Дисертації з теми "Robotics in a hostile environment"
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1
Menges, Baptiste. "Étude d’un système robotique coopératif en milieu sidérurgique sévère." Electronic Thesis or Diss., Université de Lorraine, 2021. http://www.theses.fr/2021LORR0261.
Анотація:
Le travail proposé dans le cadre de cette thèse s’inscrit dans l’amélioration de la qualité de production et des conditions de travail des sites sidérurgiques de Saint-Gobain PAM. Il a été proposé d’étudier et de développer un système robotique collaboratif capable d’assister un opérateur dans des tâches répétitives, pénibles et parfois dangereuse dans un environnement extrême de chaleur et de poussières. Récemment passé CMR, les poussières de silice cristallines représentent la plus grande problématique nécessitant d’étudier des solutions alternatives aux méthodes de production actuelles. Plus concrètement, le poste de travail de l’opérateur, qui est critique pour la qualité de production, nécessite une attention et un savoir-faire exigeant. Le travail de l’opérateur consiste à surveiller, nettoyer, revêtir, maintenir un organe de coulée de fonte d’une machine à centrifuger servant à la production de tuyau en fonte ductile. De nombreux mouvements réalisés par l’opérateur sont caractérisés comme rythmique et forme un cycle limite fermé dont on observe un comportement identique chez les oscillateurs dynamiques. L’objectif de cette thèse est donc d’étudier une solution alternative permettant de réduire l’exposition de l’opérateur. Le choix technologique c’est porté sur la téléopération d’un système robotique afin de reproduire les tâches à distance hors des zones d’expositions. Le contrôle de ces tâches rythmiques sera effectué par différentes modèles d’oscillateur et différents moyens de téléopération. Cette thèse aura également pour but d’étudier l’implémentation de deux oscillateurs dynamiques, ceux de Hopf et Rowat-Selverston couplé à trois différents dispositifs de téléopération. Grâce aux différents essais, nous avons observé l'impact d'un contrôle avec un oscillateur dynamique par rapport à un contrôle sans. On observe également l'impact que pourront avoir les différents dispositifs de téléopération dans les signaux de commandeThe work proposed as part of this thesis is part of improving the production quality and working conditions of Saint-Gobain PAM steel sites. It was proposed to study and develop a collaborative robotic system capable of assisting an operator in repetitive, painful and sometimes dangerous tasks in an environment of extreme heat and dust. Recently passed CMR, crystalline silica dust represents the biggest problem requiring the study of alternative solutions to current production methods.More specifically, the operator's workstation, which is critical for the quality of production, requires demanding attention and know-how. The operator's job is to monitor, clean, coat, maintain a cast iron casting member of a centrifuge machine used in the production of ductile iron pipe. Many movements made by the operator are characterized as rhythmic and form a closed limit cycle, the same behavior of which is observed in dynamic oscillators.The objective of this thesis is therefore to study an alternative solution to reduce operator exposure. The technological choice fell on the remote operation of a robotic system in order to reproduce the tasks remotely outside the exhibition areas. The control of these rhythmic tasks will be carried out by different models of oscillator and different means of teleoperation. This thesis will also aim to study the implementation of two dynamic oscillators, those of Hopf and Rowat-Selverston coupled to three different teleoperation devices.Thanks to the various tests, we observed the impact of a control with a dynamic oscillator compared to a control without. We can also observe the impact that the various remote operation devices may have on the control signals
2
Shively, Jeremy. "Multi-robot platooning in hostile environments." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43660.
Анотація:
The purpose of this thesis is to develop a testing environment for mobile robot experiments, to examine methods for multi-robot platooning through hostile environments, and test these algorithms on mobile robots. Such a system will allow us to rapidly address and test problems that arise concerning robot swarms and consequent interactions.
In order to create this hardware simulation environment a test bed will be created using ROS or Robot Operating System. This platform is highly modular and extensible for future development. Trajectory generation for the robots will use smoothing splines, B-splines, and A* search. Each method has distinct properties which will be analyzed and rated with respect to its effectiveness with regards to robotic platooning. A few issues to be considered include: Is the optimal path taken with respect to distance and threats? Is the formation of the robots maintained or compromised during traversal of the path? And finally, what sorts of compromises or additions are needed to make each method effective? This work will be
helpful for choosing route planning methods in future work and will provide a large code base for rapid prototyping.
3
SAUERBRONN, LUIZ EDUARDO AZAMBUJA. "ROBOTICS APPLIED TO ENVIRONMENT RECOGNITION." PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 1998. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=18979@1.
Анотація:
PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIROCONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
FUNDAÇÃO DE APOIO À PESQUISA DO ESTADO DO RIO DE JANEIRO
O propósito da Visão Computacional consiste em permitir que um robô entenda o ambiente em que se situa a partir de informações visuais. O mundo no qual robôs se movem é tridimensional e dinâmico. Ele se altera em função do próprio movimento do robô e do movimento dos demais objetos. A presente dissertação descreve a implementação de sistema robótico autômato, que utiliza visão para alcançar objetivos predeterminados. Consiste, essencialmente, em um robô que carrega consigo uma câmera de vídeo. Esta câmera transmite as imagens capturadas, por rádio, para um microcomputador à distancia. Este microcomputador processa a imagem e retorna ao robô (também por rádio) os comandos referentes a que trajetória deve ser seguida. Este processo ocorre sucessivamente até alcançar-se o objetivo pré-determinado. A característica multidisciplinar do presente projeto de pesquisa reúne três áreas distintas do conhecimento, sendo elas, mecânica, eletrônica (linear e digital) e processamento digital de imagens. Descreve-se a implementação de cada área isoladamente e de que forma são integradas a fim de formar um sistema único.
The aim of Computer Vision is to allow a robot to understand the surrounding environment, with acquired visual information as input. The environment in which the robot moves is three-dimensional and dynamic and modifies as a function of its own movement of surrounding objects. The presente dissertation describes an automaton robotic system which makes use of computer vision to achieve some predetermined goals. Essentially, it consists of a robot that carries a video camera. The camera transmits radio captured images to a remote micromputer. In turn, the microcomputer processes the image and sends the commands back to the robot, by radio, to indicate the path that should be followed. This process is repeated until the predetermined goal has been achieved. This multi-disciplinary project tackles three different research areas, mechanics, eletronics (linear and digital) and image processing. Each parte of the project is thouroughly described as is also the integration of ecah to form a sole system.
4
Rice, Jeanne M. O'Brien. "Comparison of legal standards in sexual harassment hostile work environment /." Full text available online, 2008. http://www.lib.rowan.edu/find/theses.
5
Mirhassani, Seyedmohsen <1989>. "A Ground Robot for Search And Rescue in Hostile Environment." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amsdottorato.unibo.it/8416/7/Mirhassani_final.pdf.
Анотація:
The recent sheer developments in the field of robotics has encouraged the researcher to consider the robots assisting human in different aspects of life. In this context, search and rescue is a very interesting ambient where the capabilities offered by the robots can be used to not only augment the quality of service but also impose lower risk to the human members of the rescue team. To this purpose, project SHERPA has been defined to investigate an intelligent heterogeneous robotic team in a search and rescue mission.
The robotic team includes flying robots such as fixed wing and quad copters for the purpose of patrolling and surveillance and a ground rover that is mainly considered to provide a mobile power replenishment service for the quadrotors.
Navigation of the ground rover on the unstructured outdoor environment defined by the SHERPA is of the main focuses of this thesis. Due to roughness of the terrain, there are a lot of issues on the way of a successful localization. Moreover, the planning has to be compatible with the robot and environment constraints to avoid imposing a risk of mechanical damage to the system.
To accomplish the battery exchange operation, the rover is equipped with two auxiliary devices namely "Sherpa box" and "Sherpa robotic arm". In this thesis, firstly, designs of the two devices are introduced to the reader in details. Secondly, their integration with the ground rover will be covered.
Finally two important benchmarks of the SHERPA project, namely "human leashing" and "battery exchange operation", will be addressed.
6
Kirk, Delaney J. "Hostile Environment: A Discriminant Model of the Perceptions of Working Women." Thesis, University of North Texas, 1988. https://digital.library.unt.edu/ark:/67531/metadc331130/.
Анотація:
This study examines the problem of operationally defining "hostile environment" sexual harassment, ruled a type of disparate treatment actionable under Title VII of the Civil Rights Act by the United States Supreme Court on June 19, 1986. Although the Equal Employment Opportunity Commission defines a hostile environment as an "intimidating, hostile, or offensive work environment," there is no consensus as to what is "offensive" behavior. An extensive review of the literature yielded various attempts to define and ascertain the magnitude of sexual harassment, but the fact that the actual percentages varied indicates that this is a difficult issue to measure.
As perception by the victim is the key, this study surveyed 125 working women from all over the United States to determine their perceptions of behaviors that constitute sexual harassment. Discriminant analysis was then used to correctly classify 95% of the women according to their perceptions of having experienced sexual harassment.
Using tests for proportions, three hypotheses were found significant. Women who have been sexually harassed are more likely to view sexual harassment as a major problem. Older men are more likely to have their behavior perceived as sexual harassment. In addition, women who have experienced acts such as staring, flirting, or touching in the workplace are more likely to perceive those acts as sexual harassment.
The hypotheses deemed not statistically significant yielded interesting results. Younger women are not more likely to be harassed than older women. Neither are single or divorced women more likely to experience sexual harassment. All women, regardless of age, marital status, or geographic location, are vulnerable to sexual harassment.
Of importance are which variables contributed the most to the women's perceptions of sexual harassment. None of the demographic variables was found significant, but the women perceived that they had been sexually harassed if sexual remarks, touching, sexual propositions, or staring were directed toward them in the workplace. Thus, these acts were perceived as constituting a hostile environment.
7
Alexander, William Lee 1963. "Resiliency in a hostile environment: The comunidades agricolas of Chile's Norte Chico." Diss., The University of Arizona, 2000. http://hdl.handle.net/10150/284299.
Анотація:
The comunidades agricolas of Chile's Norte Chico are unique entities/systems of indivisible communal land, inherited land use rights, democratic decision-making, and diverse economic strategies that are closely linked to changing environmental conditions. Families reproduce their livelihood in this semi-arid region where drought is chronic and poverty is widespread through a combination of pastoralism, dry land farming, and temporary labor migration. Because this research is based on fieldwork that spanned three years of extreme climate change, the reader is presented with an opportunity to observe a full range of flexible risk management strategies and co-operative mutual assistance that these people make use of at both the family and community level. One particular family's story is given as illustration of the extraordinary resiliency that these communities have shown despite the harsh ecological and, at times, social and political environment in which they are situated. Although government attention to the problems that the comunidades, face has increased during Chile's transition to democracy over the past decade, one of the goals of this dissertation is to bring to light the specifics of their cultural livelihood so that economic development programs that limit their options and conflict with community ideals and practices can be avoided. The material presented here will also address questions concerning the persistence of peasant culture in Latin America in general.
8
Rozen, Daniel. "How can a hostile environment empower the creation of a hi-tech cluster?" Thesis, KTH, Industriell ekonomi och organisation (Inst.), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-35241.
Анотація:
The intention of this paper is to analyze the impact of a threat environment in the creation of a hi-tech cluster through the development of an independent defense industry. In order to conclude the implications of a military industry in the development of a hi-tech cluster, it was studied the case of the evolution of Israel’s defense industry into a diverse hi – tech industry (Silicon Wadi). This work emerges from a personal concern in order to understand if there are some benefits or positive side effects in developing an indigenous military industry. Coming from a country in the developing process that has no military forces (Costa Rica) and at the same time has been struggling to create a hi-tech cluster, I wanted to learn what are the implications in the hi-tech sector for lacking an indigenous defense industry and a threat environment. As it will be presented in this study, the major implication of having an independent defense industry is that it creates a path dependency in the military sector and if it’s handled correctly through the cooperation between academia, military forces and business sectors it will be possible to create transitions of this technologies into civilian applications, diversifying the entrance of resources and creating an entrepreneur environment.
9
Miller, Libby. "The Role of EEOC Factors in Determining Perceptions of Hostile Work Environment Sexual Harassment." TopSCHOLAR®, 2000. http://digitalcommons.wku.edu/theses/730.
Анотація:
The Equal Employment Opportunity Guidelines on Sexual Harassment identify six factors that are relevant in determinations of sexual harassment. This study attempted to determine if three of these factors (i.e., frequency of harassment, number of victims and number of perpetrators) drive perceptions of what constitutes sexual harassment. Participants role-playing jurors on an hostile environment sexual harassment case demonstrated no differences in perceptions as a function of number of victims or number of perpetrators. The significant effect for frequency of harassment was not in the hypothesized direction, with less frequent harassment being perceived as more likely to constitute sexual harassment. The well-documented gender difference in perceptions of sexual harassment was observed in this study. However, analyses indicated that women are more likely to perceive a situation as sexually harassing because they are more feminine, not simply because of their gender.
10
Hanna, Ghassan Faraj 1957. "DESIGN AND DEVELOPMENT OF HIGHLY ACCURATE TEMPERATURE MEASUREMENT INSTRUMENTATION FOR USE IN HOSTILE ENVIRONMENT." Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/276351.
11
Haden, Sara Chiara. "Psychobiological Mechanisms of Aggression in Youth." Diss., Virginia Tech, 2006. http://hdl.handle.net/10919/27959.
Анотація:
Recently, models of aggressive behavior have begun to appreciate the influence of both psychological and biological predictors of maladaptive behavior. The aim of the current project was to clarify the roles that the noradrenergic system (i.e., norepinephrine metabolite, 3-methoxy-4-hydroxyphenyglycol [MHPG]) and characteristics of the rearing environment play in different expressions of aggression (i.e., hostile and instrumental). It was predicted that higher concentrations of MHPG would be related to increased self-reports of aggressive behavior, especially hostile forms, while expressing aggression during an analog aggression task would lead to decreases in MHPG. It was also predicted that concentrations of MHPG would interact with childhood environment characteristics to predict aggressive behavior in youth.
A sample of 68 male youth, aged 7 to 17, were recruited from two agencies in southwest Virginia serving disadvantaged youth. They completed self-report measures on their childhood environment, aggressive and delinquent behaviors, as well as exposure to community violence and negative life events. In addition, youth played a challenging computer game with an alleged â opponentâ and lost. Half of the participants were able to retaliate after the game against their â opponent.â Salivary MHPG was measured once before and three times after the game. A series of ANOVAs and hierarchical regressions were conducted in order to test the main and interactive effects of punitive childhood experiences and baseline MHPG on aggressive behavior. Findings failed to support the primary predictions; however, results of supplemental analyses showed significant associations of aggression with negative mood, negative family atmosphere, and increased baseline MHPG after controlling for negative family atmosphere. Also, parental punishment and rejection significantly predicted delinquency, and a significant interaction effect indicated that higher recovery concentrations of MHPG placed rejected youth more at risk for engaging in delinquent behavior. Results of the present study help to enhance understanding of the differences in biological and psychological correlates of aggression and delinquency in at-risk youth, and inform prevention and intervention efforts.Ph. D.
12
Pettersson, Rasmus. "Continuous localization in indoor shifting environment." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326270.
Анотація:
In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation. It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation.
13
Goyette, Richard G. "A development environment for experiments in autonomous robotics control." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp04/mq22767.pdf.
14
Mack, Jewel. "The Influence of Victim and Perpetrator Intoxication on Juror Perceptions of Hostile Environment Sexual Harassment." TopSCHOLAR®, 2002. http://digitalcommons.wku.edu/theses/611.
Анотація:
Once unnoticed and unreported, sexual harassment claims have risen within the last two decades. Although guidelines published by the Equal Employment Opportunity Commission provide a definition of sexual harassment, researchers continue to examine variables affecting individual perceptions of sexual harassment. In addition to gender differences in perception, the present researcher examined the impact of perpetrator and victim intoxication on perceptions of sexual harassment. Results indicated that female participants were no more likely than male participants to label behaviors as sexual harassment when provided information on intoxication. However, when no information regarding the intoxication status of the perpetrator or victim was provided, females were more likely than males to perceive sexual harassment. There were no differences in perceptions of sexual harassment based on the perpetrator's intoxication status. Finally, participants were less likely to perceive sexual harassment when the victim was intoxicated than when the victim was sober.
15
Ko, Wen-Shen. "A navigation strategy for mobile robots in a manufacturing environment." Thesis, King's College London (University of London), 1996. https://kclpure.kcl.ac.uk/portal/en/theses/a-navigation-strategy-for-mobile-robots-in-a-manufacturing-environment(f586b9b9-1f4d-4ec7-a395-15365c613b6b).html.
16
Alison, Paul. "Optimal strategic deployment of robot arms in a dynamically-constrained environment." Thesis, Liverpool John Moores University, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.304254.
17
Tang, Yilun. "Robot navigation and localization in regular office environment /." View abstract or full-text, 2010. http://library.ust.hk/cgi/db/thesis.pl?CSED%202010%20TANG.
18
Vallano, Jon P. "The effects of psychological injury on juror perceptions and liability determinations in hostile environment sexual harassment cases." Virtual Press, 2006. http://liblink.bsu.edu/uhtbin/catkey/1337638.
Анотація:
The present study investigated whether the presentation of severe psychological injury increased the perceived likelihood of sexual harassment and more plaintiff-friendly verdicts in a hostile environment sexual harassment claim. Four hundred thirty-two participants were presented with a case summary divided into five paragraphs. Within the fifth paragraph, participants were informed that the plaintiff suffered from different severity levels of psychological injury. Gender was monitored to ensure a proportional amount of males and females in each condition. Results indicated that the presentation of psychological injury in any form increased the likelihood of perceived sexual harassment and verdicts for the plaintiff. Participants believed that garden-variety injuries (i.e., embarrassment, humiliation) were more likely to occur from sexual harassment, and had a greater impact on their perceptions and liability determinations. These results suggest that participants may use the presentation of psychological injury as a heuristic that when present, favors the plaintiff.Department of Psychological Science
19
Lloyd, John 1958. "Implementation of a robot control development environment." Thesis, McGill University, 1985. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65343.
20
Lindgren, Billy, and Giancarlo Kuosmanen. "An Autonomous Robot for Collecting Waste Bins in an Office Environment." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39940.
Анотація:
The aim of this work is to introduce autonomous robots for collecting waste bins in an officeenvironment. Since the environment will contain humans, therefore, the robot-human interactionis essential so that neither the robot nor humans come in harm’s way. To prevent this, the robotneeds to be able to communicate with the humans, and it has to operate in a safe way in the officeenvironment. To facilitate this there is a need to investigate the state-of-the-art in various fieldssuch as: mapping, path planning and, machine-human interaction. The result is a robot that isable to map an indoor environment and use the map to its advantages for producing a suitable pathfrom any given position to any desired location. While traversing the path, sensor data is gatheredfor obstacle detection and avoidance in order to handle dynamic environments.
21
Jing, Wei. "Coverage Planning for Robotic Vision Applications in Complex 3D Environment." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1033.
Анотація:
Using robots to perform the vision-based coverage tasks such as inspection, shape reconstruction and surveillance has attracted increasing attentions from both academia and industry in past few years. These tasks require the robot to carry vision sensors such as RGB camera, laser scanner, thermal camera to take surface measurement of the desired target objects, with a required surface coverage constraint. Due to the high demands and repetitive natures of these tasks, automatically generating efficient robotic motion plans could significantly reduce cost and improve productivity, which is highly desirable. Several planning approaches have been proposed for the vision-based coverage planning problems with robots in the past. However, these planning methods either only focused on coverage problems in 2D environment, or found less optimal results, or were specific to limited scenarios. In this thesis, we proposed the novel planning algorithms for vision-based coverage planning problems with industrial manipulators and Unmanned Aerial Vehicles (UAVs) in complex 3D environment. Different sampling and optimization methods have been used in the proposed planning algorithms to achieve better planning results. The very first and important step of these coverage planning tasks is to identify a suitable viewpoint set that satisfies the application requirements. This is considered as a view planning problem. The second step is to plan collision-free paths, as well as the visiting sequence of the viewpoints. This step can be formulated as a sequential path planning problem, or path planning problem for short. In this thesis, we developed view planning methods that generate candidate viewpoints using randomized sampling-based and Medial Object-based methods. The view planning methods led to better results with fewer required viewpoints and higher coverage ratios. Moreover, the proposed view planning methods were also applied to practical application in which the detailed 3D building model needs to be reconstructed when only 2D public map data is available. In addition to the proposed view planning algorithms, we also combined the view planning and path planning problems as a single coverage planning problem; and solved the combined problem in a single optimization process to achieve better results. The proposed planning method was applied to industrial shape inspection application with robotic manipulators. Additionally, we also extended the planning method to a industrial robotic inspection system with kinematic redundancy to enlarge the workspace and to reduce the required inspection time. Moreover, a learning-based robotic calibration method was also developed in order to accurately position vision sensors to desired viewpoints in these instances with industrial manipulators.
22
Maue, Allison. ""Reasonable Person" vs. "Reasonable Woman": An Evaluation of the Standards Used in Determining Hostile Work Environment Sexual Harassment." TopSCHOLAR®, 1998. http://digitalcommons.wku.edu/theses/268.
Анотація:
Currently, there is a debate in progress over which standard is appropriate for use when evaluating hostile work environment sexual harassment. Traditionally the "reasonable person" has been used as the viewpoint from which to evaluate potentially harassing behavior. However, the historical 1991 federal court case Ellison vs. Brady introduced the "reasonable woman" standard due to the belief that the traditional standard may unwittingly be biased toward men. Most research to date has focused on the benefits and/or disadvantages of utilizing one standard over the other. The present research represents an attempt to discover whether the implementation of a standard truly makes a difference; that is, if invoking a particular standard results in altering the evaluation of hostile work environment sexual harassment by a juror. Results indicated that standard had no effect on an individual's interpretation of hostile environment sexual harassment, whether the data were examined as males, as females, or the group.
23
Amaduzzi, Andrea. "Deep Learning-based Recognition of Human Actions in a Collaborative Robotics Environment." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
Анотація:
The project of this thesis consists in the development of a software able to recognize and classify some actions performed in front of a 3D camera, within a context of collaborative robotics. Thisthesisistheresultofaninternshipprojectcarriedoutbytheauthorofthisthesis at the global company KUKA Deutschland GmbH, during the semester July 2019 - January 2020, under the supervision of Dr. Kirill Safronov and Eng. Pierre Venet. As regards the structure of the algorithm proposed in this thesis, the first elaboration consists in the recognition of the objects present in a scene. This step has been carried out through an artificial intelligence model, in particular a convolutional neural network, trained on a dataset prepared ad-hoc for the specific application. Once the objects were recognized, 3D point clouds were calculated for each detected element, through a projection method from 2D to 3D space. A tool for the recognition of the human body, in 3D, has been integrated with the overall algorithm, in order to allow an accurate understanding of the manipulations performed. Finally, the action recognition itself was achieved through a method inspired by a state machine, able to describe the evolution of the relations among objects, over time. Once the proposed method was developed, several tests were carried out, in order to quantitatively assess its accuracy and robustness. The performance of this algorithm has been shown to be coherent with the methods proposed by recent scientific articles on the subject. In addition, there are several aspects, which make the proposed solution innovative. First of all, the design of this technology was oriented to the classification of actions performed in an industrial context. Secondly, as introduced earlier, the algorithm uses three-dimensional data to perform its function. Finally, the last novel factor consists in the integration of the system with a 3D human body position estimation technology.
24
Ringdahl, Ola. "Techniques and Algorithms for Autonomous Vehicles in Forest Environment." Licentiate thesis, Umeå : Department of Computing Science, Umeå University, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-1314.
25
Breant, Mariam Lamine. "Intervention Strategies against and Effects of Female Sexual Harassment in Workplaces of Cote d'Ivoire." ScholarWorks, 2017. https://scholarworks.waldenu.edu/dissertations/4596.
Анотація:
Workplace sexual harassment in Cote d'Ivoire has been documented as extensive and commonplace, yet in West African nations, sexual harassment is not well studied or understood. Specifically, little is known about whether intervention programs instituted by the Ivorian law under Act No.98-756 forbid sexual harassment are viewed by female workers as effective. Using Hendricks and Valasek's theory on gender mainstreaming as the foundation, the purpose of this study was to evaluate the perceptions of female workers in Cote d'Ivoire related the effectiveness of sexual harassment training programs. Data for this study were collected from 15 women who worked in public or nonprofit organizations in Cote d'Ivoire. Data were inductively coded and then subjected to a thematic analysis procedure. Key findings indicated that interviewees believed that exposure to sexual harassment in the workplace results in a loss of trust in the work environment and reductions in work productivity. Further, participants generally agreed that intervention programs are promising in terms of ameliorating the effects of sexual harassment and gender discrimination in the workplace. The positive social change implications stemming from this study include recommendations to local governments in Cote d'Ivoire to develop municipal ordinances that support the investigation and prosecution of workplace sexual harassment and individual organizations should design workplace policies to efficiently and effectively handle complaints of sexual harassment.
26
Easton, Kerry Louise. "The simultaneous processing of mutually supportive sensory and non-sensory plans in direct response to the current environment." Thesis, University of Essex, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.309769.
27
Bonneau-Kaya, Crystal M. "Benevolent vs. Hostile Sexism Impact on Work Performance for Women in Turkey." TopSCHOLAR®, 2010. http://digitalcommons.wku.edu/theses/175.
Анотація:
All studies to date that have assessed the direct impact of benevolent vs. hostile sexism on performance outcomes have done so in the context of a Western society. Because of this void in the literature, it remained unknown how living in a low egalitarian and/or non-Western society may impact women's experiences of sexism. The purpose of this study is to address this gap in the literature. This study investigates the impact of benevolent vs. hostile sexism on women in four Turkish textile factories. 210 Turkish female textile factory workers were randomly assigned to the benevolent sexism, hostile sexism, or control condition. Performance and level of gender identification were measured. The results of this study indicated that while participants were impacted by sexism, the impact of benevolent vs. hostile sexism resulted in different outcomes than for women in higher egalitarian Western Societies.
28
Kelly, Thomas J. "Neocortical virtual robot| A framework to allow simulated brains to interact with a virtual reality environment." Thesis, University of Nevada, Reno, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=1591368.
Анотація:
The NCS (NeoCortical Simulator) is a neural network simulator that can simulate small brains in real time. Since brains learn by interacting with the world, we created the NeoCortical Virtual Robot framework, which allows researchers to build virtual worlds for simulated brains to interact with, by supplying scientists with a domain-specific language for interaction and abstractions for environment creation.
29
Steyven, Andreas Siegfried Wilhelm. "A closer look at adaptation mechanisms in simulated environment-driven evolutionary swarm robotics." Thesis, Edinburgh Napier University, 2017. http://researchrepository.napier.ac.uk/Output/1253630.
Анотація:
This thesis investigates several aspects of environment-driven adaptation in simulated evolutionary swarm robotics. It is centred around a specific algorithm for distributed embodied evolution called mEDEA. Firstly, mEDEA is extended with an explicit relative fitness measure while still maintaining the distributed nature of the algorithm. Two ways of using the relative fitness are investigated: influencing the spreading of genomes and performing an explicit genome selection. Both methods lead to an improvement in the swarm's abilityto maintain energy over longer periods. Secondly, a communication energy model is derived and introduced into the simulator to investigate the influence of accounting for the costs of communication in the distributed evolutionary algorithm where communication is a key component. Thirdly, a method is introduced that relates environmental conditions to a measure of the swarm's behaviour in a 3-dimensional map to study the environment's influence on the emergence of behaviours at the individual and swarm level. Interesting regions for further experimentation are identified in which algorithm specific characteristics show effect and can be explored. Finally, a novel individual learning method is developed and used to investigate how the most effective balance between evolutionary and lifetime-adaptation mechanisms is influenced by aspects of the environment a swarm operates in. The results show a clearlink between the effectiveness of different adaptation mechanisms and environmental conditions, specifically the rate of change and the availability of learning opportunities.
30
Torres, Méndez Luz Abril. "Statistics of visual and partial range data for mobile robot environment modeling : Luz Abril Torres Méndez." Thesis, McGill University, 2005. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=102218.
Анотація:
This thesis presents a statistical learning framework for inferring geometric structures from images. Specifically, the proposed framework computes dense range maps of location sin the environment using only intensity images and very limited amount of range data as an input. This is achieved by integrating and analyzing the statistical relationships between the visual data and the available depth on terms of small patches. The scientific issue is to represent this correlation such that it can be used to recover range data where missing. Markov Random Fields are used as a model to capture the local statistics of the intensity and range.Experiments on real-world data are conducted under different configurations to demonstrate the feasibility of the method. In particular, our application is in mobile robotics, where inferring the 3D layout of indoor environments is a critical problem for achieving exploration and navigation tasks. The modeling of a large-scale environment involves the acquisition of a huge amount of range data to extract the geometry of the scene, and is often performed using sophisticated but costly hardware solutions. This task is physically demanding and time consuming for many real systems. By using the proposed framework, it is demonstrated that we can learn the geometric characteristics of the environment from the incomplete sensory data to build a 3D model of it.
The contributions of this thesis are mainly three: First, it demonstrates the viability of the use of very limited range data together with intensity to recover complete dense range maps. Second, it presents a complete framework for building a 3D model of an indoor environment using a mobile robot. And third, it analyses and outlines the advantages and limitations encountered when dealing with large indoor environments.
An additional contribution is the use of the method we propose for range estimation to an alternative problem: color correction and augmentation with the specific application to underwater images.
31
Kim, Sung Hyun. "Multi-layer approach to motion planning in obstacle rich environment." [College Station, Tex. : Texas A&M University, 2008. http://hdl.handle.net/1969.1/ETD-TAMU-2621.
32
Karlsson, Ahlexander, and Robert Skoglund. "Video-rate environment recognition through depth image plane segmentation for indoor service robot applications on an embedded system." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35595.
Анотація:
As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate speeds. The camera used to capture depth images is a Kinect for Xbox One, which makes video-rate speed 30 fps, as it is suitable for use in indoor environments and the embedded system is a Jetson TX1 which is capable of running GPU-accelerated algorithms. The results show that the implemented method is capable of segmenting depth images at video-rate speed at half the original resolution. However, full-scale depth images are only segmented at 10-12 fps depending on the environment which is not a satisfactory result.
33
Zia, Amaid. "Actuation, Control and Environment Setup for a bi-joint hydro-muscle driven leg structure." Digital WPI, 2016. https://digitalcommons.wpi.edu/etd-theses/390.
Анотація:
About 74 million of the world population needs assistive leg devices on daily basis on account of some form of disability. Although the standard wheelchairs perform well on level ground terrains but they prove ineffective on soft ground and in crossing large obstacles. For dealing with the advance challenges of navigating the human environment a biped walker seems to a more suitable choice. The research presented here is focused on building and actuating a two-joint leg structure that is an integral part of ongoing leg-chair project in Popovic Labs. The project provides a proof of concept that how the synthetic hydro muscles (also developed by Popovic Labs) can be used for the control of large artificial limb joints. Here we discuss the designing, testing and corresponding refining of electronics design, actuation and control of the bi-joint hydro muscle actuated leg structure .We will also elaborate on the requirements, design, problems and refinement of some of the important mechanical components like Coupler/Decoupler and Force Multipliers.
34
Khokar, Karan Hariharan. "Human Intention Recognition Based Assisted Telerobotic Grasping of Objects in an Unstructured Environment." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4909.
Анотація:
In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over the desired grasp configuration. This is done by scaling the components of the remote arm end-effector motion that lead to the desired grasp configuration and simultaneously attenuating the components that are in perpendicular directions. The complete process occurs while manipulating the master device and without having to interact with another interface.
Intention recognition from motion is carried out by using Hidden Markov Model (HMM) theory. First, the objects are classified based on their shapes. Then, the grasp configurations are preselected for each object class. The selection of grasp configurations is based on the human knowledge of robust grasps for the various shapes. Next, an HMM for each object class is trained by having a skilled teleoperator perform repeated preshape trials over each grasp configuration of the object class in consideration. The grasp configurations are modeled as the states of each HMM whereas the projections of translation and orientation vectors, over each reference vector, are modeled as observations. The reference vectors are the ideal translation and rotation trajectories that lead the remote arm end-effector towards a grasp configuration. During an actual grasping task performed by a novice or a skilled user, the trained model is used to detect their intention. The output probability of the HMM associated with each object in the environment is computed as the user is teleoperating towards the desired object. The object that is associated with the HMM which has the highest output probability, is taken as the desired object. The most likely Viterbi state sequence of the selected HMM gives the desired grasp configuration. Since an HMM is associated with every object, objects can be shuffled around, added or removed from the environment without the need to retrain the models. In other words, the HMM for each object class needs to be trained only once by a skilled teleoperator.
The intention recognition algorithm was validated by having novice users, as well as the skilled teleoperator, grasp objects with different grasp configurations from a dishwasher rack. Each object had various possible grasp configurations. The proposed algorithm was able to successfully detect the operator's intention and identify the object and the grasp configuration of interest. This methodology of grasping was also compared with unassisted mode and maximum-projection mode. In the unassisted mode, the operator teleoperated the arm without any assistance or intention recognition. In the maximum-projection mode, the maximum projection of the motion vectors was used to determine the intended object and the grasp configuration of interest. Six healthy and one wheelchair-bound individuals, each executed twelve pick-and-place trials in intention-based assisted mode and unassisted mode. In these trials, they picked up utensils from the dishwasher and laid them on a table located next to it. The relative positions and orientations of the utensils were changed at the end of every third trial. It was observed that the subjects were able to pick-and-place the objects 51% faster and with less number of movements, using the proposed method compared to the unassisted method. They found it much easier to execute the task using the proposed method and experienced less mental and overall workloads. Two able-bodied subjects also executed three preshape trials over three objects in intention-based assisted and maximum projection mode. For one of the subjects, the objects were shuffled at the end of the six trials and she was asked to carry out three more preshape trials in the two modes. This time, however, the subject was made to change their intention when she was about to preshape to the grasp configurations. It was observed that intention recognition was consistently accurate through the trajectory in the intention-based assisted method except at a few points. However, in the maximum-projection method the intention recognition was consistently inaccurate and fluctuated. This often caused to subject to be assisted in the wring directions and led to extreme frustration. The intention-based assisted method was faster and had less hand movements. The accuracy of the intention based method did not change when the objects were shuffled. It was also shown that the model for intention recognition can be trained by a skilled teleoperator and be used by a novice user to efficiently execute a grasping task in teleoperation.
35
Chen, Yuxin. "Transfer of manipulation skills from human to machine through demonstration in a haptic rendered virtual environment." School of Electrical, Computer and Telecommunications Engineering - Faculty of Informatics, 2005. http://ro.uow.edu.au/theses/283.
Анотація:
Robots are widely used as automation tools to improve productivity in industry. Force sensitive manipulation is a generic requirement for a large number of industrial tasks, especially those associated with assembly. One of the major factors preventing greater use of robots in assembly tasks to date has been the lack of availability of fast and reliable methods of programming robots to carry out such tasks. Hence robots have in practice been unable to economically replicate the complex force and torque sensitive capability of human operators. A new approach is explored to transfer human manipulation skills to a robotics system. The teaching of the human skills to the machine starts by demonstrating those skills in a haptic-rendered virtual environment. The experience is close to real operation as the forces and torques generated during the interaction of the parts are sensed by the operator. A skill acquisition algorithm utilizes the position and contact force/torque data generated in the virtual environment combined with a priori knowledge about the task to generate the skills required to perform such a task. Such skills are translated into actual robotic trajectories for implementation in real time. The peg-in-hole insertion problem is used as a case study. A haptic rendered 3D virtual model of the peg-in-hole insertion process is developed. The haptic or tactile rendering is provided through a haptic device. A multi-layer method is developed to derive and learn the basic manipulation skills from the virtual manipulation carried out by a human operator. The force and torque data generated through virtual manipulation are used for skill acquisition. The skill acquisition algorithm primarily learns the actions which result in a proper change of contact states. Both optimum sequences and normal operation rules are learned and stored in a skill database. If the contact state is not among or near any state in the optimum sequences stored in the skill database, a corrective strategy is applied until a state among or near a state in the optimal space is produced. On-line incremental learning is also used for new cases encountered during physical manipulation. The approach is fully validated through an experimental rig set up for this purpose and the results are reported.
36
Lazzaro, Gloria. "First Response to Emergency Situation in a Smart Environment using a Mobile Robot." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-29367.
Анотація:
In recent years, the increase in the amount of elderly people has gained importance and significance and has become one of the major social challenges for most developed countries. More than one third of elderly fall at least once a year and often are not able to get up again unsupported, especially if they live alone. Smart homes can provide efficient and cost effective solutions, using technologies in order to sense the environment and helping to understand the occurrence of a possible dangerous situation. Robotic assistance is one of the most promising technologies for recognizing a fallen person and helping him/her in case of danger. This dissertation presents two methods, to detect first and then to recognize the presence or non-presence of a human being on the ground. The first method is based on Kinect depth image, thresholding and blob analysis for detecting human presence. While, the second is a GLCM feature-based method, evaluated from two different classifiers, namely Support Vector Machine (SVM) and Artificial Neural Network (ANN) for recognizing human from non-human. Results show that SVM and ANN can classify the presence of a person with 76.5 and 85.6 of accuracy, respectively. This shows that these methods can potentially be used to recognize the presence or absence of fallen human lying on the floor.
37
Strohmayr, Michael [Verfasser], and H. [Akademischer Betreuer] Wörn. "Artificial Skin in Robotics : a comprehensive interface for system-environment interaction / Michael Strohmayr. Betreuer: H. Wörn." Karlsruhe : KIT-Bibliothek, 2012. http://d-nb.info/1023905892/34.
38
Deo, Ashwin P. "A Fast Localization Method Based on Distance Measurement in a Modeled Environment." Cleveland, Ohio : Case Western Reserve University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=case1244058424.
Анотація:
Thesis (M.S.)--Case Western Reserve University, 2009Title from PDF (viewed on 19 August 2009) Department of Electrical Engineering and Computer Science Includes abstract Includes bibliographical references Available online via the OhioLINK ETD Center
39
Boberg, Arvid. "HRC implementation in laboratory environment : Development of a HRC demonstrator." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15798.
Анотація:
Eurofins is one of the world's largest laboratories which, among other things, offer chemical and microbiological analyses in agriculture, food and environment. Several 100.000 tests of various foods are executed each year at Eurofins’ facility in Jönköping and the current processes include much repeated manual tasks which could cause ergonomic problems. The company therefore wants to investigate the possibilities of utilizing Human-Robot Collaboration (HRC) at their facility. Human-Robot Collaboration is a growing concept that has made a big impression in both robot development and Industry 4.0. A HRC approach allow humans and robots to share their workspaces and work side by side, without being separated by a protective fence which is common among traditional industrial robots. Human-Robot Collaboration is therefore believed to be able to optimize the workflows and relieve human workers from unergonomic tasks. The overall aim of the research project presented is to help the company to gain a better understanding about the existing HRC technologies. To achieve this goal, the state-of-the-art of HRC had to be investigated and the needs, possibilities and limitations of HRC applications had to be identified at Eurofins’ facility. Once these have been addressed, a demonstrator could be built which could be used for evaluating the applicability and suitability of HRC at Eurofins. The research project presented used the design science research process. The state-of-the-art of HRC was studied in a comprehensive literature review, reviewing sterile robots and mobile robotics as well. The presented literature review could identify possible research gaps in both HRC in laboratory environments and mobile solutions for HRC applications. These areas studied in the literature review formed together the basis of the prepared observations and interviews, used to generate the necessary data to develop the design science research artefact, the demonstrator. ABB's software for robotic simulation and offline programming, RobotStudio, were used in the development of the demonstrator, with the collaborative robot YuMi chosen for the HRC implementation. The demonstrator presented in the research project has been built, tested and refined in accordance to the design science research process. When the demonstrator could illustrate an applicable solution, it was evaluated for its performance and quality using a mixed methods approach. Limitations were identified in both the performance and quality of the demonstrator's illustrated HRC implementation, including adaptability and sterility constraints. The research project presented could conclude that a HRC application would be possible at a station which were of interest by the company, but would however not be recommended due to the identified constraints. Instead, the company were recommended to look for stations which are more standardized and have less hygienic requirements. By the end of the research project, additional knowledge was contributed to the company, including how HRC can affect today's working methods at Eurofins and in laboratory environments in general.
40
Pennisi, Alba. "Introduction and development of intelligent systems for precision framing activities in greenhouse environment." Doctoral thesis, Università di Catania, 2012. http://hdl.handle.net/10761/1185.
Анотація:
The main target of this research activity has been to develop an autonomous electrical vehicle able to perform precision farming tasks inside greenhouses. The vehicle can increase operations safety level for operators and quality of the chemicals distribution, allowing a lower environmental pollution and a better greenhouse product quality. Farmers thus obtain a return on their investment by using such a robot and technologies thanks to a waste reduction of phytosanitaries and fertilizers with a consequent cost lowering.
Moreover, due to constant reduction of electronic parts cost, like computer, sensors and power control system and to the presence on the market of new low cost devices for precision farming, the development of a dedicated autonomous vehicle is not as expensive as in the past. In this thesis new low-cost solution will be introduced and detailed.
Meanwhile, the robot has been equipped with an intelligent vision system in order to perform tomatoes detection in greenhouse and automatic guidance: the algorithm allows the tomato recognition and, as future development, once it will be integrated with the robot, it will be really useful to perform precision farming activities: fruit classification, harvesting, local chemicals treatment etc.
During a first step, the activity has been focused on the development and test of the electrical vehicle able to autonomously navigate along the greenhouse's rows. After the vehicle had been fully tested, great effort has been carried out on the development of the vision algorithm and sensor integration through the development of a versatile and high-modular software framework. Encouraging results will be shown and interesting perspective can rise from this analysis.
41
Markgren, Jonas. "Creating a self-driving terrain vehicle in a simulated environment." Thesis, Umeå universitet, Institutionen för fysik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-173273.
Анотація:
Outside of the city environment, there are many unstructured and rough environments that are challenging in vehicle navigation tasks. In these environments, vehicle vibrations caused by rough terrain can be harmful for humans. In addition, a human operator can not work around the clock. A promising solution is to use artificial intelligence to replace human operators. I test this by using the artificial intelligence technique know as reinforcement learning, with the algorithm Proximal Policy Optimization, to perform some basic locomotion tasks in a simulated environment with a simple terrain vehicle. The terrain vehicle consists of two chassis, each having two wheels attached, connected to each other with an articulation joint that can rotate to turn the vehicle. I show that a trained model can learn to operate the terrain vehicle and complete basic tasks, such as finding and following a path while avoiding obstacles. I tested robustness by evaluating performance on sloped terrains with a model trained to operate on flat ground. The results from the tests with different slopes show that, for most environments, the trained model could handle slopes up to around 7.5-10 degrees without much issue, even though it had no way of detecting the slope. This tells us that the models can perform their tasks quite well even when disturbances are introduced, as long as these disturbances doesn't require them to significantly change their behaviors.
42
Ahras, Amel. "L’innovation managériale en contexte algérien : difficultés et perspectives. Approche par études de cas. Recherche sur les ressorts de l'innovation managériale face à un environnement entrepreneurial hostile." Thesis, Pau, 2020. http://www.theses.fr/2020PAUU2088.
Анотація:
L’Algérie est largement reconnue, par les organisations internationales notamment, comme étant un pays à contexte hostile à l’entrepreneuriat privé. Par l’observation de plusieurs cas d’entreprises privées pourtant prospères dans ce pays, nous avons voulu comprendre et expliquer leur réussite malgré ce contexte hostile. Une étude qualitative fondée sur l’examen de cas multiples nous permet d’apporter un éclairage sur les leviers de ces réussites (Novo Nordisk, Tifra-Lait, NCA-Rouiba, Cevital, etc.). Il ressort de cette recherche que l’innovation managériale est un des éléments clés de ces réussites. Par ailleurs, nous mettons en évidence l’importance de la résilience, tant individuelle, celle des créateurs et dirigeants de ces entreprises, qu’organisationnelle. Nous montrons que, dans les cas considérés, l’innovation managériale favorise la résilience en permettant de mieux saisir certaines opportunités et de mieux faire face à l’hostilité de l’environnement, notamment à l’égard de l’entrepreneuriat privéAlgeria is widely recognized, particularly by international organizations, as being hostile to private entrepreneurship. Through the observation of several private companies that are prosperous in this country, we wanted to understand and explain their success despite this hostile context. A qualitative study based on the examination of multiple cases allows us to shed light on the levers of these successes (Novo Nordisk, Tifra-Lait, NCA-Rouiba, Cevital, etc.). It emerges from this research that managerial innovation seems to be one of the key elements of these successes. Moreover, this study has enabled us to understand the importance of resilience, particularly that of the creators and managers of these companies. Indeed, the research shows that, in the cases we consider, managerial innovation favors resilience by allowing to better seize certain opportunities and to face the hostile environment towards private entrepreneurship
43
Tamar, Mounir. "Etude et réalisation ergonomiques de systèmes de "transfert d'espace" pour la conduite d'engins." Valenciennes, 1987. http://www.theses.fr/1987VALE0004.
Анотація:
En environnement hostile, l'homme doit intervenir à distance et il doit donc disposer des informations sensorielles nécessaires à un "transfert d'espace". Caractérisation du système de vision à réaliser et étude de son optimisation ergonomiquement.
44
Bekmen, Onur. "A Software Environment For Behavior-based Mobile Robot Control." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12607965/index.pdf.
Анотація:
Robotic science can be defined as a modern multi-disciplinary branch of science, which hosts many technological elements with a huge theoretic base. From electrical and electronics engineering point of view, construction of intelligent agents that produce and/or collects information by interacting the surrounding environment and that can achieve some goal via learning, is investigated in robotic science. In this scope, behavior-based robotic control has emerged in recent years, which can be defined as a hierarchically higher control mechanism over classical control theory and applications.
In this thesis, software which is capable of producing behavior-based control over mobile robots is constructed. Research encapsulates an investigation on behavior-based robotic concept by comparison of different approaches. Although there are numerous commercial and freeware software products for robotics, the number of open source, detail documented software on behavior-based control concept together with easy usage is limited. Aimed to fulfill a necessity in this field, an open source software environment is implemented in which different algorithms
and applications can be developed. In order to evaluate the effectiveness and the capabilities of the implemented software, a fully detailed simulation is conducted.
This simulation covers multi-behavior coordination concept for a differential drive mobile robot navigating in a collision free path through a target point which is detected by sensors, in an unstructured environment, that robot has no priori information about, in which static and moving obstacles exists. Coordination is accomplished by artificial neural network with back-propagation training algorithm. Behaviors are constructed using fuzzy control concept. Mobile robot has no information about sizes, number of static and/or dynamic obstacles. All the information is gathered by its simulated sensors (proximity, range, vision sensors). Yielded results are given in detail.
45
Jarnemyr, Pontus, and Gustafsson Markus. "3D Camera Selection for Obstacle Detection in a Warehouse Environment." Thesis, Linköpings universitet, Programvara och system, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166964.
Анотація:
The increasing demand for online commerce has led to an increasing demand of autonomous vehicles in the logistics sector. The work in this thesis aims to improve the obstacle detection of autonomous forklifts by using 3D sensor technology. Three different products were compared based on a number of criteria. These criteria were provided by Toyota Material Handling, a manufacturer of autonomous forklifts. One of the products was chosen for developing a prototype. The prototype was used to determine if 3D camera technology could provide sufficient obstacle detection in a warehouse environment. The determination was based on the prototype's performance in a series of tests. The tests ranged from human to pallet detection, and were aimed to fulfill all criteria. The advantages and disadvantages of the chosen camera is presented. The conclusion is that the chosen 3D camera cannot provide sufficient obstacle detection due to certain environmental factors.
46
Manuel, Meegan Candice. "The experience and perception of sexual harassment in the workplace." University of the Western Cape, 2017. http://hdl.handle.net/11394/6319.
Анотація:
Magister Commercii (Industrial Psychology) - MCom (IPS)Sexual harassment in the workplace continues to be experienced by many women around the world. Men may also be sexually harassed in the workplace by women or by other men. Given the pronounced attention accorded over the last few months to high ranking individuals within South Africa and the USA who have allegedly been involved in incidences of sexual harassment, the study is timely. The focus of sexual harassment studies within the workplace is furthermore important as it affects the employees, employers and the workplace as a whole. The purpose of the present study was to investigate the experiences and perceptions of sexual harassment of employees of an information technology company. Information technology has typically been a male dominated occupation, and prevailing traditional, paternalistic attitudes may adversely impact on women's choice and pursuit of a career in this field. However, South African legislation, promulgated to enhance the intake of women and marginalised groups, has sought to strengthen gender equality and, concomitantly, the participation of women in information technology. The current research was conducted by administering the Sexual Harassment Experience Questionnaire and Perception of Sexual Harassment Questionnaire to a sample of 131 employees. These questionnaires were distributed via email within one organisation and four regional branches of the same organisation.
47
Ramoly, Nathan. "Contextual integration of heterogeneous data in an open and opportunistic smart environment : application to humanoid robots." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLL003/document.
Анотація:
L'association de robots personnels et d’intelligences ambiantes est une nouvelle voie pour l’aide à domicile. Grâce aux appareils intelligents de l'environnement, les robots pourraient fournir un service de haute qualité. Cependant, des verrous existent pour la perception, la cognition et l’action.En effet, une telle association cause des problèmes de variétés, qualités et conflits, engendrant des données hétérogènes et incertaines. Cela complique la perception du contexte et la cognition, i.e. le raisonnement et la prise de décision. La connaissance du contexte est utilisée par le robot pour effectuer des actions. Cependant, il se peut qu’il échoue, à cause de changements de contexte ou par manque de connaissance. Ce qui annule ou retarde son plan. La littérature aborde ces sujets, mais n’offre aucune solution viable et complète. Face à ces verrous, nous avons proposé des contributions, autour à la fois du raisonnement et de l’apprentissage. Nous avons d’abord conçu un outil d'acquisition de contexte qui gère et modélise l’incertitude. Puis, nous avons proposé une technique de détection de situations anormales à partir de données incertaines. Ensuite, un planificateur dynamique, qui considère les changements de contexte, a été proposé. Enfin, nous avons développé une méthode d'apprentissage par renforcement et expérience pour éviter proactivement les échecs.Toutes nos contributions ont été implémentées et validées via simulation ou à l’aide d’un robot dans une plateforme d’espaces intelligentsPersonal robots associated with ambient intelligence are an upcoming solution for domestic care. In fact, helped with devices dispatched in the environment, robots could provide a better care to users. However, such robots are encountering challenges of perception, cognition and action.In fact, such an association brings issues of variety, data quality and conflicts, leading to the heterogeneity and uncertainty of data. These are challenges for both perception, i.e. context acquisition, and cognition, i.e. reasoning and decision making. With the knowledge of the context, the robot can intervene through actions. However, it may encounter task failures due to a lack of knowledge or context changes. This causes the robot to cancel or delay its agenda. While the literature addresses those topics, it fails to provide complete solutions. In this thesis, we proposed contributions, exploring both reasoning and learning approaches, to cover the whole spectrum of problems. First, we designed novel context acquisition tool that supports and models uncertainty of data. Secondly, we proposed a cognition technique that detects anomalous situation over uncertain data and takes a decision in accordance. Then, we proposed a dynamic planner that takes into consideration the last context changes. Finally, we designed an experience-based reinforcement learning approach to proactively avoid failures.All our contributions were implemented and validated through simulations and/or with a small robot in a smart home platform
48
Nyman, Jonas. "Faster Environment Modelling and Integration into Virtual Reality Simulations." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19800.
Анотація:
The use of virtual reality in engineering tasks, such as in virtual commissioning, has increased steadily in recent years, where a robot, machine or object of interest can be simulated and visualized. Yet, for a more immerse experience, an environment for the object in question needs to be constructed. However, the process for creatingan accurate environment, for a virtual simulation have remained a costly and a long endeavour. Because of this, many digital simulations are performed, either with no environment at all, or present a very basic and abstract representation of an intended environment.The aim of this thesis is to investigate if technologies such as LiDAR and digital photogrammetry could shorten the environment creation process. Therefore, a demonstrative virtual environment was created and analysed, in which the different technologies was investigated and presented in the form of a comprehensive review of the current state of the technologies with in digital recreation. Lastly, a technique specific evaluation of the time requirement, cost and user difficulty was conducted. As the field of LiDAR and digital photogrammetry is too vast to investigate all forms thereof within one project, this thesis is limited to the investigation of static laser scanners and wide lens camera photogrammetry. A semi industrious locale was chosen for digital replication, which through static laser scans and photographs would generate semi-automated 3D models.The resulting 3D models leave much to be desired, as large holes were present throughout the 3D models, sincecertain surfaces are not suitable for neither replication processes. Transparent and reflective surfaces lead to ripple effects within the 3D models geometry and textures. Moreover, certain surfaces, as blank areas for photogrammetry or black coloration for laser scanners led to missing features and model distortions.Yet despite the abnormalities, the majority of the test environment was successfully re-created. An evaluation of the created environments was performed, which list and illustrate with tables and figures the attributes, strengths and weaknesses of each technique. Moreover, technique specific limitations and a spatial analysis was carried out. With the result, seemingly illustrating that photogrammetry creates more visually accurate 3D models in comparison to the laser scanner, yet the laser scanner produces a more spatially accurate result. As such, a selective combination of the techniques can be suggested.Observations and interviews seem to point towards the full scale application, in which an accurate 3D model is re-created without much effort, to currently not exist. As both photogrammetry and static laser scanning require great effort, skill and time in order to create a seemingly perfect solid model. Yet, utilizing either, or both techniques as a template for 3D object creation could reduce the time to create an environment significantly.Furthermore, methods such as digital 3D sculpting could be used in order to remove imperfections and create what is missing from the digitally constructed 3D models. Thereby achieving an accurate result.
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Sinha, Koel. "Path Planning for a UAV in an Agricultural Environment to Tour and Cover Multiple Neighborhoods." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/79731.
Анотація:
This work focuses on path planning for an autonomous UAV to tour and cover multiple
regions in the shortest time. The three challenges to be solved are - finding the right
optimal order to tour the neighborhoods, determining entry and exit points to
neighborhoods, and covering each neighborhood. Two approaches have been explored and compared to achieve this goal - a TSP - Greedy and TSP - Dijkstra's. Both of them use a TSP solution to determine the optimal order of touring. They also use the same back and forth motion to cover each region. However, while the first approach uses a brute force to determine the the next closest node of entry or exit, the second approach utilizes the Dijkstra's algorithm to compute all possible paths to every node in the graph, and therefore choose the shortest pairs of entry and exit for each region, that would generate the shorter path, overall. The main contribution of this work is to implement an existing algorithm to combine the touring and covering problem, and propose a new algorithm to perform the same. Empirical results comparing performances of both approaches are included. Hardware experiments are performed on a spraying hexacopter, using the TSP - Greedy approach. Unique system characteristics are studied to make conclusions about stability of the platform. Future directions are identified to improve both software and hardware performance.Master of Science
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Marklund, Simon. "The comparison of automatic and manual loading in an underground mining environment." Thesis, Luleå tekniska universitet, Institutionen för samhällsbyggnad och naturresurser, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-64900.
Анотація:
Mine automation has been in development since the 1980s and began to be implemented in the 1990s with the biggest drivers being safety, reduced maintenance and increased productivity. Automation is used in many different mining methods performing a variety of tasks. However, very few studies have been conducted regarding the performance of automatic vehicles in real world mines, neither has much research been done when comparing automated and manual loading. The purpose of this thesis is twofold. First it is to identify and produce metrics that can be used to compare automatic and manual loading in an underground mining environment. A literary study is presented as a basis for these metrics where the development history is chronicled and the mechanics by which an automated system controls an automatic vehicle is explained. Also included is a description of different mining methods and the part that automation plays in them. Secondly, the goal is to use these metrics in a real world case study of automated loading in an actual operational mine. The Garpenberg mine, owned by Boliden Minerals, is an underground metal mine located in Dalarna, Sweden, and mining has been done there since the 1200s. Load-Haul-Dump (LHD) machines are used to load and haul ore ether using automation or tele operation. For this study information is extracted from Bolidens internal databases to calculate the metrics which are then used to analyze the performance and reliability of automated loaders, and also to compare manual and automatic loading. There are mainly three types of metrics that are relevant to automatic and manual loading, these being time related metrics, production related metrics and reliability related metrics. Since the LHDs dealt with in this thesis are operated both manually and automatically the main use of the time related metrics is to find the relationship between modes of operation in regards to engine hours spent in action, the amount and character of downtime that occurred during the analyzed time span, and the utilization of automatic LHDs during the workday. The most straightforward comparison between manual and automatic loading is the production, i.e. the tonnage of loaded material per unit time. In this thesis production will be analyzed per hour and per loading activity (which run between 3 and 4 hours). Lastly automated and manual loading will be compared on the basis of availability and maintenance, the reason being that LHDs are driven in different ways depending on the mode of operation. The results show that automatic loading consists of between 14 and 29% of production time while contributing to between 17 and 28% of downtime. No clear connection can be seen between downtime and the relationship of automatic to manual loading, as the difference is not bigger than 10% either way. Manual loading constitutes between 2500 and 3250 engine hours, while time spent during automatic loading constitutes between 420 and 1095 engine hours. The majority of all downtime is not specific to either mode of operation, although automatic specific stops constitutes up to 50% of total downtime for two of the LHDs studied. The distribution of loading activities is similar for both manual and automatic loading, with the number of concurrent activities dipping during lunch breaks and stopping entirely during shift changes. Manual loading peaks around 1000 concurrent jobs while automatic peaks at just fewer than 200. Regarding production the results show that manual loading is more effective in the short term, as three out of four LHDs has had a higher tonnage loaded per hour. However, when locking at the tonnage loaded per activity, automatic loading catches up to manual loading and produces more tonnage in the long term, with three out of four LHDs getting this higher production. One interesting result can be found in regards to fuel economy, as one of the LHDs show a reduced consumption of fuel while at the same time having had the largest percentage of time spent in automatic mode. No clear connection can be seen with the rest of the LHDs however, as they show no clear connection between time spent in ether mode of operation and the amount of fuel consumed. Automatic loading proved to have slightly higher availability than manual loading. In all cases however, the difference in no more than 10% and both modes of operation is above 90% availability. The higher availability of automatic loading is attributed to the fact that manual loading constitutes much more time than automatic loading, and thus there has been more time for breakdowns and production stops to occur for manual loading. The relationship of preventive and corrective maintenance is the same for all four LHDs irrespective of amount of time spent in ether operating mode. Preventive maintenance jobs accounts for more than 90% of the number maintenance actions for all LHDs. When analyzing what kinds of production stops are the most prevalent, there are differences between manual and automatic loading. For manual loading the most common stops are those that have to do with external circumstances in the mine such as blocked access and fallen boulders, and those to do with minor breakdowns of the LHD. For automatic loading the most common stops are those to do with the automatic system and the equipment used to operate the automated LHD, followed by those caused by external circumstances, similarly to manual loading. Automatic loading has proportionally fewer stops than manual loading in all categories except those unique to automation, which is in turn the biggest category of all production stops. The conclusions that can be drawn from these results are that automatic loading can outperform manual loading in the long term, but that continuous uninterrupted loading activates are important to achieve this. Automatic and manual loading show comparable reliability when it comes to maintenance and repairs (serious breakdowns are very rare). Availability and the relationship of preventive and corrective maintenance are similar between both modes of operation. The analysis of production stops show that the biggest problem with automatic loading is the automatic systems and the specialized equipments inability to handle the underground environment. Problems with recorded routes and falsely tripped safety systems are the most common stops. Recommendations to Boliden Minerals regarding the automatic system consist of improving remote troubleshooting and streamlining of problem solving dealing with automation software and hardware. Steps should also be takes towards tailoring the underground environment to better suit automation. Suggestions to further research consist of deeper studies of all the metrics presented in this thesis to better analyze the role of automation in the global mining industry. Another avenue of study is the combination of the findings in this thesis with the actual environment and layout in the Garpenberg mine to better understand the connection between operating environment and the reliability and productivity of the automatic system.