Дисертації з теми "Robotic Structure"
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Hudeček, Vít. "Návrh univerzálního robotického systému." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231725.
Повний текст джерелаClift, Louis G. "Robotic 3D reconstruction utilising structure from motion." Thesis, University of Essex, 2017. http://repository.essex.ac.uk/20734/.
Повний текст джерелаEnyedy, Albert J. "Robotic Construction Using Intelligent Scaffolding." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1356.
Повний текст джерелаStoyanov, Danail Valentinov. "Recovering 3D structure and motion in robotic laparoscopic surgery." Thesis, Imperial College London, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.430137.
Повний текст джерелаJayaweera, Nirosh Dilruk. "Adaptive robotic assembly of large compliant aero-structure components." Thesis, University of Nottingham, 2006. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.434085.
Повний текст джерелаKloss, Alina [Verfasser]. "Combining Learning and Structure for Robotic Manipulation / Alina Kloss." Tübingen : Universitätsbibliothek Tübingen, 2021. http://d-nb.info/1226756719/34.
Повний текст джерелаViggh, Herbert E. M. "Artificial intelligence applications in teleoperated robotic assembly of the EASE space structure." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/39358.
Повний текст джерелаBibliography: leaf 197.
by Herbert E. M. Viggh.
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
Bayar, Gokhan. "Configurable Robot Base Design For Mixed Terrain Applications." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/2/12606530/index.pdf.
Повний текст джерелаHe, Hu. "Joint 2D and 3D cues for image segmentation towards robotic applications." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/71760/1/Hu_He_Thesis.pdf.
Повний текст джерелаAlmeshal, Abdullah. "Development and control of a novel-structure two-wheeled robotic vehicle manoeuvrable in different terrains." Thesis, University of Sheffield, 2013. http://etheses.whiterose.ac.uk/4885/.
Повний текст джерелаCousturier, Richard. "Amélioration par la gestion de redondance du comportement des robots à structure hybride sous sollicitations d’usinage." Thesis, Université Clermont Auvergne (2017-2020), 2017. http://www.theses.fr/2017CLFAC090/document.
Повний текст джерелаIndustrial robots have evolved fundamentally in recent years to reach the industrial requirements. We now find more suitable anthropomorphic robots leading to the realization of more complex tasks like deformable objects cutting such as meat cutting or constrained to high loading like during machining. The behavior study of anthropomorphic robots, parallel or hybrid one highlights a kinematic and dynamic anisotropy, which impacts the expected accuracy.This thesis studied the integration of the kinematic redundancy that can partially overcome this problem by well setting the task to achieve it in a space compatible with the expected capacity.This work helped us to improve our optimization tool and to try it on both FE model of the robot and real robot.Thus, the thesis makes contributions to: - the definition of criteria adapted to the realization of complex and under high loading task for the management of the kinematic redundancy; - the structural behavior identification, under loading, by metrology tools (Laser tracker) ; - the behavior optimization to improve the cutting process quality during machining ; - robots finite elements modeling using stiffness identification for both bodies and joints
Debnath, Jayanta Kumar. "Development of Scheduling, Path Planning and Resource Management Algorithms for Robotic Fully-automated and Multi-story Parking Structure." University of Toledo / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1470399189.
Повний текст джерелаMajer, Tomáš. "Návrh pracoviště s průmyslovým robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382109.
Повний текст джерелаMerrell, Paul Clark. "Structure from Motion Using Optical Flow Probability Distributions." Diss., CLICK HERE for online access, 2005. http://contentdm.lib.byu.edu/ETD/image/etd764.pdf.
Повний текст джерелаVakilinejad, Mohammad. "Amélioration de la précision des robots industriels pour la découpe de matériaux composites." Thesis, Paris, ENSAM, 2019. http://www.theses.fr/2019ENAM0071.
Повний текст джерелаThe involvement of industrial robotic arms in different manufacturing applications is going through an ever-changing era. These devices which were once only used in applications based on their acceptable repeatability are now taking place of dexterous human operators or rigid machining devices in high precision manufacturing tasks. However, the inherited shortcomings of these structures require further investigations to ensure acceptable performance. In this thesis, efforts were dedicated firstly to observe the contribution of different error sources in robotic involved manufacturing. The main contributors to the robot inaccuracy were investigated for identification and compensation processes. An elastostatic model of an industrial robot is generated. A novel method in identifying joint transmission errors is addressed capable of massively reducing the identification time. To enhance the workpiece quality in robotic-based honeycomb ultrasonic machining process, a new approach to integrate tool compliance behaviour with the one of robot structure is proposed. A detailed procedure of developing the machining force model and geometrical error measurement is also presented for this machining process. To reduce the effect of non-geometrical error sources, an optimization process is executed for optimal placement of workpiece in robot workspace
Meyer, Julien. "Proposition d’un modèle numérique pour la conception architecturale d’enveloppes structurales plissées : application à l’architecture en panneaux de bois." Thesis, Université de Lorraine, 2017. http://www.theses.fr/2017LORR0099/document.
Повний текст джерелаThe purpose of this research is to characterise the concept of pleating in order to give a numerical model allowing the design of wooden pleated architectural structures. In this context, we are bringing a singular perspective to the integration of the morpho-structural dimension as a modulating factor of architecture. We also deal with creasing in its digital dimension by adopting a parametric approach which allows an adaptive modelling within the ‘design-manufacturing’ continuum. Our method, implemented in the CARA(s)PACE (Conception of Architectural Research Algorithm for Structural Pleated Approaches and Creative Envelopes) tool, generates a geometry of pleating from a reference surface. This tool is composed of a parametric and geometric modeller coupled with evaluation engines. It guides the designer in the research of forms based on creasing, secures the suggestions and provides the numerical data needed for a robotic manufacturing
Marmol, Velez Andres Felipe. "Robust and dense visual slam for robot-assisted minimally invasive orthopaedic procedures." Thesis, Queensland University of Technology, 2019. https://eprints.qut.edu.au/132169/1/Andres_Marmol%20Velez_Thesis.pdf.
Повний текст джерелаGomes, Samuel da Silva. "Modelagem e controle de atuadores robóticos e veículos subaquáticos não tripulados." reponame:Repositório Institucional da FURG, 2011. http://repositorio.furg.br/handle/1/3434.
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Esta dissertação trata da modelagem e do controle de um atuador robótico e de veículos subaquáticos não tripulados. Primeiramente o trabalho compara e valida experimentalmente dois modelos de atrito existentes na literatura (LuGre e Gomes). Desenvolve-se um controle de posição baseado em estrutura variável para o atuador robótico do tipo harmonic-drive. Simulações são realizadas a fim de verificar a robustez do controlador perante a variação paramétrica em comparação com o controle proporcional, integral e derivativo (PID). Resultados experimentais das aplicações dos controles são obtidos mostrando desempenhos muito próximos aos de simulação. Posteriormente é feito um estudo sobre veículos subaquáticos não tripulados (Tatuí e Nerov). A modelagem cinemática é descrita por ângulos de Euler e a modelagem dinâmica inclui a interação da estrutura mecânica do veículo com o meio aquático e a ação dos propulsores. Desenvolve-se um sistema de controle de posição e orientação utilizando estrutura variável. Resultados de simulação ilustram as características do controlador com incertezas paramétricas e correntes oceânicas em comparação com o PID usando a estratégia de linearização por realimentação.
The subject of this dissertation is the modeling and control of a robotic actuator and also of unmanned underwater vehicles. Firstly, it compares and experimentally validates two friction models (LuGre and Gomes). A position control based on a variable structure is developed for the harmonic-drive type of robotic actuator. Simulations are performed to verify the robustness of the controller against the parametric variation and to compare to the proportional, integral and derivative control (PID). Experiments then show results similar to those from simulations. Later, we a study about unmanned underwater vehicles (Tatuí and Nerov) is presented. The kinematics modeling is described by Euler’s angles. The dynamics modeling includes the interaction of the vehicle’s mechanical structure with the aquatic environment and the actuation of the propellers. By using a variable structure, a position and orientation control system is developed. The simulation results then show the characteristics of the controler with parametric uncertainties and ocean streams, and compares them with those from a PID controler with feedback linearization.
Trevor, Alexander J. B. "Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments." Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/53583.
Повний текст джерелаLoing, Vianney. "Stéréotomie et vision artificielle pour la construction robotisée de structures maçonnées complexes." Thesis, Paris Est, 2019. http://www.theses.fr/2019PESC1015/document.
Повний текст джерелаThe context of this thesis work is the development of robotics in the construction industry. We explore the robotic construction of complex masonry structures with the help of computer vision. Construction without the use of formwork is an important issue in relation to both productivity on a construction site and the amount of waste generated. To this end, we study topological interlocking masonries and the possibilities they present. The design of this kind of masonry is standard for planar structures. We generalize it to the design of curved structures in a parametrical way, using PQ meshes and the softwares Rhinoceros 3D and Grasshopper. To achieve this, we introduce a set of inequalities to respect in order to have a topological interlocked structure. These inequalities allow us to present a new result. Namely, it is possible to have an assembly of blocks in which each block is interlocked in translation, while having a subset — composed of several of these blocks — that is not interlocked. We also present a prototype of topological interlocking masonry. Its design is based on variable inclination joints, allowing construction without formwork. In parallel, we are studying robust computer vision for unstructured environments like construction sites, in which sensors are vulnerable to dust or could be accidentally jostled. The goal is to estimate the relative pose (position + orientation) of a masonry block with respect to a robot, using only cheap cameras without the need for calibration. Our approach relies on a classification Convolutional Neural Network trained using hundreds of thousands of synthetically rendered scenes with a robot and a block, and randomized parameters such as block dimensions and poses, light, textures, etc, so that the robot can learn to locate the block without being influenced by the environment. The generation of these images is performed with Unreal Engine 4. This method allows us to estimate a block pose very accurately, with only millimetric errors, without using a single real image for training. This is a strong advantage since acquiring representative training data is a long and expensive process. We also built a new rich dataset of real robot images (about 12,000 images) with accurately localized blocks so that we can evaluate our approach and compare it to alternative approaches. A real demonstrator, including a ABB IRB 120 robot, cuboid blocks and three webcams was set up to prove the feasibility of the method
Svensson, Fredrik. "Structure from Forward Motion." Thesis, Linköpings universitet, Bildbehandling, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-60136.
Повний текст джерелаI detta examensarbete undersöks svårigheterna kring att skapa en djupbild från att endast använda en lågupplöst gråskalekamera monterad framtill i en bil. Målet är att producera en djupbild i realtid som kan nyttjas i andra delar av bilens säkerhetssystem. Detta har visat sig vara svårt att lösa med den undersökta kombinationen av kameraplacering och val av algoritmer. Det huvudsakliga problemet är att räkna ut ett noggrant optiskt flöde. Andra problem härrör från objekt som rör på sig. Slutsatsen är att implementationerna, mestadels triangulering av korresponderande punktpar som följts med hjälp av en Lucas Kanade-följare, ger resultat av för dålig kvalitet för att vara till nytta för bilens säkerhetssystem.
Chao, Hung-Hsiang Jonathan. "Parallel/pipeline VLSI computing structures for robotic applications /." The Ohio State University, 1985. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487260135357358.
Повний текст джерелаOrthey, Andreas. "Exploiting structure in humanoid motion planning." Phd thesis, Toulouse, INPT, 2015. http://oatao.univ-toulouse.fr/14685/1/orthey.pdf.
Повний текст джерелаMa, Mo. "Navigation using one camera in structured environment /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20MA.
Повний текст джерелаMangalgiri, Vickram S. (Vickram Suresh) 1979. "Analysis for robotic assembly of large flexible space structures." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/27038.
Повний текст джерелаIncludes bibliographical references (leaves 79-83).
Space solar power is a renewable, environment-friendly alternative to satisfy future terrestrial power needs. Space solar power stations will need to have large dimensions (on the order of hundreds of meters) to be able to collect enough power to make them cost effective. It will be infeasible to transport these large structures, fully assembled, from earth to space, or use human astronauts for their construction in space, leaving robotic assembly as the only viable option. The focus of the current work is to identify potential challenges to the large structure assembly process in space and develop methods to address them. One of the major causes of failure in the assembly process would be dimensional mismatch between the two structures to be joined. The first part of this thesis analyses the static and dynamic effects on a typical large space structure using finite element models and predicts the deformation that the structure will undergo due to thermal and vibration effects in space. Forced assembly methods using cooperative robots are developed to compensate for these dimensional errors. The second part of the thesis deals with the application of forced assembly methods to representative assembly scenarios. The scenarios are categorized based on the nature of the deformation involved. The differences between the use of thrusters and manipulators by robots are discussed and assembly plans are developed for each scenario using either or both types of actuators. A genetic algorithm based planner is developed and implemented to optimize the assembly process within the limits of the assumptions made.
by Vikram S. Mangalgiri.
S.M.
Ruffatto, Donald F. III. "Hybrid electrostatic and micro-structured adhesives for robotic applications." Thesis, Illinois Institute of Technology, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3733995.
Повний текст джерелаCurrent adhesives and gripping mechanisms used in many robotics applications function on very specific surface types or at defined attachment locations. A controllable, i.e. ON-OFF, adhesive mechanism that can operate on a wide range of surfaces would be very advantageous. Such a device would have applications ranging from robotic gripping and climbing to satellite docking and inspection/service missions. The main goal of the research presented here was to create such an attachment mechanism through the use of a new hybrid adhesive technology. The newly developed adhesive technology is a hybridization of electrostatic and micro-structured dry adhesion. The result provides enhanced robustness and utility, particularly on rough surfaces. There were challenges not only in the integration of these two adhesive elements but also with its application in a complete gripping mechanism.
Electrostatic and directional dry adhesives were both individually investigated. The electrode geometry for an electrostatic adhesive was optimized for maximum adhesion force using finite element analysis software. Optimization results were then verified through experimental testing. New manufacturing techniques were also developed for electrostatic adhesives that utilized a metalized mesh embedded in a silicone polymer and Kapton film based construction, greatly improving adhesion. The micro-structured dry adhesive used was provided by Dr. Aaron Parness, from the NASA Jet Propulsion Lab (JPL), and consists of an array of vertical stalks with an angled front face, referred to as micro-wedges. The hybrid electrostatic dry adhesive (EDA) was created by fabricating the electrostatic adhesive directly on top of a dry adhesive mold. This process created an array of dry adhesive micro-wedges directly on the surface of the electrostatic adhesive. In operation the electrostatic adhesive provides a normal force which serves to pull the dry adhesive into the surface substrate. With greater surface contact more of the dry adhesive is able to engage, bring the electrostatic adhesive even closer to the surface and increasing its effectiveness. Therefore, the combination of these two technologies creates a positive feedback cycle whose whole is often greater than the sum of its parts.
An interface mechanism is needed to transmit applied loads from a rigid structure to the flexible adhesive while still maintaining its conformability. This is especially important for strong adhesion on rough surfaces, such as tile and drywall. Different concepts such as a structured fibrillar hierarchy and a fluid-filled backing pouch have been explored. Additionally, finite element analysis was used to evaluate different fribrillar shapes and geometries for the structured hierarchy. The goal was to equalize the load distribution across the adhesive while still maintaining surface compliance. A gripper mechanism was also created which used a servo for actuation and three rigid tiles with a directional dry adhesive. It was tested on a perching Micro Air Vehicle (MAV) as well as in the RoboDome facility at NASA's Jet Propulsion lab to simulate a satellite docking/capture maneuver.
Bebek, Ozkan. "ROBOTIC-ASSISTED BEATING HEART SURGERY." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1201289393.
Повний текст джерелаEranki, Venkata Krishna Prashanth, and Gurudu Rishank Reddy. "Design and Structural Analysis of a Robotic Arm." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-13834.
Повний текст джерелаDixon, Theresa S. B. Massachusetts Institute of Technology. "Development of manufacturing technique for composite structures for robotic applications." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59906.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (p. 23-25).
An experimental study was performed with the aim of developing a technique for manufacturing composite parts for use in dynamic robotic applications in lieu of heavy and expensive metal parts used in conventional robotic systems. There is already a wide usage of sandwich board materials in load bearing applications, but these do not provide equal strength in all directions, particularly compressive strength. Additionally, these materials are only available in two-dimensional shapes. The process developed over the course of this project seeks to make a fully covered composite of any desired geometries. The specific robotics project addressed was the hyper dynamic quadruped robotic platform, which ultimately seeks to design and construct a robot capable of a high speed gallop. This thesis began exploring methods of fabricating parts for one of the legs of the platform, specifically a radius part. Manufactured components needed to be both light in weight to facilitate ease of movement for the robot and strong enough to withstand the forces from the shifting weight during running. Proposed design parameters called for a foam core with a hard plastic shell to meet these needs. This technique can lead to a cheaper manufacturing method with a potential impact on the future robotics industry. After an investigation into the properties of different liquid polyurethane foams and plastics, the manufacturing techniques explored began with machining molds for both the inner core and outer shell of composite parts into wax blocks. The project aims were to develop a prototyping process, but this can lead to mass-production. Two versions of a manufacturing process with these blocks were developed, one which uses an open mold and one which uses a closed mold. Either method is viable for fabrication, with a preference for the open mold in parts with simple geometry and small thickness, and for the closed mold in larger parts or ones with complicated or interrupted outer perimeters.
by Theresa Dixon.
S.B.
Huang, Yijiang S. M. Massachusetts Institute of Technology. "Automated motion planning for robotic assembly of discrete architectural structures." Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/118487.
Повний текст джерелаThis electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 71-80).
Architectural robotics has proven a promising technique for assembling non-standard configurations of building components at the scale of the built environment, complementing the earlier revolution in generative digital design. However, despite the advantages of dexterity and precision, the time investment in solving the construction sequence and associated robotic motion grows increasingly with the topological complexity of the target design. This gap between parametric design and robotic fabrication congests the overall digital design/production process and often confines designers to geometries with standard topology. In the goal of filling this gap, this research presents a new robotic assembly planning framework called Choreo, which eliminates human-intervention for parts that are typically arduous and tedious in architectural robotics projects. Specifically, Choreo takes discrete spatial structure as input, and then assembly sequence, end effector pose, joint configuration, and transition trajectory are all generated automatically. Choreo embodies novelties in both algorithm design and software implementation. Algorithm-wise, a three-layer hierarchical assembly planning framework is proposed, to gradually narrow down the computational complexity along the deep and branched search tree emerging in this combined task and motion planning problem. Implementation-wise, Choreo's system architecture is designed to be modularized and adaptable, with the emphasis on being hardware-agnostic and forging a smooth integration into existing digital design-build workflow. Case studies on fabrication results of robotic extrusion (also called spatial 3D printing) are presented to demonstrate Choreo's power on efficiently generating feasible robotic instructions for assembling shapes with non-standard topology and across the scales.
by Yijiang Huang.
S.M. in Building Technology
Han, Kyung Min. "Collision free path planning algorithms for robot navigation problem." Diss., Columbia, Mo. : University of Missouri-Columbia, 2007. http://hdl.handle.net/10355/5021.
Повний текст джерелаThe entire dissertation/thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file (which also appears in the research.pdf); a non-technical general description, or public abstract, appears in the public.pdf file. Title from title screen of research.pdf file (viewed on September 29, 2008) Includes bibliographical references.
Mealier, Anne-Laure. "Comment le langage impose-t-il la structure du sens : construal et narration." Thesis, Lyon, 2016. http://www.theses.fr/2016LYSE1333.
Повний текст джерелаThis thesis takes place in the context of the European project WYSIWYD (What You Say is What You Did). The goal of this project is to provide transparency in Human-robot interactions, including by mean of language. The deployment of companion and service robots requires that humans and robots can understand each other and communicate. Humans have developed an advanced coding of their behavior that provides the basis of transparency of most of their actions and their communication. Until now, the robots do not share this code of behavior and are not able to explain their own actions to humans. We know that in spoken language, there is a direct mapping between languages and meaning allowing a listener to focus attention on a specific aspect of an event. This is particularly true in language production. Moreover, visual perception allows the extraction of the aspects of "who did what to whom" in the understanding of social events. However, in the context of human interaction, other important aspects cannot be determined only from the visual image. The exchange of an object can be interpreted from the perspective of the giver or taker. This introduces the notion of construal that is how a person interprets the world and perceive a particular situation. The events are related in time, but there are causal and intentional connexion that cannot be seen only from a visual standpoint. An agent performs an action because he knows that this action satisfies the need for another person. This may not be directly visible in the visual scene. The language allows specifying this characteristic: "He gave you the book because you like it." The first point that we demonstrate in this work is how the language can be used to represent these construals. In response, we have developed a system in which a mental model represents an action event. This model is determined by the correspondence between two abstract vectors: the force vector exerted by the action and the result vector corresponding to the effect of the applied force. The application of an attentional process selects one of the two vectors, thus generating the construal of the event. The second point that we consider in this work is how the construction of narrative discourse can be learned with a narrative discourse model. This model is based on both existing neural networks of production and comprehension of sentences that we enrich with additional structures to represent a context of discourse. We present also how this model can be integrated into an overall cognitive system for understanding and generate new constructions of narrative discourse based on similar structure, but different arguments. For each of the works mentioned above, we show how these theoretical models are integrated into the development platform of the iCub humanoid robot. This thesis will explore two main mechanisms to enrich the meaning of events through language. The work is situated between computational neuroscience, with development of neural network models of comprehension and production of narrative discourse, and cognitive linguistics where to understand and explain the meaning according to joint attention is crucial
Schmalz, Andrew Peter. "Classification, analysis, and control of planar tensegrity structures for robotic applications." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 127 p, 2007. http://proquest.umi.com/pqdweb?did=1313919761&sid=12&Fmt=2&clientId=8331&RQT=309&VName=PQD.
Повний текст джерелаPreston, Edward. "Collaborative robotic plasma arc welding of fabricated titanium aero-engine structures." Thesis, University of Nottingham, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.546461.
Повний текст джерелаKernbach, Serge. "Structural self-organization in multi-agents and multi-robotic systems." Berlin Logos-Verl, 2007. http://d-nb.info/990756041/04.
Повний текст джерелаKernbach, Serge. "Structural self-organization in multi-agents and multi-robotic systems /." Berlin : Logos Verl, 2008. http://deposit.d-nb.de/cgi-bin/dokserv?id=3164655&prov=M&dok_var=1&dok_ext=htm.
Повний текст джерелаAydemir, Alper. "Exploiting structure in man-made environments." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-104410.
Повний текст джерелаQC 20121105
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Moon, Suk-Min. "Active damping control of a compliant base manipulator." Ohio : Ohio University, 1999. http://www.ohiolink.edu/etd/view.cgi?ohiou1175797025.
Повний текст джерелаHerrod, Nicholas John. "Three-dimensional robot vision using structured illumination." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257308.
Повний текст джерелаMazumdar, Anirban. "Mag Feet : a robotic device for the inspection of steel bridge structures." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/50569.
Повний текст джерелаIncludes bibliographical references (p. 83-84).
The aging of America's steel bridges presents many challenges. Undetected cracks and corrosion can eventually lead to catastrophic failure. Due to the difficulties with inspecting existing bridges the use of mobile robots for steel bridge inspection has become an important area of research. This thesis describes the analysis, design, and implementation of a new approach to steel bridge inspection robots using tilting feet equipped with permanent magnets. This robot, titled "Mag-Feet", is capable of adhering to steel surfaces and can move along steel surfaces using a combination of three distinct gait modes. These three gait modes allow the robot to "Moonwalk" along horizontal surfaces, "Shuffle" up inclined surfaces, and "Swing" over small obstacles. The "Swing" motions present their own set of interesting challenges. Since the robot can only adhere to the surface using finite (and relatively small) magnetic forces, it may fall due to the reaction forces caused by the swing- up motion. To prevent failure modes, an optimal swing-up trajectory was designed so that the maximum reaction force during the trajectory was minimized. The trajectories were parameterized using sigmoids and were determined by solving the dynamic equations as a 2 point boundary value problem. Finally, a proof of concept prototype was constructed and was used to experimentally evaluate the design. These experiments illustrate the promise of the design and control approaches that were formulated.
by Anirban Mazumdar.
S.M.
Aldrich, Jack B. "Control synthesis for a class of light and agile robotic tensegrity structures /." Diss., Connect to a 24 p. preview or request complete full text in PDF format. Access restricted to UC campuses, 2004. http://wwwlib.umi.com/cr/ucsd/fullcit?p3153685.
Повний текст джерелаMartell, Angel Alfredo. "Benchmarking structure from motion algorithms with video footage taken from a drone against laser-scanner generated 3D models." Thesis, Luleå tekniska universitet, Rymdteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-66280.
Повний текст джерелаHedborg, Johan. "Pose Estimation and Structure Analysisof Image Sequences." Licentiate thesis, Linköpings universitet, Bildbehandling, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-58706.
Повний текст джерелаDiplecs
Wang, Xuerui, and Li Zhao. "Navigation and Automatic Ground Mapping by Rover Robot." Thesis, Högskolan i Halmstad, Halmstad Embedded and Intelligent Systems Research (EIS), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-6185.
Повний текст джерелаErdogan, Can. "Planning in constraint space for multi-body manipulation tasks." Diss., Georgia Institute of Technology, 2016. http://hdl.handle.net/1853/54978.
Повний текст джерелаGinige, A. "A vision system for a robot working in a semi-structured environment." Thesis, University of Cambridge, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.382244.
Повний текст джерелаOno, Masahiro S. M. Massachusetts Institute of Technology. "Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42199.
Повний текст джерелаIncludes bibliographical references (p. 77-79).
A new large space structure transportation method proposed recently is modified and experimentally validated. The proposed method is to use space robots' manipulators to control the vibration, instead of their reaction jets. It requires less fuel than the reaction jet-based vibration control methods, and enables quick damping of the vibration. The key idea of this work is to use the decoupled controller, which controls the vibration mode and rigid body mode independently. The performance of the proposed method and the control algorithm is demonstrated and quantitatively evaluated by both simulation and experiments.
by Masahiro Ono.
S.M.
Devaurs, Didier. "Extensions of sampling-based approaches to path planning in complex cost spaces : applications to robotics and structural biology." Phd thesis, Toulouse, INPT, 2014. http://oatao.univ-toulouse.fr/12252/1/devaurs.pdf.
Повний текст джерелаTyrell, Nathan S. "Attitude control via structural vibration : an application of compliant robotics." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111922.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (pages 109-113).
We review and present techniques for effecting and controlling the reorientation of structures "floating" in angular-momentum-conserving environments, applicable to both space robotics and small satellite attitude control. Conventional orientation control methods require either the usage of continuously rotating structures (e.g. momentum wheels) or the jettisoning of system mass (e.g. hydrazine thrusters). However, the systems proposed herein require neither rotating structures nor mass ejection; instead, orientation is controlled by the imposition of a bounded cyclic shape change-the canonical example of such a system is a cat righting herself while falling, thereby always landing on her feet-coupled with the conservation of angular momentum, which acts analogously to a nonholonomic constraint on the system dynamics. Further, by considering the reduced system dynamics, we extend the concept to consider the class of structures where the requisite cyclic shape change is attainable via dynamical effects, such as the normal modes of structural vibration for structures with finite stiffness. This is the central novel result of this thesis and has implications for the design of space structures where the attitude control hardware is integrated directly into the preexisting structure, the development of orientation control techniques for soft robots in space and underwater, and the design of MEMS attitude control actuators for very tiny satellites. We apply mathematical tools drawn from differential geometry and geometric mechanics, which can be intimidating but which provide a comprehensive and powerful framework for understanding a wide range of locomotion problems fundamental to robotics and control theory. These tools allow us to make succinct statements regarding gait design, controllability, and optimality that would be otherwise inaccessible.
by Nathan S. Tyrell.
S.M.
Law, Po-lun. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space /." Hong Kong : University of Hong Kong, 1995. http://sunzi.lib.hku.hk/hkuto/record.jsp?B18973097.
Повний текст джерелаCover title: Model-based variable-structure control of robot maniqulators in joint space and in Cartesian space. Includes bibliographical references (leaf 161-175).