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Дисертації з теми "Robust Object Model"

Автор: Grafiati
Опубліковано: 11 березня 2023

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1

Bazzi, Louay Mohamad Jamil 1974. "Robust algorithms for model-based object recognition and localization." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9440.

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Анотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1999.<br>Includes bibliographical references (p. 86-87).<br>We consider the problem of model-based object recognition and localization in the presence of noise, spurious features, and occlusion. We address the case where the model is allowed to be transformed by elements in a given space of allowable transformations. Known algorithms for the problem either treat noise very accurately in an unacceptable worst case running time, or may have unreliable output when noise is allowed. We intro
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2

Bax, Ingo. "Hierarchical feed forward models for robust object recognition." [S.l.] : [s.n.], 2007. http://deposit.ddb.de/cgi-bin/dokserv?idn=984822666.

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3

Schaich, Rainer Manuel. "Robust model predictive control." Thesis, University of Oxford, 2017. https://ora.ox.ac.uk/objects/uuid:94e75a62-a801-47e1-8cb8-668e8309d477.

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Анотація:
This thesis deals with the topic of min-max formulations of robust model predictive control problems. The sets involved in guaranteeing robust feasibility of the min-max program in the presence of state constraints are of particular interest, and expanding the applicability of well understood solvers of linearly constrained quadratic min-max programs is the main focus. To this end, a generalisation for the set of uncertainty is considered: instead of fixed bounds on the uncertainty, state- and input-dependent bounds are used. To deal with state- and input dependent constraint sets a framework
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4

Cheng, Qifeng. "Robust & stochastic model predictive control." Thesis, University of Oxford, 2012. http://ora.ox.ac.uk/objects/uuid:89da4934-9de7-4142-958e-513065189518.

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Анотація:
In the thesis, two different model predictive control (MPC) strategies are investigated for linear systems with uncertainty in the presence of constraints: namely robust MPC and stochastic MPC. Firstly, a Youla Parameter is integrated into an efficient robust MPC algorithm. It is demonstrated that even in the constrained cases, the use of the Youla Parameter can desensitize the costs to the effect of uncertainty while not affecting the nominal performance, and hence it strengthens the robustness of the MPC strategy. Since the controller u = K x + c can offer many advantages and is used across
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5

Gastebois, Jérémy. "Contribution à la commande temps réel des robots marcheurs. Application aux stratégies d'évitement des chutes." Thesis, Poitiers, 2017. http://www.theses.fr/2017POIT2315/document.

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Анотація:
Les grands robots marcheurs sont des systèmes mécatroniques poly-articulés complexes qui cristallisent la volonté des humains de conférer leurs capacités à des artefacts, l’une d’entre elle étant la locomotion bipède, et plus particulièrement la conservation de l’équilibre face à des perturbations extérieures. Cette thèse propose un stabilisateur postural ainsi que sa mise en œuvre sur le système locomoteur BIP 2000.Ce robot anthropomorphique possède quinze degrés de libertés actionnés par moteurs électriques et a reçu un nouvel automate ainsi que des variateurs industriels lors de la mise à j
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6

Reynaga, Barba Valeria. "Detecting Changes During the Manipulation of an Object Jointly Held by Humans and RobotsDetektera skillnader under manipulationen av ett objekt som gemensamt hålls av människor och robotar." Thesis, KTH, Skolan för datavetenskap och kommunikation (CSC), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-174027.

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Анотація:
In the last decades research and development in the field of robotics has grown rapidly. This growth has resulted in the emergence of service robots that need to be able to physically interact with humans for different applications. One of these applications involves robots and humans cooperating in handling an object together. In such cases, there is usually an initial arrangement of how the robot and the humans hold the object and the arrangement stays the same throughout the manipulation task. Real-world scenarios often require that the initial arrangement changes throughout the task, there
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7

Munoz, Carpintero Diego Alejandro. "Strategies in robust and stochastic model predictive control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:2f6bce71-f91f-4d5a-998f-295eff5b089a.

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Анотація:
The presence of uncertainty in model predictive control (MPC) has been accounted for using two types of approaches: robust MPC (RMPC) and stochastic MPC (SMPC). Ideal RMPC and SMPC formulations consider closed-loop optimal control problems whose exact solution, via dynamic programming, is intractable for most systems. Much effort then has been devoted to find good compromises between the degree of optimality and computational tractability. This thesis expands on this effort and presents robust and stochastic MPC strategies with reduced online computational requirements where the conservativene
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8

Spoida, Peter. "Robust pricing and hedging beyond one marginal." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:0315824b-52f7-4e44-9ac6-0a688c49762c.

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Анотація:
The robust pricing and hedging approach in Mathematical Finance, pioneered by Hobson (1998), makes statements about non-traded derivative contracts by imposing very little assumptions about the underlying financial model but directly using information contained in traded options, typically call or put option prices. These prices are informative about marginal distributions of the asset. Mathematically, the theory of Skorokhod embeddings provides one possibility to approach robust problems. In this thesis we consider mostly robust pricing and hedging problems of Lookback options (options writte
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9

Lee, Sharen Woon Yee. "Bayesian methods for the construction of robust chronologies." Thesis, University of Oxford, 2012. http://ora.ox.ac.uk/objects/uuid:49c30401-9442-441f-b6b5-1539817e2c95.

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Bayesian modelling is a widely used, powerful approach for reducing absolute dating uncertainties in archaeological research. It is important that the methods used in chronology building are robust and reflect substantial prior knowledge. This thesis focuses on the development and evaluation of two novel, prior models: the trapezoidal phase model; and the Poisson process deposition model. Firstly, the limitations of the trapezoidal phase model were investigated by testing the model assumptions using simulations. It was found that a simple trapezoidal phase model does not reflect substantial pr
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10

Fleming, James. "Robust and stochastic MPC of uncertain-parameter systems." Thesis, University of Oxford, 2016. https://ora.ox.ac.uk/objects/uuid:c19ff07c-0756-45f6-977b-9d54a5214310.

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Анотація:
Constraint handling is difficult in model predictive control (MPC) of linear differential inclusions (LDIs) and linear parameter varying (LPV) systems. The designer is faced with a choice of using conservative bounds that may give poor performance, or accurate ones that require heavy online computation. This thesis presents a framework to achieve a more flexible trade-off between these two extremes by using a state tube, a sequence of parametrised polyhedra that is guaranteed to contain the future state. To define controllers using a tube, one must ensure that the polyhedra are a sub-set of th
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11

Buerger, Johannes Albert. "Fast model predictive control." Thesis, University of Oxford, 2013. http://ora.ox.ac.uk/objects/uuid:6e296415-f02c-4bc2-b171-3bee80fc081a.

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Анотація:
This thesis develops efficient optimization methods for Model Predictive Control (MPC) to enable its application to constrained systems with fast and uncertain dynamics. The key contribution is an active set method which exploits the parametric nature of the sequential optimization problem and is obtained from a dynamic programming formulation of the MPC problem. This method is first applied to the nominal linear MPC problem and is successively extended to linear systems with additive uncertainty and input constraints or state/input constraints. The thesis discusses both offline (projection-ba
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12

Evans, Martin A. "Multiplicative robust and stochastic MPC with application to wind turbine control." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:0ad9b878-00f3-4cfa-a683-148765e3ae39.

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Анотація:
A robust model predictive control algorithm is presented that explicitly handles multiplicative, or parametric, uncertainty in linear discrete models over a finite horizon. The uncertainty in the predicted future states and inputs is bounded by polytopes. The computational cost of running the controller is reduced by calculating matrices offline that provide a means to construct outer approximations to robust constraints to be applied online. The robust algorithm is extended to problems of uncertain models with an allowed probability of violation of constraints. The probabilistic degrees of sa
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13

Sanchez, Loza Jose Manuel. "Shape sensing of deformable objects for robot manipulation." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC012/document.

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Анотація:
Les objets déformables sont omniprésents dans notre vie quotidienne. Chaque jour, nous manipulons des vêtements dans des configurations innombrables pour nous habiller, nouons les lacets de nos chaussures, cueillons des fruits et des légumes sans les endommager pour notre consommation et plions les reçus dans nos portefeuilles. Toutes ces tâches impliquent de manipuler des objets déformables et peuvent être exécutées sans problème par une personne. Toutefois, les robots n'ont pas encore atteint le même niveau de dextérité. Contrairement aux objets rigides, que les robots sont maintenant capabl
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14

Antonello, Morris. "Semantic models of scenes and objects for service and industrial robotics." Doctoral thesis, Università degli studi di Padova, 2018. http://hdl.handle.net/11577/3422425.

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Анотація:
What may seem straightforward for the human perception system is still challenging for robots. Automatically segmenting the elements with highest relevance or salience, i.e. the semantics, is non-trivial given the high level of variability in the world and the limits of vision sensors. This stands up when multiple ambiguous sources of information are available, which is the case when dealing with moving robots. This thesis leverages on the availability of contextual cues and multiple points of view to make the segmentation task easier. Four robotic applications will be presented, two designed
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15

Ray, Zachary J. "Hand Orientation Feedback for Grasped Object Slip Prevention with a Prosthetic Hand." University of Akron / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1461181998.

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16

Voils, Danny. "Scale Invariant Object Recognition Using Cortical Computational Models and a Robotic Platform." PDXScholar, 2012. https://pdxscholar.library.pdx.edu/open_access_etds/632.

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Анотація:
This paper proposes an end-to-end, scale invariant, visual object recognition system, composed of computational components that mimic the cortex in the brain. The system uses a two stage process. The first stage is a filter that extracts scale invariant features from the visual field. The second stage uses inference based spacio-temporal analysis of these features to identify objects in the visual field. The proposed model combines Numenta's Hierarchical Temporal Memory (HTM), with HMAX developed by MIT's Brain and Cognitive Science Department. While these two biologically inspired paradigms a
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17

Rusaw, Shawn. "Sensor-based motion planning via nonsmooth analysis." Thesis, University of Oxford, 2002. http://ora.ox.ac.uk/objects/uuid:46fa490d-c4ca-45ad-9cd5-b1f11920863d.

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In this thesis we present a novel approach to sensor-based motion planning developed using the mathematical tools provided by the field of nonsmooth analysis. The work is based on a broad body of background material developed using the tools of differential topology (smooth analysis), that is limited to simple cases like a point or circular robot. Nonsmooth analysis is required to extend this background work to the case of a polygonal robot moving amidst polygonal obstacles. We present a detailed nonsmooth analysis of the distance function for arbitrary configuration spaces and use this analys
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18

Khusheef, Ahmed S. "Investigation on the mobile robot navigation in an unknown environment." Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2013. https://ro.ecu.edu.au/theses/537.

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Анотація:
Mobile robots could be used to search, find, and relocate objects in many types of manufacturing operations and environments. In this scenario, the target objects might reside with equal probability at any location in the environment and, therefore, the robot must navigate and search the whole area autonomously, and be equipped with specific sensors to detect objects. Novel challenges exist in developing a control system, which helps a mobile robot achieve such tasks, including constructing enhanced systems for navigation, and vision-based object recognition. The latter is important for undert
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19

Chen, Zengshi. "Dynamics and control of collision of multi-link humanoid robots with a rigid or elastic object." Columbus, Ohio : Ohio State University, 2006. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1158442034.

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20

Schallert, Christian [Verfasser], Robert [Akademischer Betreuer] Luckner, Robert [Gutachter] Luckner, and Martin [Gutachter] Otter. "Integrated safety and reliability analysis methods for aircraft system development using multi-domain object-oriented models / Christian Schallert ; Gutachter: Robert Luckner, Martin Otter ; Betreuer: Robert Luckner." Berlin : Technische Universität Berlin, 2016. http://d-nb.info/1156181852/34.

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21

Souroulla, Timotheos. "Distributed Intelligence for Multi-Robot Environment : Model Compression for Mobile Devices with Constrained Computing Resources." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-302151.

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Анотація:
Human-Robot Collaboration (HRC), where both humans and robots work in the same environment simultaneously, is an emerging field and has increased massively during the past decade. For this collaboration to be feasible and safe, robots need to perform a proper safety analysis to avoid hazardous situations. This safety analysis procedure involves complex computer vision tasks that require a lot of processing power. Therefore, robots with constrained computing resources cannot execute these tasks without any delays, thus for executing these tasks they rely on edge infrastructures, such as remote
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22

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.

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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 us
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23

Li, Zhongmou. "Theoretical developments and experimental evaluation of a novel collaborative multi-drones grasping and manipulation system Zof large objects." Thesis, Ecole centrale de Nantes, 2021. http://www.theses.fr/2021ECDN0019.

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Анотація:
Cette thèse propose un nouveau concept de robot de manipulation aérienne appelé Flying Gripper. Ce robot est un manipulateur aérien, destiné à la saisie, la manipulation et le transport de grands objets de manière autonome. Le robot Flying Gripper est composé de quatre quadrotors, de quatre doigts auto-adaptatifs et d'un châssis. Les principaux apports de ces travaux sont: (1) un concept mécanique original reposant sur l'utilisation de plusieurs quadrotors et tirant parti de la rotation en lacet des quadrotors pour actionner un mécanisme de préhension auto-adaptatif et intrinsèquement sûr (2)
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24

Zamzow, Scottie L. "Ambassador of American airpower : Major General Robert Olds /." Maxwell AFB, Ala. : School of Advanced Air and Space Studies, 2008. https://www.afresearch.org/skins/rims/display.aspx?moduleid=be0e99f3-fc56-4ccb-8dfe-670c0822a153&mode=user&action=downloadpaper&objectid=e01c5779-0a3b-4ea3-999e-a35a94fd5600&rs=PublishedSearch.

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25

Staub, Nicolas. "Models, algorithms and architectures for cooperative manipulation with aerial and ground robots." Thesis, Toulouse 3, 2018. http://www.theses.fr/2018TOU30169/document.

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Анотація:
Les dernières années ont vu le développement de recherches portant sur l'interaction physique entre les robots aériens et leur environnement, accompagné de l'apparition de nombreux nouveaux systèmes mécaniques et approches de régulation. La communauté centrée autour de la robotique aérienne observe actuellement un déplacement de paradigmes des approches classiques de guidage, de navigation et de régulation vers des tâches moins triviales, telle le développement de l'interaction physique entre robots aériens et leur environnement. Ceci correspond à une extension des tâches dites de manipulation
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26

Napier, Ashley A. "Vision & laser for road based navigation." Thesis, University of Oxford, 2014. http://ora.ox.ac.uk/objects/uuid:faeb2cb6-d97c-43e2-b291-1564d1388bbd.

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Анотація:
This thesis presents novel solutions for two fundamental problems associated with autonomous road driving. The first is accurate and persistent localisation and the second is automatic extrinsic sensor calibration. We start by describing a stereo Visual Odometry (VO) system, which forms the basis of later chapters. This sparse approach to ego-motion estimation leverages the efficacy and speed of the BRIEF descriptor to measure frame-to-frame correspondences and infer subsequent motion. The system is able to output locally metric trajectory estimates as demonstrated on many kilometres of data.
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27

Jebelli, Ali. "Development of Sensors and Microcontrollers for Underwater Robots." Thesis, Université d'Ottawa / University of Ottawa, 2014. http://hdl.handle.net/10393/31283.

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Анотація:
Nowadays, small autonomous underwater robots are strongly preferred for remote exploration of unknown and unstructured environments. Such robots allow the exploration and monitoring of underwater environments where a long term underwater presence is required to cover a large area. Furthermore, reducing the robot size, embedding electrical board inside and reducing cost are some of the challenges designers of autonomous underwater robots are facing. As a key device for reliable operation-decision process of autonomous underwater robots, a relatively fast and cost effective controller based on F
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28

Paulin, Rémi. "human-robot motion : an attention-based approach." Thesis, Université Grenoble Alpes (ComUE), 2018. http://www.theses.fr/2018GREAM018.

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Анотація:
Pour les robots mobiles autonomes conçus pour partager notre environnement, la sécurité et l'efficacité de leur trajectoire ne sont pas les seuls aspects à prendre en compte pour la planification de leur mouvement: ils doivent respecter des règles sociales afin de ne pas gêner les personnes environnantes. Dans un tel contexte social, la plupart des techniques de planification de mouvement actuelles s'appuient fortement sur le concept d'espaces sociaux; de tels espaces sociaux sont cependant difficiles à modéliser et ils sont d'une utilisation limitée dans le contexte d'interactions homme-robot
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29

Vestin, Albin, and Gustav Strandberg. "Evaluation of Target Tracking Using Multiple Sensors and Non-Causal Algorithms." Thesis, Linköpings universitet, Reglerteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-160020.

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Анотація:
Today, the main research field for the automotive industry is to find solutions for active safety. In order to perceive the surrounding environment, tracking nearby traffic objects plays an important role. Validation of the tracking performance is often done in staged traffic scenarios, where additional sensors, mounted on the vehicles, are used to obtain their true positions and velocities. The difficulty of evaluating the tracking performance complicates its development. An alternative approach studied in this thesis, is to record sequences and use non-causal algorithms, such as smoothing, i
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30

Mustaki, Simon Éliakim. "Outils de pré-calibration numérique des lois de commande de systèmes de systèmes : application aux aides à la conduite et au véhicule autonome." Thesis, Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2019. http://www.theses.fr/2019IMTA0142/document.

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Анотація:
Cette thèse est dédiée à la pré-calibration des nouveaux systèmes d’aides à la conduite (ADAS). Le développement de ces systèmes est devenu aujourd’hui un axe de recherche stratégique pour les constructeurs automobiles dans le but de proposer des véhicules plus sûrs et moins énergivores. Cette thèse contribue à une vision méthodologique multi-critère, multi-modèle et multi-scénario. Elle en propose une instanciation particulière pour la pré-calibration spécifique au Lane Centering Assistance (LCA). Elle s’appuie sur des modèles dynamiques de complexité juste nécessaire du véhicule et de son en
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31

Huard, Benoît. "Contribution à la modélisation non-linéaire et à la commande d'un actionneur robotique intégré pour la manipulation." Thesis, Poitiers, 2013. http://www.theses.fr/2013POIT2262/document.

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Анотація:
La réalisation de tâches de manipulation dextres requiert une complexité aussi bien dans la conception de préhenseur robotique que dans la synthèse de leurs lois de commande. Une optimisation de la mécatronique de ces systèmes permet de répondre aux contraintes d'intégration fonctionnelle en se passant de capteurs de force terminaux. L'utilisation de mécanismes réversibles rend alors possible la détermination du positionnement du système dans l'espace libre et la détection de son interaction avec les objets manipulés, grâce aux mesures proprioceptives inhérentes aux actionneurs électriques. L'
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32

Cass, Todd A. "Robust 2-D Model-Based Object Recognition." 1988. http://hdl.handle.net/1721.1/6823.

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Анотація:
Techniques, suitable for parallel implementation, for robust 2D model-based object recognition in the presence of sensor error are studied. Models and scene data are represented as local geometric features and robust hypothesis of feature matchings and transformations is considered. Bounds on the error in the image feature geometry are assumed constraining possible matchings and transformations. Transformation sampling is introduced as a simple, robust, polynomial-time, and highly parallel method of searching the space of transformations to hypothesize feature matchings. Key to th
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33

TOSATO, Diego. "Tensor Representations for Object Classification and Detection." Doctoral thesis, 2012. http://hdl.handle.net/11562/393739.

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Анотація:
A key problem in object recognition is finding a suitable object representation. For historical and computational reasons, vector descriptions that encode particular statistical properties of the data have been broadly applied. However, employing tensor representation can describe the interactions of multiple factors inherent to image formation. One of the most convenient uses for tensors is to represent complex objects in order to build a discriminative description. Thus thesis has several main contributions, focusing on visual data detection (e.g. of heads or pedestrians) and classi
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34

Bax, Ingo [Verfasser]. "Hierarchical feed forward models for robust object recognition / Ingo Bax." 2007. http://d-nb.info/984822666/34.

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35

Alter, Tao Daniel. "Robust and Efficient 3D Recognition by Alignment." 1992. http://hdl.handle.net/1721.1/6799.

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Анотація:
Alignment is a prevalent approach for recognizing 3D objects in 2D images. A major problem with current implementations is how to robustly handle errors that propagate from uncertainties in the locations of image features. This thesis gives a technique for bounding these errors. The technique makes use of a new solution to the problem of recovering 3D pose from three matching point pairs under weak-perspective projection. Furthermore, the error bounds are used to demonstrate that using line segments for features instead of points significantly reduces the false positive rate, to t
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36

Chen, Kuo-Wei, and 陳國瑋. "Robot Parallel Tracking and Mapping Using Online Sparse-representation Object Model." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/86186908796053422473.

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Анотація:
碩士<br>淡江大學<br>機械與機電工程學系碩士班<br>100<br>This thesis presents an algorithm of moving object detection and tracking for robot concurrently localization, mapping and moving object tracking in dynamic environment. The major research topics include on-line object model construction as well as moving object detection and tracking. Apparent image features are detected and utilized as the training data for on-line constructing and sparse representing the object model. After the object model is constructed, the model elements are further matched with the image features obtained from the environment in ord
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Chen, Hsi Che, and 陳希哲. "Robot grasping System with Structure from motion and Shape Reconstruction by 3D Object Model." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/77119073180045270159.

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碩士<br>國立臺灣師範大學<br>機電科技學系<br>101<br>This research’s object is used multi-view image rebuild 3D model, and then we use the 3D model detect the stable grasp position. Normally in stereo machine vision research, use binocular vision method is more popular. This method is likely our eyes, use disparity to calculate depth signal between camera and object. But this method can only use on static image, if camera is putted on robot manipulator or moving car. The past method will fail to reconstruction 3D model. So in this research we will use structure from motion to find the relationship between origi
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Yang, Teng-Chih, and 楊登智. "APPLICATION OF DIFFERENTIAL EVOLUTION BASED CEREBELLAR MODEL ARTICULATION CONTROLLER FOR ROBOT MANIPULATOR OBJECT TRACKING VIA SINGLE CAMERA VISION." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/71192357813773234412.

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碩士<br>大同大學<br>電機工程學系(所)<br>101<br>In this thesis, the differential evolution cerebellar model articulation controller (DECMAC) which is applied to the robot manipulator object tracking via camera vision is proposed. In conventional CMAC, since there are several parameters which are required to be preset and difficult to be found, the DE is utilized to overcome the foregoing problem. Based on the discrete-type Lyapunov function, the stability of the proposed controller is guaranteed. In order to verify the performance of the DECMAC, it is applied to the robot manipulator object tracking which i
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Chang, Guoting. "Robot Motion and Task Learning with Error Recovery." Thesis, 2013. http://hdl.handle.net/10012/7627.

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The ability to learn is essential for robots to function and perform services within a dynamic human environment. Robot programming by demonstration facilitates learning through a human teacher without the need to develop new code for each task that the robot performs. In order for learning to be generalizable, the robot needs to be able to grasp the underlying structure of the task being learned. This requires appropriate knowledge abstraction and representation. The goal of this thesis is to develop a learning by imitation system that abstracts knowledge of human demonstrations of a task and
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