents coopératifs permet au système de s'adapter à un environnement dynamique pour maintenir le système dans un état de fonctionnement adéquat. Dans cette thèse, cette approche a été appliquée au contrôle dans les systèmes ambiants, et plus particulièrement à la robotique de service. En effet, la robotique de service tend de plus en plus à s'intégrer à des environnements ambiants, on parle alors de robotique ambiante. Les systèmes ambiants présentent des caractéristiques, telles que l'ouverture et l'hétérogénéité, qui rendent la tâche de contrôle particulièrement complexe. Cette complexité est accrue si l'on prend en compte les besoins spécifiques, changeants et parfois contradictoires des utilisateurs. Les travaux de cette thèse proposent d'utiliser les principes de l'auto-organisation, pour concevoir un système multi-agent capable d'apprendre en temps réel à contrôler un système à partir des démonstrations faites par un tuteur. C'est l'apprentissage par démonstration. En observant l'activité de l'utilisateur et en apprenant le contexte dans lequel l'utilisateur agit, le système apprend une politique de contrôle pour satisfaire les utilisateurs. Nous proposons un nouveau paradigme de conception des systèmes robotiques sous le nom d'Extreme Sensitive Robotics. L'idée de base de ce paradigme est de distribuer le contrôle au sein des différentes fonctionnalités qui composent un système et de doter chacune de ces fonctionnalités de la capacité à s'adapter de manière autonome à son environnement. Pour évaluer l'apport de ce paradigme, nous avons conçu ALEX (Adaptive Learner by EXperiments), un système multi-agent adaptatif dont la fonction est d'apprendre, en milieux ambiants, à contrôler un dispositif robotique à partir de démonstrations. L'approche par AMAS permet la conception de logiciels à fonctionnalités émergentes. La solution à un problème émerge des interactions coopératives entre un ensemble d'agents autonomes, chaque agent ne possédant qu'une vue partielle de l'environnement. L'application de cette approche nous conduit à isoler les différents agents impliqués dans le problème du contrôle et à décrire leurs comportements locaux. Ensuite, nous identifions un ensemble de situations de non coopération susceptibles de nuire à leurs comportements et proposons un ensemble de mécanismes pour résoudre et anticiper ces situations. Les différentes expérimentations ont montré la capacité du système à apprendre en temps réel à partir de l'observation de l'activité de l'utilisateur et ont mis en évidence les apports, les limitations et les perspectives offertes par notre approche à la problématique du contrôle de systèmes ambiants
The AMAS (Adaptive Multi-Agent Systems) theory proposes to solve complex problems for which there is no known algorithmic solution by self-organization. The self-organizing behaviour of the cooperative agents enables the system to self-adapt to a dynamical environment to maintain the system in a functionality adequate state. In this thesis, we apply the theory to the problematic of control in ambient systems, and more particularly to service robotics. Service robotics is more and more taking part in ambient environment, we talk of ambient robotics. Ambient systems have challenging characteristics, such as openness and heterogeneity, which make the task of control particularly complex. This complexity is increased if we take into account the specific, changing and often contradictory needs of users. This thesis proposes to use the principle of self-organization to design a multi-agent system with the ability to learn in real-time to control a robotic device from demonstrations made by a tutor. We then talk of learning from demonstrations. By observing the activity of the users, and learning the context in which they act, the system learns a control policy allowing to satisfy users. Firstly, we propose a new paradigm to design robotic systems under the name Extreme Sensitive Robotics. The main proposal of this paradigm is to distribute the control inside the different functionalities which compose a system, and to give to each functionality the capacity to self-adapt to its environment. To evaluate the benefits of this paradigm, we designed ALEX (Adaptive Learner by Experiments), an Adaptive Multi-Agent System which learns to control a robotic device from demonstrations. The AMAS approach enables the design of software with emergent functionalities. The solution to a problem emerges from the cooperative interactions between a set of autonomous agents, each agent having only a partial perception of its environment. The application of this approach implies to isolate the different agents involved in the problem of control and to describe their local behaviour. Then, we identify a set of non-cooperative situations susceptible to disturb their normal behaviour, and propose a set of cooperation mechanisms to handle them. The different experimentations have shown the capacity of our system to learn in realtime from the observation of the activity of the user and have enable to highlight the benefits, limitations and perspectives offered by our approach to the problematic of control in ambient systems

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11

Blomqvist, Anneli. "Millimeter Wave Radar as Navigation Sensor on Robotic Vacuum Cleaner." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-288146.

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Does millimeter-wave radar have the potential to be the navigational instrument of a robotic vacuum cleaner in a home? Electrolux robotic vacuum cleaner is currently using a light sensor to navigate through the home while cleaning. Recently Texas Instruments released a new mmWave radar sensor, operating in the frequency range 60-64 GHz. This study aims to answer if the mmWave radar sensor is useful for indoor navigation. The study tests the sensor on accuracy and resolution of angles and distances in ranges relevant to indoor navigation. It tests if various objects made out of plastic, fabric, paper, metal, and wood are detectable by the sensor. At last, it tests what the sensor can see when it is moving while measuring. The radar sensor can localize the robot, but the ability to detect objects around the robot is limited. The sensor’s absolute accuracy is within 3° for the majority of angles and around 1dm for most distances above 0.5 m. The resolution for a displacement of one object is 1°, respectively 5 cm, and two objects must be located at least 14° or 15 cm apart from each other to be recognized. Future tasks include removing noise due to antenna coupling to improve reflections from within 0.5 meter and figure out the best way to move around the sensor to improve the resolution.
Har radar med millimetervågor förutsättningar att vara navigationsutrustning för en robotdammsugare i ett hem? Electrolux robotdammsugare använder för närvarande en ljussensor för att navigera genom hemmet medan den städar. Nyligen släppte Texas Instruments en ny radarsensor med vågor i frekvensområdet 60-64 GHz. Denna studie syftar till att svara om radarsensorn är användbar för inomhusnavigering. Studien testar sensorn med avseende på noggrannhet och upplösning av vinklar och avstånd i områden som är relevanta för inomhusnavigering. Den testar om olika föremål tillverkade av plast, tyg, papper, metall och trä kan detekteras av sensorn. Slutligen testas vad sensorn kan se om den rör sig medan den mäter. Radarsensorn kan positionera roboten, men hinderdetektering omkring roboten är begränsad. För det mesta ligger sensorns absoluta noggrannhet inom 3° för vinklar och omkring 1dm för avstånd över 0,5 m. Upplösningen för en förflyttning av ett objekt är 1° respektive 5 cm, och två objekt måste placeras minst 14° eller 15 cm ifrån varandra för att båda kunna upptäckas. Kommande utmaningar är att ta bort antennstörningar som ger sämre reflektioner inom 0,5 meter och ta reda på det bästa sättet att förflytta sensorn för att förbättra upplösningen.

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12

Blanch, Jorge. "Control of mobile robotic platforms by handheld devices." FIU Digital Commons, 2003. http://digitalcommons.fiu.edu/etd/1691.

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The intent of this work was to develop a mobile robotic platform that was controlled by a Palm Pilot PDA. Advances in consumer electronics are producing powerful yet small handheld devices. Some of these devices present quasi-PC capabilities for a fraction of the cost; furthermore, they are compact enough that they fit in all but the smallest of platforms. The platform prototype built for testing purposes has a differential-drive configuration to provide simple but agile movement control. The sensor package consisted of two infrared ranging sensors mounted on servomotors that provide a wide area of detection. Building such a platform involved selection of hardware, circuit integration and software development. The software suite selected to develop code for the Palm Pilot was CodeWarrior, a C compiler that can generate code in Palm-native PRC files.

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13

Khalil, Azher Othamn K. "Fuzzy logic control and navigation of mobile vehicles." Thesis, University of Newcastle Upon Tyne, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.323486.

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Ihemadu, Okechukwu Clifford. "Robotic navigation in large environments using simultaneous localisation and mapping (SLAM)." Thesis, Queen's University Belfast, 2013. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.602546.

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This thesis provides techniques to address some outstanding problems in robotic navigation in relatively large environments using simultaneous localisation and mapping (SLAM), resulting in improved competence and reliability of autonomous agents. Autonomous mobile agents are helpful in a diverse range of applications deemed as dull, dirty or dangerous for human operators including mining, defence and underwater explorations. In order to be fully autonomous the robot is required to incrementally construct a map of its vicinity and simultaneously localise itself within the environment based only on its on-board sensory data. However, the robot is confronted with a number of serious challenges that impair large-scale navigation and could even render SLAM results intractable in real time. This work provides efficient strategies for addressing such problems. The techniques presented include an effective method of reducing computational burden of updating the covariance matrix at every step, and cutting down the storage requirements. In addition, the usually complex and tedious task of transforming and fusing sub-maps into a single global map is simplified. Furthermore, an intelligent SLAM (I -SLAM) is introduced that enables accurate place recognition and minimise pose estimation errors. It also provides the means of adaptively adjusting to the nature of natural surface terrains for both indoor and outdoor environments. These techniques promise an enormous potential for autonomous agents operating in unknown environments in terms of consistency, accuracy and efficiency. Simulation results demonstrate the reliability and effectiveness of the system as a means of addressing some of the outstanding challenges with regards to large-scale SLAM performance

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15

Kollar, Thomas (Thomas Fleming). "Learning to understand spatial language for robotic navigation and mobile manipulation." Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/66012.

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Анотація:

Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 103-108).
This thesis focuses on understanding task-constrained natural language commands, where a person gives a natural language command to the robot and the robot infers and executes the corresponding plan. Understanding natural language is difficult because a system must infer the location of landmarks such as "the computer cluster," and actions corresponding to spatial relations such as "to" or "around" and verbs such as "put" or "take." each of which may be composed in complex ways. In addition, different people may give very different types of commands to perform the same action. The first chapter of this thesis focuses on simple natural language commands such as "Find the computer." where a person commands the robot to find an object or place and the robot must infer a corresponding plan. This problem would be easy if we constrained the set of words that the robot might need to reason about. However, if a person says, "find the computer," and the robot has not previously detected a "computer," then it is not clear where the robot should look. We present a method that uses previously detected objects and places in order to bias the search process toward areas of the environment where a previously unseen object is likely to be found. The system uses a semantic map of the environment together with a model of contextual relationships between objects to infer this plan, which finds the query object with minimal travel time. The contextual relationships are learned from the captions of a large dataset of photos downloaded from Flickr. Simulated and realworld experiments show that a small subset of detectable objects and scenes are able to predict the location of previously unseen objects and places. In the second chapter, we take steps toward building a robust spatial language understanding system for three different domains: route directions, visual inspection, and indoor mobility. We take as input a natural language command such as "Go through the double doors and down the hallway," extract a semantic structure called a Spatial Description Clause (SDC) from the language, and ground each SDC in a partial or complete semantic map of the environment. By extracting a flat sequence of SDCs, we are able to ground the language by using a probabilistic graphical model that is factored into three key components. First, a landmark component grounds novel noun phrases such as "'the computers" in the perceptual frame of the robot by exploiting object co-occurrence statistics between unknown noun phrases and known perceptual features.
(cont.) These statistics are learned from a large database of tagged images such as Flickr, and build off of the model developed in the first component of the thesis. Second, a spatial reasoning component judges how well spatial relations such as "past the computers" describe the path of the robot relative to a landmark. Third, a verb understanding component judges how well spatial verb phrases such as "follow". "meet", "avoid" and "turn right" describe how an agent moves on its own or in relation to another agent. Once trained, our model requires only a metric map of the environment together with the locations of detected objects in order to follow directions through it. This map can be given a priori or created on the fly as the robot explores the environment. In the final chapter of the thesis, we focus on understanding mobile manipulation commands such as, "Put the tire pallet oii the truck." The first contribution of this chapter is the Generalized Grounding Graph (G3 ), which connects language onto grounded aspects of the environment. In this chapter, we relax the assumption that the language has fixed and flat structure and provide a method for constructing a hierarchical probabilistic graphical model that connects each element in a natural language command to an object. place., path or event in the environment. The structure of the G3 model is dynamically instantiated according to the compositional and hierarchical structure of the command, enabling efficient learning and inference. The second contribution of this chapter is to formulate the problem as a discriminative learning problem that maps from language directly onto a robot plan. This probabilistic model is represented as a conditional random field (CRF) that learns the correspondence of robot plans and the language and is able to learn the meanings of complex verbs such as "put" and "take," as well as spatial relations such as "on" and "to."
by Thomas Kollar.
Ph.D.

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16

Escobedo-Cabello, Jesús-Arturo. "User Intention Estimation for Semi-Autonomous Navigation of a Robotic Wheelchair." Thesis, Grenoble, 2014. http://www.theses.fr/2014GRENM098/document.

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L'auteur n'a pas fourni de résumé en français
This thesis focuses on semi-autonomous wheelchair navigation. We aim to design asystem respecting the following constraints.Safety: The system must avoid collisions with objects and specially with humans present in the scene.Usability: People with motor disabilities and elders often have problems using joysticks and other standard control devices. The use of more sophisticated and human-like ways of interacting with the robot must be addressed to improve the acceptance and comfort for the user. It is also considered that the user could just be able to move one finger and so the request of human intervention should be as reduced as possible to accomplish the navigation task.Compliance:} The robot must navigate securely among obstacles while reducing the frustration caused to the user by taking into account his intentions at different levels; final destination, preferred path, speed etc.Respect of social conventions: When moving, the robot may considerably disturb people around it, especially when its behavior is perceived as unsocial. It is thus important to produce socially acceptable motion to reduce disturbances. We will also addresses the issue of determining those places where the robot should be placed in order become part of an interacting group.In this work we propose to estimate the user's intention in order to reduce thenumber of necessary commands to drive a robotic wheelchair and deal withambiguous or inaccurate input interfaces. In this way, the wheelchair can be incharge of some part of the navigation task and alleviate the user involvement.The proposed system takes into account the user intention in terms of the finaldestination and desired speed. At each level, the method tries to favor themost ``reasonable'' action according to the inferred user intention.The user intention problem is approached by using a model of the user based onthe hypothesis that it is possible to learn typical destinations (those wherethe user spends most of his time) and use this information to enhance theestimation of the destination targeted by the user when he is driving therobotic wheelchair.A probabilistic framework is used to model the existent relationship betweenthe intention of the user and the observed command. The main originality of theapproach relies on modeling the user intentions as typical destinations and theuse of this estimation to check the reliability of a user's command to decidehow much preeminence it should be assigned by the shared controller whenmanaging the robot's speed.The proposed shared-control navigation system considers the direction of thecommands given by the user, the obstacles detected by the robot and the inferreddestination to correct the robot's velocity when necessary. This system is basedon the dynamic window approach modified to consider the input given by the user,his intention, the obstacles and the wheelchair's dynamic constraints tocompute the appropriate velocity command.All of the results obtained in this thesis have been implemented and validatedwith experiments, using both real and simulated data. Real data has beenobtained on two different scenarios; one was at INRIA's entry hall and the otherat the experimental apartment GERHOME

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17

Huang, Edward Y. C. 1981. "A semi-autonomous vision-based navigation system for a mobile robotic vehicle." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/16965.

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Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.
Includes bibliographical references (p. 73-74).
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Direct teleoperation of a mobile vehicle over a communications channel with delay on the order of one second is problematic for precise maneuvering and obstacle avoidance. To curb both operator vigilance and maneuvering mishaps during vehicle teleoperation, this thesis aims to develop a semi-autonomous vision-based navigation system for a small mobile robotic vehicle designed by Draper Laboratory. The system relies on monocular vision processing to employ an optical flow balance strategy for real-time obstacle avoidance. The system utilizes a multimedia processor for video processing and is implemented within a payload module built for a visual servoing task. The system design relies on a flexible communication protocol to integrate with the robot and operator control unit. Overall, the system is a useful augmentation for a flexible robotic platform for enabling better reconnaissance.
by Edward Y.C. Huang.
M.Eng.

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18

Safi, Waseen. "Vibro-tactile Navigation of Web on touch screen devices." Caen, 2016. https://hal.archives-ouvertes.fr/tel-01478756.

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Les personnes voyantes interprètent visuellement une grande quantité des informations visuelles et comprennent des mises en forme complexes des pages web en quelques secondes. Tout d'abord, ils naviguent une page web rapidement pour obtenir un aperçu global de la structure du contenu. Ce processus est appelé écrémage. Après, ils lisent le contenu des parties intéressantes en détails par suivant plusieurs méthodes de lecture. Ce processus est appelé balayage. Ce type de navigation des informations permet au lecteur de percevoir rapidement la mise en forme du document et sa sémantique structurelle. En outre, il oriente rapidement l'attention du lecteur sur les parties intéressantes de manière systématique et prévisible. Malheureusement, les personnes ayant une déficience visuelle ne peuvent pas faire cette interprétation dans la même efficacité. Ils perdent beaucoup de temps pour explorer l'architecture des pages web en utilisant les logiciels informatiques actuels spécialisés pour les personnes ayant une déficience visuelle. Ces logiciels présentent des styles d'interaction séquentielles pour naviguer des pages web, une colonne à la fois, une ligne à la fois, et un mot à la fois. Ces logiciels ne parviennent pas à transmettre l'ordre naturel des éléments sur une page web. L'interprétation de la disposition spatiale d'une page web est souvent indispensable pour comprendre son contenu, et il permet à l'utilisateur de traiter des informations complexes en la réduisant à un nombre gérable d'unités. La mise en forme, et les indices spatiaux des pages web sont très importants pour permettre nombreuses tâches, et pour guider l'utilisateur à analyser et à trouver des éléments de données, et pour réaliser de tâches plus compliquées tels stocker des informations, trouver rapidement les informations pertinentes, pointant directement toute information présente dans une page web. Ce travail présente une approche pour un accès non-visuel aux pages web. L'approche proposée est basée sur une modalité vibro-tactile pour remplacer le processus d'écrémage lors de la navigation des pages Web affichées sur des appareils mobiles avec écrans tactiles. L'approche aide les personnes ayant une déficience visuelle à obtenir un aperçu global de la structure du contenu, et de percevoir rapidement la mise en forme de la page web. L'approche a été réalisé par la conception d'un système de substitution sensorielle de la vision tactile. Ce système convertit les structures visuelles qui représentent la mise en forme d'une page web à des vibrations tactiles. Cette approche de navigation est équivalente à l'exploration visuelle classique d'un document sur la base d'une vibration de luminosité. En d'autres termes, les informations visuelles présentées sur les écrans numériques et qui sont obtenus par les méthodes de balayage visuel sont obtenues par une stratégie d'exploration manuelle basée sur l'interaction vibro-tactile. Cette approche proposée pourrait être considérée comme une nouvelle solution de navigation non-visuelle pour l'exploitation des informations spatiales des pages web. Des séries d'expériences ont été menées avec des personnes ayant une déficience visuelle a confirmé l'hypothèse que les personnes ayant une déficience visuelle peuvent explorer des formes géométriques graphiques présentés sur un appareil mobile avec un écran tactile, et ils peuvent percevoir leurs variétés de la taille, la forme, la topologie, les relations spatiales, et les contenus sémantiques en utilisant des vibrations tactiles
Sighted persons interpret visually a large amount of visual information and understand complex layouts of rich-media web pages in seconds. First, they navigate a web page by glancing it quickly to get a global overview of the content structure. This process is called skimming. After that, they read the contents of interesting parts in details by following various reading techniques. This process is called scanning. This type of information navigation enables the reader to perceive quickly the document layout and its structural semantics. In addition, it orients quickly the reader attention to interesting parts in a systematic and predictable manner. Unfortunately, persons with visual impairment cannot do this interpretation in the same efficiency. They lose a lot of time to explore the architecture of web pages using current computational products specialized for visually impaired persons. These products present sequential interaction styles to navigate the web, one column at a time, one line at a time, one word at a time. They fail to convey the natural ordering of elements in a web page. Interpreting the spatial layout of a web page is often indispensable to understand its contents. It helps the user in dealing with complex pieces of information by reducing them to a manageable number of units. The layout, and the spatial cues of web pages are very important in enabling many tasks, and in guiding the reader to analyze and to find data items, and in realizing high-level tasks such storing information, quickly finding relevant information, pointing directly to pieces of information present in a web page. This work presents an approach for non-visual access to web pages. The proposed approach is based on vibro-tactile modality to replace the visual skimming process during navigating web pages displayed on touch-screen mobile devices. It helps the visually impaired persons to get a global overview of the content structure, and to perceive quickly the web page layout. The approach has been realized by designing a tactile vision sensory substitution system (TVSS). This system converts the visual structures that represent the layout of a web page into vibro-tactile feedbacks. This navigation approach is equivalent to classical visual exploration of a document based on a luminosity vibration. In other words, the visual pieces of information presented on digital screens and obtained by the visual scanning methods are perceived by a manual exploration strategy based on vibro-tactile interaction. This proposed approach could be considered as a new non-visual navigation solution for exploiting the spatial two-dimensional information of web pages interfaces. A series of experiments has been conducted with visually impaired persons confirmed the hypothesis that visually impaired persons can explore graphical geometrical shapes presented on a touch-screen mobile device, and they can perceive their varieties in size, form, topology, spatial relations, and semantic contents through vibro-tactile feedbacks

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19

Murín, Michal. "Augmented Reality for Mobile Devices for Precise Urban Navigation." Master's thesis, Vysoké učení technické v Brně. Fakulta informačních technologií, 2013. http://www.nusl.cz/ntk/nusl-236197.

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Diplomová práce je zaměřená na rozšířenou realitu a její realizaci pro mobilní platformu Android. V teoretické části je kladen důraz na obeznámení se s principy rozšířené reality, možnostmi její realizace pro mobilní platformu Android, která je také podrobněji představena. V praktické části se dále zaměřuje na návrh a realizaci knihovny a aplikace využívající tuhle knihovnu pro tvorbu rozšířené reality na platformě Android pomocí GPS a polohových senzorů. Aplikace slouží jako navigace a zobrazuje cestu ke konkrétnímu cíly, jak v podobě rozšířené reality, tak i na klasické dvourozměrné mapě. Práce podrobně popisuje navrhované řešení knihovny a aplikace a jejich implementaci. Nakonec popisuje testování, zhodnocuje dosažené výsledky a diskutuje nedostatky výsledného řešení a možnosti jeho vylepšení, respektive rozšíření.

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20

McConnell, David James. "Analysis of model referenced adaptive control applied to robotic devices." Thesis, Kansas State University, 1985. http://hdl.handle.net/2097/17099.

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21

Fresk, Emil. "Towards Aerial Robotic Workers." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292.

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The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented.
Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå tekniska universitet

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22

Mentz, James. "Motion Control Theory Needed in the Implementation of Practical Robotic Systems." Thesis, Virginia Tech, 2000. http://hdl.handle.net/10919/32172.

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Two areas of expertise required in the production of industrial and commercial robotics are motor control and obstacle navigation algorithms. This is especially true in the field of autonomous robotic vehicles, and this application will be the focus of this work. This work is divided into two parts. Part I describes the motor types and feedback devices available and the appropriate choice for a given robotics application. This is followed by a description of the control strategies available and appropriate for a variety of situations. Part II describes the vision hardware and navigation software necessary for an autonomous robotic vehicle. The conclusion discusses how the two parts are coming together in the emerging field of electric smart car technology. The content is aimed at the robotic vehicle designer. Both parts present a contribution to the field but also survey the required background material for a researcher to enter into development. The material has been made succinct and graphical wherever appropriate.
Master of Science

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23

Borg, Jonathan M. "An industrial robotic system for moving object interception using ideal proportional navigation guidance." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2000. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape4/PQDD_0021/MQ54104.pdf.

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24

Srikulwong, Mayuree. "Tactile displays for pedestrian navigation." Thesis, University of Bath, 2012. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.558870.

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Existing pedestrian navigation systems are mainly visual-based, sometimes with an addition of audio guidance. However, previous research has reported that visual-based navigation systems require a high level of cognitive efforts, contributing to errors and delays. Furthermore, in many situations a person’s visual and auditory channels may be compromised due to environmental factors or may be occupied by other important tasks. Some research has suggested that the tactile sense can effectively be used for interfaces to support navigation tasks. However, many fundamental design and usability issues with pedestrian tactile navigation displays are yet to be investigated. This dissertation investigates human-computer interaction aspects associated with the design of tactile pedestrian navigation systems. More specifically, it addresses the following questions: What may be appropriate forms of wearable devices? What types of spatial information should such systems provide to pedestrians? How do people use spatial information for different navigation purposes? How can we effectively represent such information via tactile stimuli? And how do tactile navigation systems perform? A series of empirical studies was carried out to (1) investigate the effects of tactile signal properties and manipulation on the human perception of spatial data, (2) find out the effective form of wearable displays for navigation tasks, and (3) explore a number of potential tactile representation techniques for spatial data, specifically representing directions and landmarks. Questionnaires and interviews were used to gather information on the use of landmarks amongst people navigating urban environments for different purposes. Analysis of the results of these studies provided implications for the design of tactile pedestrian navigation systems, which we incorporated in a prototype. Finally, field trials were carried out to evaluate the design and address usability issues and performance-related benefits and challenges. The thesis develops an understanding of how to represent spatial information via the tactile channel and provides suggestions for the design and implementation of tactile pedestrian navigation systems. In addition, the thesis classifies the use of various types of landmarks for different navigation purposes. These contributions are developed throughout the thesis building upon an integrated series of empirical studies.

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25

Grue, Nathalie. "Illustration, explanation and navigation of physical devices and design processes." Thesis, Georgia Institute of Technology, 1994. http://hdl.handle.net/1853/9228.

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26

Webber, Emily. "Strategy differences in the use of mobile devices for navigation." Thesis, University of Nottingham, 2014. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.659193.

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The use of mobile navigation aids, such as in-car devices and smart phone applications are fast becoming truly ubiquitous, and come with considerable benefits to the user. However, with this increase in ubiquity, consideration also needs to be given to the effects of their use, both during navigation itself, and longer-term. While the support of a mobile device allows the user to navigate to and within unfamiliar environments, research has also shown that their use can affect engagement with the task and environment during navigation. Users can become device-focussed and passive during the task, causing them to develop a reduced understanding of their environment and poorer subsequent memory for it. Maintaining engagement with task and environment during navigation is central in the development of appropriate user-device relationships. While previous work has investigated ways to encourage engagement during navigation, generally they have failed to account for differences in the way individuals approach the navigation task, despite the extent to which they may mediate differences in the relationship between device use and task and environment engagement. This research therefore investigates how users differ when navigating with mobile devices, and the impact these differences have on environmental and task engagement. To answer this question, the research perspective places navigation as an embodied, situated activity; to understand the user, consideration must also be given to their interaction with both device and environment. This thesis adopted a mixed methodological approach, combining interviews, real-world studies and a questionnaire to gain a rich, multifaceted understanding of how individuals navigate with their mobile devices. An initial set of exploratory interviews, conducted with 18 participants, identified a number of key user and device factors which were central in shaping task and environmental engagement outcomes. These factors were taken forward for investigation in a real -world pedestrian navigation experiment with 24 users of mobile navigation technology, which aimed to determine the influences of navigation support, and user self-efficacy and trust on levels of environmental engagement and learning.

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27

Wilkening, André [Verfasser]. "Assistive Control Concepts for Pneumatic Soft Robotic Rehabilitation Devices / André Wilkening." Aachen : Shaker, 2016. http://d-nb.info/1098042387/34.

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28

Radix, Cathy-Ann Leonie. "Human control of robotic mechanisms : modelling and assessment of assistive devices." Thesis, University of Plymouth, 1999. http://hdl.handle.net/10026.1/2246.

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The prescription and use of Assistive Technology, particularly teleprostheses, may be enhanced by the use of standard assessment techniques. For input devices, in particular, existing assessment studies, most of which are based on Fitts' Law, have produced contradictory results. This thesis has made contributions to these and related fields, particularly in the following four areas. Fitts' Law (and background information theory) is examined. The inability of this paradigm to match experimental results is noted and explained. Following a review of the contributing fields, a new method of assessing input devices is proposed, based on Fitts' Law, classical control and the concept of 'profiling'. To determine the suitability of the proposed method, it is applied to the results of over 2000 trials. The resulting analysis emphasises the importance of interaction effects and their influence on general comparison techniques for input devices. The process of verification has highlighted gain susceptability as a performance criterion which reflects user susceptability; a technique which may be particularly applicable to Assistive Technology.

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29

Hecht, Steven A. "Driving by Speaking: Natural Language Control of Robotic Wheelchairs." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1365158700.

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30

Ryu, Kun Jin. "Autonomous Robotic Strategies for Urban Search and Rescue." Diss., Virginia Tech, 2012. http://hdl.handle.net/10919/19194.

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This dissertation proposes autonomous robotic strategies for urban search and rescue (USAR) which are map-based semi-autonomous robot navigation and fully-autonomous robotic search, tracking, localization and mapping (STLAM) using a team of robots. Since the prerequisite for these solutions is accurate robot localization in the environment, this dissertation first presents a novel grid-based scan-to-map matching technique for accurate simultaneous localization and mapping (SLAM). At every acquisition of a new scan and estimation of the robot pose, the proposed technique corrects the estimation error by matching the new scan to the globally defined grid map. To improve the accuracy of the correction, each grid cell of the map is represented by multiple normal distributions (NDs). The new scan to be matched to the map is also represented by NDs, which achieves the scan-to-map matching by the ND-to-ND matching. In the map-based semi-autonomous robot navigation strategy, a robot placed in an environment creates the map of the environment and sends it to the human operator at a distant location. The human operator then makes decisions based on the map and controls the robot via tele-operation. In case of communication loss, the robot semi-autonomously returns to the home position by inversely tracking its trajectory with additional optimal path planning. In the fully-autonomous robotic solution to USAR, multiple robots communicate one another while operating together as a team. The base station collects information from each robot and assigns tasks to the robots. Unlike the semi-autonomous strategy there is no control from the human operator. To further enhance the
efficiency of their cooperation each member of the team specifically works on its own task.
A series of numerical and experimental studies were conducted to demonstrate the applicability of the proposed solutions to USAR scenarios. The effectiveness of the scan-to-map matching with the multi-ND representation was confirmed by analyzing the error accumulation and by comparing with the single-ND representation. The applicability of the scan-to-map matching to the real SLAM problem was also verified in three different real environments. The results of the map-based semi-autonomous robot navigation showed the effectiveness of the approach as an immediately usable solution to USAR. The effectiveness of the proposed fully- autonomous solution was first confirmed by two real robots in a real environment. The cooperative performance of the strategy was further investigated using the developed platform- and hardware-in-the-loop simulator. The results showed significant potential as the future solution to USAR.
Ph. D.

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31

Laferrière, Pascal. "Instrumented Compliant Wrist System for Enhanced Robotic Interaction." Thesis, Université d'Ottawa / University of Ottawa, 2016. http://hdl.handle.net/10393/35502.

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This thesis presents the development of an instrumented compliant wrist mechanism which serves as an interface between robotic platforms and their environments in order to detect surface positions and orientations. Although inspired by similar existing devices, additional features such as noncontact distance estimations, a simplified physical structure, and wireless operation were incorporated into the design. The primary role envisioned for this mechanism was for enabling robotic manipulators to perform surface following tasks prior to contact as this was one requirement of a larger project involving inspection of surfaces. The information produced by the compliant wrist system can be used to guide robotic devices in their workspace by providing real-time proximity detection and collision detection of objects. Compliance in robotic devices has attracted the attention of many researchers due to the multitude of benefits it offers. In the scope of this work, the main advantage of compliance is that it allows rigid structures to come into contact with possibly fragile objects. Combined with instrumentation for detecting the deflections produced by this compliance, closed-loop control can be achieved, increasing the number of viable applications for an initially open-loop system. Custom fabrication of a prototype device was completed to physically test operation of the designed system. The prototype incorporates a microcontroller to govern the internal operations of the device such as sensor data collection and processing. By performing many computation tasks directly on the device, robotic controllers are able to dedicate more of their time to more important tasks such as path planning and object avoidance by using the pre-conditioned compliant device data. Extensive work has also gone into the refinement of sensor signals coming from the key infrared distance measurement sensors used in the device. A calibration procedure was developed to decrease inter-sensor variability due to the method of manufacturing of these sensors. Noise reduction in the signals is achieved via a digital filtering process. The evaluation of the performance of the device is achieved through the collection of a large amount of sensor data for use in characterisation of the sensor and overall system behavior. This comes in the form of a statistical analysis of the sensor outputs to determine signal stability and accuracy. Additionally, the operation of the device is validated by its integration onto a manipulator robot and incorporating the data generated into the robot’s control loop.

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32

Simone, Matthew James. "A Novel Method to Locate Targets Using Active Vision and Robotic Inertial Navigation Data." Thesis, Virginia Tech, 2006. http://hdl.handle.net/10919/32751.

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Unmanned vehicles are increasingly being used for mobile sensing missions. These missions can range from target acquisition to chemical and biological sensing. The reason why these vehicles are increasingly being used is because they can carry many different types of sensors and can function as a cheap platform for carrying these sensors. The sensing that will be explained in this thesis is target acquisition. Target acquisition is the act of locating the exact position of an â area of interest.â Currently this task can be completed with different types of complex range sensors. This thesis presents a type of target acquisition scheme for unmanned vehicles that will use a combination of cheap, simple vision sensors and robot inertial navigation data in order to accurately measure the location of a target in real world coordinates. This thesis will first develop an accurate waypoint driving algorithm that will either use dead reckoning or GPS/ compass sensors. We will then develop a robust target extraction algorithm that will be able to pick out a target in an image. After this is completed we will develop an algorithm that will be used to find the distance to the target from the robot. This algorithm will be based on a type of active vision system. Finally we will integrate all of these algorithms together in order to develop a target extraction technique that will be able to accurately find the distance to the target. With the distance we can then find the real world location of the target.
Master of Science

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33

Polidoro, Heitor Luis. "Planejamento de trajetória em ambientes com prioridades dinâmicas." Universidade de São Paulo, 2010. http://www.teses.usp.br/teses/disponiveis/55/55134/tde-17112010-104739/.

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A robótica móvel é uma área de pesquisa que está obtendo grande atenção da comunidade científica. O desenvolvimento de robôs móveis autônomos, que sejam capazes de interagir com o ambiente, aprender e tomar decisões corretas para que suas tarefas sejam executadas com êxito é o maior desafio em robótica móvel. O desenvolvimento destes sistemas inteligentes e autônomos consiste em uma área de pesquisa multidisciplinar considerada recente e extremamente promissora que envolve; por exemplo, inteligência artificial, aprendizado de máquina, estimação estatística e sistemas embarcados. Dentro desse contexto, esse trabalho aborda o problema de navegação e monitoramento de ambientes utilizando robôs móveis. Dada uma representação do ambiente (mapa topológico) e uma lista com urgências de cada uma das regiões do mapa, o robô deve estimar qual o percurso mais eficiente para monitorar esse ambiente. Uma vez que a urgência de cada região não visitada aumenta com o tempo, o trajeto do robô deve se adaptar a essas alterações. Entre as diversas aplicações práticas desse tipo de algoritmo, destaca-se o desenvolvimento de sistemas de segurança móveis inteligentes
The mobile robotics is a research area that has started to get some serious attention from the scientific community. The development of robots able to interact with the environment - to learn and make correct decisions so their tasks are successfully completed - is the biggest challenge in mobile robotics. The development of these intelligent and autonomous systems consists of a multidisciplinary research area considered recent and very promising that involves, for example, artificial intelligence, machine learning, statistical estimation and embedded systems. Within this context, this paper addresses the problem of navigation in dynamic environments with priorities using mobile robots. Given a representation of the environment (topological map) and a list of priorities for each region of the map, the robot must estimate what is the most efficient way to monitor this environment. As the dynamic priority of each region increases with time since the last visit of the robot, its trajectory must adapt to these changes. This approach is similar to the traveling salesman, but a solution that specifically addresses the problem described in this dissertation was not found in the literature. Among the many practical applications of this type of algorithm, we highlight the development of smart mobile security systems

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Eldh, Ida. "Navigation and informational architecture in smart electrical testing and diagnostic devices." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-204583.

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This degree project begins with a general introduction of the topic embedded systems in electrical testing and diagnostic devices in industries within the field of human-computer interaction. Then it continues with a deeper view of the problem area and the specific products which are in focus of this project. The company which the study is carried out in, produces and develops many types of test equipment (in a more generalized term called smart electrical testing and diagnostic devices) to the electrical supply industry. The importance of a usable user-interface is greater today than several years ago as the competition between companies include not only technical performance but also usability [4]. Therefore it is highly important to design a user-interface and navigation structure to combine a company’s all products and create a sense of recognition within them. A high level of recognition is in this case, a userinterface and a navigation structure that are recognizable and understandable when the end-user interacts with different products. The information architecture and user-interface design is not very often prioritized in a company as the budget is often much greater for technology than it is for information architecture. Prior the information architecture was more about technology but today it is about system information and content [8]. In this study, three methods are used to make an attempt to collect data to answer and discuss the research question “Is it possible to design a homogenous navigation structure in electrical testing and diagnostic devices for different end-user types?” This study shows that it is very difficult to get a straight forward answer to how a sustainable and homogeneous information architecture and navigation structure for smart electrical testing and diagnostic devices should be designed. Although, the results could give a substantial input and information towards a common userinterface platform and act as guidelines for the development of products.
Den här uppsatsen är en fördjupning i området människa-dator interaktion och användbarhet och börjar med en generell introduktion om ämnet inbyggda system som används i elektriska test- och verifieringsverktyg i industrin. Fortsättningsvis beskrivs en problemformulering och en förklaring av de produkter som är i fokus i denna studie. Företaget som studien är utförd hos utvecklar och tillverkar olika typer av provutrustning för elkraftsbranschen. Sådan mätutrustning ingår i begreppet intelligenta elektriska test- och verifieringsverktyg och hanteras med hjälp av inbyggda pekskärmar. Att ha ett användarbart grafiskt gränssnitt är viktigare idag än det var för många år sedan, detta eftersom företag konkurrerar med användbarhet i produkter och inte enbart med teknisk prestanda [4]. Därför är det viktigt att designa ett användargränssnitt och navigationsstruktur för att sammanföra ett företags alla produkter och skapa en känsla av igenkänning mellan dem. Ett bra mått på igenkänningsfaktorn är i det här fallet ett användargränssnitt och en navigationsstruktur som är igenkänningsbara och förstådda när slutanvändaren interagerar med olika typer av produkter. Informationsarkitektur och användardesign är inte alltid prioriterat hos ett industriellt företag då budgeten för tekniken är långt större än för användardesignen. Tidigare handlade informationsarkitektur mer om teknik, men nuförtiden är det mer om systeminformation och dess innehåll [8]. I den här studien har tre metoder använts för att samla data till och besvara frågan ”Är det möjligt att designa en homogen navigationsstruktur till olika typer av slutanvändare av elektriska test- och verifieringsverktyg?” Den här studien visar att det är svårt att erhålla ett rättframt och entydigt svar på ämnesområdet hur man designar en hållbar och homogen informations- och navigationsstruktur för intelligenta elektriska mätutrustningar. Studien påvisar också att en mängd information kan inhämtas genom att studera användbarhet med hjälp av olika testmetoder. Allt detta i syfte att ge en plattform till utvecklarna som kan agera grund för deras utvecklingsarbete med gränssnittet.

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Wang, Yu-Cheng. "Dual 7-Degree-of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5793.

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A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.

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Ruppert, David Strater. "Design of a Robotic Equine Forelimb for Testing Load-Bearing Rehabilitative Devices." Thesis, Virginia Tech, 2003. http://hdl.handle.net/10919/31136.

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Because horses are animals of flight, bone fractures in the horses' limbs are quite common. When foals fracture a bone in their leg, the healthy leg is often compromised. During convalescence, the animal tends to overstress the healthy leg in an attempt to relieve the stress on the injured leg. This results in angular limb deformities, lax tendons, laminitis, and similar problems. These problems could possibly be avoided through a load-bearing device that would relieve the additional weight from the foal's limbs.

In order to allow for in-vitro testing of such a load-bearing device, this thesis describes the design, analysis, and procedure of construction of a robotic replica of a foal's limb. In particular, the robotic replica has been designed to replicate all of the anticipated motion of a foal's limb, including walking, shifting weight from one leg to the other, and kicking, for example, using gait-analysis data from an actual horse's gait. From such data, the robotic replica has been designed in IDEAS and analyzed using multibody dynamics simulations code and the finite-element-analysis software ANSYS. To evaluate the function of the robotic replica, a control system was developed to reproduce observed gait characteristics. Comparison of the computer-simulated gait with the observed gait showed that a linear feedback control algorithm resulted in a response adequate for the proposed function.

The proposed robotic replica has the potential for aiding in the development of several other bioassistive devices. With minor modifications, the robotic replica could be used to test a device design to transfer load from the cannon bone to the ground for an animal inflicted with laminitis (founder). These possibilities should be investigated in the future.
Master of Science

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Shacklock, Andrew. "Integration of sensors and behavioural models for the robotic manipulation of non-rigid products." Thesis, University of Bristol, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.294585.

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Xu, Fengliang. "Mapping and localization for extraterrestrial robotic explorations." Connect to this title online, 2004. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1095695679.

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Thesis (Ph. D.)--Ohio State University, 2004.
Document formatted into pages; contains xvi, 158 p. Includes bibliographical references. Abstract available online via OhioLINK's ETD Center; full text release delayed at author's request until 2005 Sep. 20.

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39

Lopez, Léo. "Brain-inspired predictive control of robotic sensorimotor systems." Thesis, Université Clermont Auvergne‎ (2017-2020), 2017. http://www.theses.fr/2017CLFAC106.

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40

Bernardes, Vitor Giovani. "Urban environment perception and navigation using robotic vision : conception and implementation applied to automous vehicle." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2155/document.

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Le développement de véhicules autonomes capables de se déplacer sur les routes urbaines peuvent fournir des avantages importants en matière de réduction des accidents, en augmentant le confort et aussi, permettant des réductions de coûts. Les véhicules Intelligents par exemple fondent souvent leurs décisions sur les observations obtenues à partir de différents capteurs tels que les LIDAR, les GPS et les Caméras. En fait, les capteurs de la caméra ont reçu grande attention en raison du fait de qu’ils ne sont pas cher, facile à utiliser et fournissent des données avec de riches informations. Les environnements urbains représentent des scénarios intéressant mais aussi très difficile dans ce contexte, où le tracé de la route peut être très complexe,la présence d’objets tels que des arbres, des vélos, des voitures peuvent générer des observations partielles et aussi ces observations sont souvent bruyants ou même manquant en raison de occlusions complètes. Donc, le processus de perception par nature doit être capable de traiter des incertitudes dans la connaissance du monde autour de la voiture. Tandis que la navigation routière et la conduite autonome en utilisant une connaissance préalable de l’environnement ont démontré avec succès, la compréhension et la navigation des scénarios généraux du environnement urbain avec peu de connaissances reste un problème non résolu. Dans cette thèse, on analyse ce problème de perception pour la conduite dans les milieux urbains basée sur la connaissance de l’environnement pour aussi prendre des décisions dans la navigation autonome. Il est conçu un système de perception robotique, qui permettre aux voitures de se conduire sur les routes, sans la nécessité d’adapter l’infrastructure, sans exiger l’apprentissage précédente de l’environnement, et en tenant en compte la présence d’objets dynamiques tels que les voitures.On propose un nouveau procédé basé sur l’apprentissage par la machine pour extraire le contexte sémantique en utilisant une paire d’images stéréo qui est fusionnée dans une grille d’occupation évidentielle pour modéliser les incertitudes d’un environnement urbain inconnu,en utilisant la théorie de Dempster-Shafer. Pour prendre des décisions dans la planification des chemins, il est appliqué l’approche de tentacule virtuel pour générer les possibles chemins à partir du centre de référence de la voiture et sur cette base, deux nouvelles stratégies sont proposées. Première, une nouvelle stratégie pour sélectionner le chemin correct pour mieux éviter les obstacles et de suivre la tâche locale dans le contexte de la navigation hybride, et seconde, un nouveau contrôle en boucle fermée basé sur l’odométrie visuelle et tentacule virtuel est modélisée pour l’exécution du suivi de chemin. Finalement, un système complet automobile intégrant les modules de perception, de planification et de contrôle sont mis en place et validé expérimentalement dans des situations réelles en utilisant une voiture autonome expérimentale, où les résultats montrent que l’approche développée effectue avec succès une navigation locale fiable basée sur des capteurs de la caméra
The development of autonomous vehicles capable of getting around on urban roads can provide important benefits in reducing accidents, in increasing life comfort and also in providing cost savings. Intelligent vehicles for example often base their decisions on observations obtained from various sensors such as LIDAR, GPS and Cameras. Actually, camera sensors have been receiving large attention due to they are cheap, easy to employ and provide rich data information. Inner-city environments represent an interesting but also very challenging scenario in this context,where the road layout may be very complex, the presence of objects such as trees, bicycles,cars might generate partial observations and also these observations are often noisy or even missing due to heavy occlusions. Thus, perception process by nature needs to be able to dea lwith uncertainties in the knowledge of the world around the car. While highway navigation and autonomous driving using a prior knowledge of the environment have been demonstrating successfully,understanding and navigating general inner-city scenarios with little prior knowledge remains an unsolved problem. In this thesis, this perception problem is analyzed for driving in the inner-city environments associated with the capacity to perform a safe displacement basedon decision-making process in autonomous navigation. It is designed a perception system that allows robotic-cars to drive autonomously on roads, with out the need to adapt the infrastructure,without requiring previous knowledge of the environment and considering the presenceof dynamic objects such as cars. It is proposed a novel method based on machine learning to extract the semantic context using a pair of stereo images, which is merged in an evidential grid to model the uncertainties of an unknown urban environment, applying the Dempster-Shafer theory. To make decisions in path-planning, it is applied the virtual tentacle approach to generate possible paths starting from ego-referenced car and based on it, two news strategies are proposed. First one, a new strategy to select the correct path to better avoid obstacles and tofollow the local task in the context of hybrid navigation, and second, a new closed loop control based on visual odometry and virtual tentacle is modeled to path-following execution. Finally, a complete automotive system integrating the perception, path-planning and control modules are implemented and experimentally validated in real situations using an experimental autonomous car, where the results show that the developed approach successfully performs a safe local navigation based on camera sensors

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Kang, Yue. "Sensor-based navigation for robotic vehicles by interaction of human driver and embedded intelligent system." Thesis, Compiègne, 2016. http://www.theses.fr/2016COMP2291.

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Cette thèse présente une méthode de navigation autonome d’un véhicule routier robotisé dans un contexte de l’interaction conducteur - véhicule, dans lequel le conducteur humain et le système de navigation autonome coopèrent dans le but d’associer les avantages du contrôle manuel et automatique. La navigation du véhicule est réalisée en parallèle par le conducteur humain et le système de conduite automatique, basée sur la perception de l’environnement. La navigation coopérative est basée sur l’analyse et correction des gestes du conducteur humain par le système intelligent, dans le but d’exécuter une tâche de navigation locale qui concerne le suivie de voie avec évitement d’obstacles. L’algorithme d’interaction humain-véhicule est basé sur des composants de navigation référencée capteurs formés par des contrôleurs d’asservissement visuel (VS) et la méthode d’évitement d’obstacle « Dynamic Window Approach (DWA) » basée sur la grilles d’occupation. Ces méthodes prennent en entrée la perception de l’environnement fournie par des capteurs embarqués comprenant un système monovision et un LIDAR. Dû à des impossibilités techniques/légales, nous n’avons pas pu valider nos méthodes sur notre véhicule robotisé (une Renault Zoé robotisée), ainsi nous avons construit des structures « driver-in-theloop » dans des environnements de simulation Matlab et SCANeRTM Studio. En Matlab, le conducteur humain est modélisé par un algorithme appelé « Human Driver Behaviour controller (HDB) », lequel génère des gestes de conduite dangereux dans la partie manuelle de l’entrée de commande du système coopératif. En SCANeR Studio, la sortie de l’HDB est remplacée par des commandes manuelles générées directement par un conducteur humain dans l’interface utilisateur du simulateur. Des résultats de validation dans les deux environnements de simulation montrent la faisabilité et la performance du système de navigation coopérative par rapport aux tâches de suivie de voie, l’évitement d’obstacles et le maintien d’une distance de sécurité
This thesis presents an approach of cooperative navigation control pattern for intelligent vehicles in the context of human-vehicle interaction, in which human driver and autonomous servoing system cooperate for the purpose of benefiting from mutual advantages of manual and auto control. The navigation of the vehicle is performed in parallel by the driver and the embedded intelligent system, based on the perception of the environment. The cooperative framework we specify concerns the analysis and correction of the human navigation gestures by the intelligent system for the purpose of performing local navigation tasks of road lane following with obstacle avoidance. The human-vehicle interaction algorithm is based on autonomous servoing components as Visual Servoing (VS) controllers and obstacle avoidance method Dynamic Window Approach (DWA) based on Occupancy Grid, which are supported by the environment perception performed carried out by on-boarded sensors including a monovision camera and a LIDAR sensor. Given the technical/legal impossibility of validating our interaction method on our robotic vehicle (a robotic Renault Zoé), the driver-in-the-loop structures of system are designed for simulative environment of both Matlab and SCANeRTM Studio. In Matlab environment human driver is modeled by a code-based Human Driver Behaviour (HDB) Controller, which generates potential dangerous behaviors on purpose as manual control of the cooperative system. In SCANeR Studio environment the HDB is replaced by real-time manual command (a real human driver) via driving interface of this simulator. Results of simulative validation show the feasibility and performance of the cooperative navigation system with respect to tasks of driving security including road lane following, obstacle avoidance and safe distance maintenance

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Tian, Jingduo. "Quantitative performance evaluation of autonomous visual navigation." Thesis, University of Manchester, 2017. https://www.research.manchester.ac.uk/portal/en/theses/quantitative-performance-evaluation-of-autonomous-visual-navigation(be6349b5-3b38-4ac5-aba2-fc64597fd98a).html.

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Autonomous visual navigation algorithms for ground mobile robotic systems working in unstructured environments have been extensively studied for decades. Among these work, algorithm performance evaluations between different design configurations mainly involve the use of benchmark datasets with a limited number of real-world trails. Such evaluations, however, have difficulties to provide sufficient statistical power for performance quantification. In addition, they are unable to independently assess the algorithm robustness to individual realistic uncertainty sources, including the environment variations and processing errors. This research presents a quantitative approach to performance and robustness evaluation and optimisation of autonomous visual navigation algorithms, using large scale Monte-Carlo analyses. The Monte-Carlo analyses are supported by a simulation environment designed to represent a real-world level of visual information, using the perturbations from realistic visual uncertainties and processing errors. With the proposed evaluation method, a stereo vision based autonomous visual navigation algorithm is designed and iteratively optimised. This algorithm encodes edge-based 3D patterns into a topological map, and use them for the subsequent global localisation and navigation. An evaluation on the performance perturbations from individual uncertainty sources indicates that the stereo match error produces significant limitation for the current system design. Therefore, an optimisation approach is proposed to mitigate such an error. This maximises the Fisher information available in stereo image pairs by manipulating the stereo geometry. Moreover, the simulation environment is further updated in association with the algorithm design, which include the quantitative modelling and simulation of localisation error to the subsequent navigation behaviour. During a long-term Monte-Carlo evaluation and optimisation, the algorithm performance has been significantly improved. Simulation experiments demonstrate that the navigation of a 3-DoF robotic system is achieved in an unstructured environment, while possessing sufficient robustness to realistic visual uncertainty sources and systematic processing errors.

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Lichter, Matthew D. (Matthew Daniel) 1977. "Concept development for lightweight binary-actuated robotic devices, with application to space systems." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8546.

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Анотація:

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001.
"June 2001."
Includes bibliographical references (leaves 66-71).
Exploratory space missions of the future will require robotic systems to lead the way by negotiating and mapping very rough terrain, collecting samples, performing science tasks, and constructing facilities. These robots will need to be adaptable and reconfigurable in order to achieve a wide variety of objectives. Conventional designs using gears, motors, bearings, encoders, and many discrete components will be too complex, heavy, and failure-prone to allow highly-reconfigurable systems to be feasible. This thesis develops new concepts that may potentially enable the design of self-transforming space explorers. The vision of this research is to integrate compliant bistable mechanisms with large numbers of binary-actuated embedded smart materials. Compliant mechanisms are lightweight and robust. Binary actuation is the idea of using an actuator in a discrete on/off manner rather than in a continuous manner. A binary actuator is easy to control and robust, and by using tens or hundreds of binary actuators, one can approximate a continuous system, much like a digital computer can approximate an analog system. The first part of this thesis examines the fundamental planning issues involved with systems having large numbers of binary actuators. The notion of a workspace is described and applied to the optimization of a manipulator design. Methods for solving the forward and inverse kinematics are discussed in the context of this application. These methods are extended to the trajectory and locomotion planning problems. Methods for planning systems of substantial complexity are developed in the context of exploratory space robotics. The second part of this thesis presents experimental demonstrations that examine elements of the concept. The results of several design prototypes are discussed.
by Matthew D. Lichter.
S.M.

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44

Gardström, Karin. "3D Navigation for Real-Time MRI using Six Degree of Freedom Interaction Devices." Thesis, Linköping University, Department of Science and Technology, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2280.

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Real-time MRI scanning is used to visualize tissue and organs in motion. The real-time approach requires new interaction techniques to facilitate interaction with the scanning plane. The aim of this thesis is to investigate the use of input with six degrees of freedom – 6DOF. An overview over existing 6DOF input devices is given. Three devices are chosen for implementation and evaluation, Flock of Birds, SpaceBall and SpaceMouse.

A simulator application is developed to test the different input devices. The simulator purpose is to imitate the real-time scanning situation. To be able to evaluate speed andaccuracy of the different interaction techniques, methods for measuring time and error are developed. A statistical survey is done on two different tasks to gather data of the interaction. The data is analyzed and the result is that the test subjects find the SpaceMouse superior to the other devices thanks to its kinesthetic feed-back properties and ergonomic benefits. However, the statistical data shows that Flock of Birds is the fastest device and no great difference is showed in accuracy between Flock of Birds and SpaceMouse. SpaceBall was the device that generated the least satisfying data.

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Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.

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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery. In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques. Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.

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Sahin, Hakan. "Design Of A Secondary Packaging Robotic System." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606922/index.pdf.

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The use of robotic systems in consumer goods industry has increased over recent years. However, food industry has not taken to the robotics technology with the same desire as in other industries due to technical and commercial reasons. Difficulties in matching human speed and flexibility, variable nature of food products, high production volume rates, lack of appropriate end-effectors, high initial investment rate of the so-called systems and low margins in food products are still blocking the range of use of robotics in food industry. In this thesis study, as a contribution to the use of robotic systems in food industry, a secondary packaging robotic system is designed. The system is composed of two basic subsystems: a dual-axis controlled robotic arm and a special-purpose gripper. Mechanical and control systems design of basic subsystems are performed within the scope of the study. During the designing process, instead of using classical design methods, modern computer-aided design and engineering tools are utilized.

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Valdes, Benavides Bulmaro Adolfo. "Reducing compensatory movements in stroke therapy through the use of robotic devices and augmented feedback." Thesis, University of British Columbia, 2017. http://hdl.handle.net/2429/62468.

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Compensatory movements are commonly employed by stroke survivors to adapt to the loss of motor function. However, their long-term use can be detrimental to post-stroke recovery of function. In this work, we focused on trunk displacement, which is a compensatory movement that stroke survivors use when reaching forward. Current therapeutic practices to reduce this tendency rely on the use of physical restraints to secure a person to a chair. An alternate approach to reduce compensation is the use of active technology that delivers augmented feedback about trunk movement. Using this methodology provides several advantages over physical restraints, such as: the person is actively involved in the planning and executing of the movement rather than relying on a physical barrier that continuously prevents trunk movement; the feedback intensity, frequency, and thresholds can easily be modified in real time; the system is less intrusive as it does not require the person to be strapped or secured to a chair by someone else; it can be used safely without direct supervision; the trunk compensation feedback can be used as a variable inside a motivating video game scenario. This dissertation is comprised of three studies to investigate: the extent of stroke survivors’ trunk displacement when reaching forward to targets at different heights (Study 1), the use of visual and force feedback (Study 2), and the importance of including game scores (Study 3) to reduce trunk compensation. The results from these studies suggest that target height influences the degree of trunk compensation of hemiparetic participants. In addition, the use of visual and force feedback to cue participants about their level of trunk compensation can lead to a reduction of this movement. Similarly, the use of game scores resulted in a reduction of trunk compensation. No feedback modality or combination was superior to another for reducing trunk displacement. The findings from this work suggest that the use of augmented feedback is a viable approach to reduce trunk compensation in hemiparetic stroke survivors. These ideas should be tested in long-term interventions before we can make a final recommendation to the rehabilitation community. Supplementary/video material is available at: http://hdl.handle.net/2429/62493
Applied Science, Faculty of
Graduate

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48

Tsiodoulos, Dimitrios. "Comparison of hamburger and bottom bar menu on mobile devices for three level navigation." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-185550.

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Mobile websites and application are used daily by millions of people as a way of communication and entertainment as well as a professional tool. Content rich apps with multiple levels of content hierarchy face challenges due to the limited space of the user interface. It is important that the application has excellent navigation features along with help and search capabilities [1], as navigation of the user interface is one vital aspect for such web and native apps offering to the user a way to explore its content, understand its structure and use the services that they offer. The efficient identification of the navigation pattern and its usability is a key element of the user experience. This paper compares two different mobile navigation patterns: One of the most common navigation patterns known as hamburger menu, and a bottom bar menu. In order to compare the two navigation patterns a usability evaluation, using a demo application that was developed for this purpose, was conducted. Twenty participants took part in the test were their performance along with their subjective feedback was collected. The analysis of the evaluation suggests that bottom bar menu is more efficient than hamburger menu in terms of total completion time. The qualitative feedback of the participants also suggests that their perceive bottom bar menu better than the hamburger menu one. In addition to their contribution for future research, the study results can help professionals choose what mobile navigation pattern to use as well as better know the benefits and drawbacks of their choice.
Mobila webbsidor och applikationer används dagligen av miljontals personer som ett sätt till att kommunicera och till att få samt ge underhållning och det är likaså ett professionellt verktyg. Innehållsrika applikationer med multipla nivåer av innehåll möter hierarkiskt utmaningar på grund utav användargränssnittets begränsade utrymme. Det är viktigt att applikationen har strålande navigationsfunktioner tillsammans med hjälp och sökningskapaciteter [1], då navigation av användargränssnitt är en vital aspekt för webb och integrerade applikationer som erbjuder användaren ett sätt till att utforska dess innehåll, förstå dess struktur och att använda tjänsterna som de erbjuder. Den effektiva identifieringen av navigationsmönstret och dess användbarhet är ett nyckelelement av användarupplevelsen. Denna skrift jämför två olika mobila navigationsmönster: Ett av de mest vanliga navigationsmönstrena känt som hamburgermeny, och en botten-fältmeny. I ordning till att jämföra dessa två navigationsmönster, utfördes en användbarhetsutvärdering, med hjälp utav en demo-applikation som utvecklades för detta syfte. Tjugo deltagare deltog i testet där deras prestation tillsammans med deras subjektiva feedback samlades. Analysen av utvärderingen säger att botten-fältsmenyn är mer effektiv än hamburgermenyn gällande total slutförandetid. Deltagarnas kvalitativa feedback säger också att de uppfattar botten-fältmenyn som bättre än hamburgermenyn. I tillägg till deras insats för framtida efterforskning, kan studeringsresultaten hjälpa proffs att välja vilket mobilt navigationsmönster dom ska använda och det ger dem även kunskap om fördelarna och nackdelarna av deras val.

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49

Schmitz, Austin. "Row crop navigation by autonomous ground vehicle for crop scouting." Thesis, Kansas State University, 2017. http://hdl.handle.net/2097/36237.

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Master of Science
Department of Biological & Agricultural Engineering
Daniel Flippo
Robotic vehicles have the potential to play a key role in the future of agriculture. For this to happen designs that are cost effective, robust, and easy to use will be necessary. Robotic vehicles that can pest scout, monitor crop health, and potentially plant and harvest crops will provide new ways to increase production within agriculture. At this time, the use of robotic vehicles to plant and harvest crops poses many challenges including complexity and power consumption. The incorporation of small robotic vehicles for monitoring and scouting fields has the potential to allow for easier integration of robotic systems into current farming practices as the technology continues to develop. Benefits of using unmanned ground vehicles (UGVs) for crop scouting include higher resolution and real time mapping, measuring, and monitoring of pest location density, crop nutrient levels, and soil moisture levels. The focus of this research is the ability of a UGV to scout pest populations and pest patterns to complement existing scouting technology used on UAVs to capture information about nutrient and water levels. There are many challenges to integrating UGVs in conventionally planted fields of row crops including intra-row and inter-row maneuvering. For intra-row maneuvering; i.e. between two rows of corn, cost effective sensors will be needed to keep the UGV between straight rows, to follow contoured rows, and avoid local objects. Inter-row maneuvering involves navigating from long straight rows to the headlands by moving through the space between two plants in a row. Oftentimes headland rows are perpendicular to the row that the UGV is within and if the crop is corn, the spacing between plants can be as narrow as 5”. A vehicle design that minimizes or eliminates crop damage when inter-row maneuvering occurs will be very beneficial and allow for earlier integration of robotic crop scouting into conventional farming practices. Using three fixed HC-SR04 ultrasonic sensors with LabVIEW programming proved to be a cost effective, simple, solution for intra-row maneuvering of an unmanned ground vehicle through a simulated corn row. Inter-row maneuvering was accomplished by designing a transformable tracked vehicle with the two configurations of the tracks being parallel and linear. The robotic vehicle operates with tracks parallel to each other and skid steering being the method of control for traveling between rows of corn. When the robotic vehicle needs to move through narrow spaces or from one row to the next, two motors rotate the frame of the tracks to a linear configuration where one track follows the other track. In the linear configuration the vehicle has a width of 5 inches which allows it to move between corn plants in high population fields for minimally invasive maneuvers. Fleets of robotic vehicles will be required to perform scouting operations on large fields. Some robotic vehicle operations will require coordination between machines to complete the tasks assigned. Simulation of the path planning for coordination of multiple machines was studied within the context of a non-stationary traveling salesman problem to determine optimal path plans.

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50

Gillham, Michael David Anthony. "A non-holonomic, highly human-in-the-loop compatible, assistive mobile robotic platform guidance navigation and control strategy." Thesis, University of Kent, 2015. https://kar.kent.ac.uk/50525/.

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The provision of assistive mobile robotics for empowering and providing independence to the infirm, disabled and elderly in society has been the subject of much research. The issue of providing navigation and control assistance to users, enabling them to drive their powered wheelchairs effectively, can be complex and wide-ranging; some users fatigue quickly and can find that they are unable to operate the controls safely, others may have brain injury re-sulting in periodic hand tremors, quadriplegics may use a straw-like switch in their mouth to provide a digital control signal. Advances in autonomous robotics have led to the development of smart wheelchair systems which have attempted to address these issues; however the autonomous approach has, ac-cording to research, not been successful; users reporting that they want to be active drivers and not passengers. Recent methodologies have been to use collaborative or shared control which aims to predict or anticipate the need for the system to take over control when some pre-decided threshold has been met, yet these approaches still take away control from the us-er. This removal of human supervision and control by an autonomous system makes the re-sponsibility for accidents seriously problematic. This thesis introduces a new human-in-the-loop control structure with real-time assistive lev-els. One of these levels offers improved dynamic modelling and three of these levels offer unique and novel real-time solutions for: collision avoidance, localisation and waypoint iden-tification, and assistive trajectory generation. This architecture and these assistive functions always allow the user to remain fully in control of any motion of the powered wheelchair, shown in a series of experiments.

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