Дисертації з теми "Space robotic"
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St, John-Olcayto Ender. "Machine vision for space robotic applications." Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43000.
Повний текст джерелаАнотація:
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1990.Title as it appears in the M.I.T. Graduate List, June, 1990: Machine vision for simulated spacecraft operations.
Includes bibliographical references (leaf 70).
by Ender St. John-Olcayto.
M.S.
2
Dolci, Marco. "Space Exploration Robotic Systems - Orbital Manipulation Mechanisms." Doctoral thesis, Politecnico di Torino, 2018. http://hdl.handle.net/11583/2705511.
Повний текст джерелаАнотація:
In the future, orbital space robots will assist humans in space by constructing
and maintaining space modules and structures. Robotic manipulators will play
essential roles in orbital operations. This work is devoted to the implemented
designs of two different orbital manipulation mechanical grippers developed
in collaboration with Thales Alenia Space Italy and NASA Jet Propulsion
Laboratory – California Institute of Technology.
The consensus to a study phase for an IXV (Intermediate eXperimental
Vehicle) successor, a preoperational vehicle called SPACE RIDER (Space Rider
Reusable Integrated Demonstrator for European Return), has been recently
enlarged, as approved during last EU Ministerial Council. One of the main
project task consists in developing SPACE RIDER to conduct on orbit servicing
activity with no docking. SPACE RIDER would be provided with a robotic
manipulator system (arm and gripper) able to transfer cargos, such as scientific
payloads, from low Earth orbiting platforms to SPACE RIDER cargo bay.
The platform is a part of a space tug designed to move small satellites and
other payloads from Low Earth Orbit (LEO) to Geosynchronous Equatorial
Orbit (GEO) and viceversa. The assumed housing cargo bay requirements
in terms of volume (<100l) and mass (<50kg) combined with the required
overall arm dimensions (4m length), and mass of the cargo (5-30kg) force
to developing an innovative robotic manipulator with the task-oriented end
effector. It results in a seven degree-of-freedom arm to ensure a high degree
of dexterity and a dedicate end-effector designed to grasp the cargo interface.
The gripper concept developed consists in a multi-finger hand able to lock both
translational and rotational cargo degrees of freedom through an innovative
underactuation strategy to limit its mass and volume. A configuration study
on the cargo handle interface was performed together with some computer
aided design models and multibody analysis of the whole system to prove its feasibility. Finally, the concept of system control architecture, the test report
and the gripper structural analysis were defined.
In order to be able to accurately analyze a sample of Martian soil and to
determine if life was present on the red planet, a lot of mission concepts have
been formulating to reach Mars and to bring back a terrain sample. NASA
JPL has been studying such mission concepts for many years. This concept is
made up of three intermediate mission accomplishments. Mars 2020 is the first
mission envisioned to collect the terrain sample and to seal it in sample tubes.
These sealed sample tubes could be inserted in a spherical envelope named
Orbiting Sample (OS). A Mars Ascent Vehicle (MAV) is the notional rocket
designed to bring this sample off Mars, and a Rendezvous Orbiting Capture
System (ROCS) is the mission conceived to bring this sample back to Earth
through the Earth Entry Vehicle (EEV). MOSTT is the technical work study
to create new concepts able to capture and reorient an OS. This maneuver is
particularly important because we do not know an OS incoming orientation and
we need to be able to capture, to reorient it (2 rotational degrees of freedom),
and to retain an OS (3 translational degrees of freedom and 2 rotational ones).
Planetary protection requirements generate a need to enclose an OS in two shells
and to seal it through a process called Break-The-Chain (BTC). Considering
the EEV would return back to Earth, the tubes orientation and position have
to be known in detail to prevent any possible damage during the Earth hard
landing (acceleration of ∼1300g). Tests and analysis report that in order for the
hermetic seals of the sample tubes to survive the impact, they should be located
above an OS equator. Due to other system uncertainties an OS presents the
potential requirement to be properly reoriented before being inserted inside the
EEV. Planetary protection issues and landing safety are critical mission points
and provide potential strict requirements to MOSTT system configuration. This
task deals with the concept, design, and testbed realization of an innovative
electro-mechanical system to reorient an OS consistent with all the necessary
potential requirements. One of these electro-mechanical systems consists of a
controlled-motorized wiper that explores all an OS surface until it engages with
a pin on an OS surface and brings it to the final home location reorienting an
OS. This mechanism is expected to be robust to the incoming OS orientation
and to reorient it to the desired position using only one degree of freedom
rotational actuator.
3
Song, Peilin. "Robotic manipulator control, fundamentals of task space design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ28063.pdf.
Повний текст джерела
4
Bailey, Zachary James. "A trade space model for robotic lunar exploration." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/59552.
Повний текст джерелаАнотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2010.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student submitted PDF version of thesis.
Includes bibliographical references (p. 147-152).
The last decade has seen a resurgence of interest in the moon as a target for planetary exploration. In light of the growing interest in the robotic exploration of the moon, this thesis presents a quantitative methodology for exploring the trade space of potential in situ robotic lunar spacecraft designs. A science value model was developed, using Multi-Attribute Utility Theory (MAUT), to estimate the effectiveness of a spacecraft design towards assessing a set of specified science objectives. An engineering model was developed to estimate the masses of spacecraft designs within the trade space. These models were integrated together to explore the objectives of minimizing mass and maximizing science return. Two methods for exploration of the trade space were presented: a stochastic design space search method, and a multi-objective simulated annealing method. Using these techniques, the optimality of a reference mission was investigated, and ways to improve science utility performance were shown. The exploration of a trade space under uncertainty, using an -Pareto search method, was investigated, and recommendations for designers were presented.
by Zachary James Bailey.
S.M.
5
Meyen, Forrest Edward. "Engineering a robotic exoskeleton for space suit simulation." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/85810.
Повний текст джерелаАнотація:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2013.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 177-181).
Novel methods for assessing space suit designs and human performance capabilities are needed as NASA prepares for manned missions beyond low Earth orbit. Current human performance tests and training are conducted in space suits that are heavy and expensive, characteristics that constrain possible testing environments and reduce suit availability to researchers. Space suit mock-ups used in planetary exploration simulations are light and relatively inexpensive but do not accurately simulate the joint stiffness inherent to space suits, a key factor impacting extravehicular activity performance. The MIT Man-Vehicle Laboratory and Aurora Flight Sciences designed and built an actively controlled exoskeleton for space suit simulation called the Extravehicular Activity Space Suit Simulator (EVA S3), which can be programmed to simulate the joint torques recorded from various space suits. The goal of this research is to create a simulator that is lighter and cheaper than a traditional space suit so that it can be used in a variety of testing and training environments. The EVA S3 employs pneumatic actuators to vary joint stiffness and a pre-programmed controller to allow the experimenter to apply torque profiles to mimic various space suit designs in the field. The focus of this thesis is the design, construction, integration, and testing of the hip joint and backpack for the EVA S3. The final designs of the other joints are also described. Results from robotic testing to validate the mechanical design and control system are discussed along with the planned improvements for the next iteration of the EVA S3. The fianl EVA S3 consists of a metal and composite exoskeleton frame with pneumatic actuators that control the resistance of motion in the ankle, knee, and hip joints, and an upper body brace that resists shoulder and elbow motions with passive spring elements. The EVA S3 is lighter (26 kg excluding the tethered components) and less expensive (under $600,000 including research, design, and personnel) than a modem space suit. Design adjustments and control system improvements are still needed to achieve a desired space suit torque simulation fidelity within 10% root-mean-square error.
by Forrest Edward Meyen.
S.M.
6
Cave, Gary L. "Development and control of robotic arms for the Naval Postgraduate School Planar Autonomous Docking Simulator (NPADS)." Thesis, Monterey, California. Naval Postgraduate School, 2002. http://hdl.handle.net/10945/4614.
Повний текст джерелаАнотація:
Approved for public release, distribution is unlimitedThe objective of this thesis was to design, construct and develop the initial autonomous control algorithm for the NPS Planar Autonomous Docking Simulator (NPADS). The effort included hardware design, fabrication, installation and integration; mass property determination; and the development and testing of control laws utilizing MATLAB and Simulink for modeling and LabView for NPADS control. The NPADS vehicle uses air pads and a granite table to simulate a 2-D, drag-free, zero-g space environment. It is a completely self-contained vehicle equipped with eight cold-gas, bang-bang type thrusters and a reaction wheel for motion control. A "star sensor" CCD camera locates the vehicle on the table while a color CCD docking camera and two robotic arms will locate and dock with a target vehicle. The on-board computer system leverages PXI technology and a single source, simplifying systems integration. The vehicle is powered by two lead-acid batteries for completely autonomous operation. A graphical user interface and wireless Ethernet enable the user to command and monitor the vehicle from a remote command and data acquisition computer. Two control algorithms were developed and allow the user to either control the thrusters and reaction wheel manually or simply specify a desired location.
7
Wong, Pang Fei 1979. "Algorithms for efficient dynamics simulation of space robotic systems." Thesis, McGill University, 2006. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=99548.
Повний текст джерелаАнотація:
The algorithms used for solving the forward dynamics problem of a complex multibody system are essential for an efficient simulation of robotic systems. The efficiency is measured by the CPU time and the number of operations per number of bodies in the system. In this work, we discuss the solution of the forward dynamics problem for real-time simulations of space robotic systems using the so-called Articulated Body Method. Traditional methods use the calculation of the inverse of the generalized mass matrix. This makes the required number of operations proportional to the cube of the number of bodies in the multibody system. For real-time simulations of complex systems, O(n) algorithms seem to be the best choice because the number of operations is linearly proportional to the number of bodies. They become more efficient than O( n3) algorithms as soon as the number of bodies in the system exceeds 12--14. In this thesis, we will present a detailed discussion of O(n) algorithms derived based on the Articulated Body Method (ABM). This algorithm can be presented using Lagrangian and Hamiltonian variables. Such algorithms can be used for the real-time simulation of robotic systems by taking into account both joint-flexibility and approximations for the gear-ratio effect. A unified derivation of the ABM algorithms using both Lagrangian and Hamiltonian variables will be discussed. The intended, primary application of the algorithms is to develop real-time simulation engines for the complete robotic system of the International Space Station. The implementation and use of these algorithms will be analyzed in detail.
8
Mangalgiri, Vickram S. (Vickram Suresh) 1979. "Analysis for robotic assembly of large flexible space structures." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/27038.
Повний текст джерелаАнотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.Includes bibliographical references (leaves 79-83).
Space solar power is a renewable, environment-friendly alternative to satisfy future terrestrial power needs. Space solar power stations will need to have large dimensions (on the order of hundreds of meters) to be able to collect enough power to make them cost effective. It will be infeasible to transport these large structures, fully assembled, from earth to space, or use human astronauts for their construction in space, leaving robotic assembly as the only viable option. The focus of the current work is to identify potential challenges to the large structure assembly process in space and develop methods to address them. One of the major causes of failure in the assembly process would be dimensional mismatch between the two structures to be joined. The first part of this thesis analyses the static and dynamic effects on a typical large space structure using finite element models and predicts the deformation that the structure will undergo due to thermal and vibration effects in space. Forced assembly methods using cooperative robots are developed to compensate for these dimensional errors. The second part of the thesis deals with the application of forced assembly methods to representative assembly scenarios. The scenarios are categorized based on the nature of the deformation involved. The differences between the use of thrusters and manipulators by robots are discussed and assembly plans are developed for each scenario using either or both types of actuators. A genetic algorithm based planner is developed and implemented to optimize the assembly process within the limits of the assumptions made.
by Vikram S. Mangalgiri.
S.M.
9
Tai, Emily. "Design of an anthropomorphic robotic hand for space operations." College Park, Md.: University of Maryland, 2007. http://hdl.handle.net/1903/7284.
Повний текст джерелаАнотація:
Thesis (M.S.) -- University of Maryland, College Park, 2007.Thesis research directed by: Dept. of Aerospace Engineering. Title from t.p. of PDF. Includes bibliographical references. Published by UMI Dissertation Services, Ann Arbor, Mich. Also available in paper.
10
Dai, J. S. "Screw image space and its application to robotic grasping." Thesis, University of Salford, 1993. http://usir.salford.ac.uk/43023/.
Повний текст джерелаАнотація:
This thesis is devoted to the study and extension of screw image space and its application to kinematic restraint and robotic grasping. In the study of restraint and robotic grasping, problems arise in relation to how to map the conditions and requirements of restraint in a special representational space, and how to map an object in the same space, so that all analysis and synthesis can be performed and further developed in such a space. Meanwhile, it is desirable that such a space would allow us to establish a relationship between equilibrium and geometry of a restraint circumstance, and also a relationship between geometry and algebra. The study is to introduce the restraint mapping in a newly extended screw image space. With the help of a new look at the properties of screws and screw systems, the screw image space is extended with its relevant spaces, the relationship among them is clarified together with a set of definitions. The screw image space is further completed with the study of its entities including hyperplanes, simplexes and polytopes, and further with the partition of the space. A framework is thus established and associated to restraint mapping and the extension of screw image space, and a set of theories is developed to study the entities in screw image space and to apply them to the restraint mapping. The study is based on the linear dependence of screws with detailed algebraic reasoning, which puts forward new properties of zero pitch screw combinations and theory of linear dependence of reciprocal screw systems together with algebraic and geometric reasoning. The study is successfully applied to kinematic restraint and robotic grasping with a set of theorems and methodologies, not only by mapping the restraint of an object, but also by mapping a set of restraint screws along the surface of an object. The graspability of an arbitrary object can thus be determined, the planning and optimisation can be carried out in the screw image space, together with three new invariant quality measures. An optimal grasp is hence achieved with isotropic resistance to arbitrary externally applied forces. The mapping and entities in screw image space are further weighted to account for the stiffness of contacts in dealing with frictional restraint, and planning is thus based on a stiffness weighted mapping. The planning and optimisation are further given in the concept of normal related restraint, and are achieved in the relevant screw image spaces. An augmented space is then established with the introduction of an affine condition. The relationship between the affine solution and the volumetric ratios of sub-simplexes to an n-simplex reconciles the quality measures with the optimisation. With the further introduction of elastic compatibility, frictional grasps are decomposed, and the force equation of equilibrium is augmented. The approach makes it possible to plan grasps in screw image space and to solve them in augmented space. The approach is further used to predict the failure of a specific case of grasping, and gives a satisfactory result, when compared with an experimental result. The final phase of the study is applied to the unknown grasping of unknown objects. By aggregating contact normals and their position vectors of an unknown object by means of newly developed tactile fingertip detectors, and by mapping them into screw image space, the description of an unknown object is completed. The planning and optimisation can thus operate in screw image space, giving a sufficient prediction of a grasp to be applied on the object. Examples and case studies are given through the thesis. Experiments are quoted to demonstrate the implementation of the new system of theories and methodologies in this Thesis. Further, a set of strategies and their methodology is given and incorporated into a package in C++ with a general application to the study of restraint in screw image space. The thesis ends with a concluding chapter reviewing the contents of the thesis and the main achievements of the study, proposing suggestions for further work.
11
Claret, Robert Josep Arnau. "The robot null space : new uses for new robotic systems." Doctoral thesis, Universitat Politècnica de Catalunya, 2019. http://hdl.handle.net/10803/671009.
Повний текст джерелаАнотація:
This doctoral thesis deals with the use of the robot redundancy to execute several tasks simultaneously at different levels of priority and its application to two different robotic systems. In particular, new uses of the robotic null-space are proposed. One of the robotic systems is studied in this thesis. The thesis memory is divided in two parts, according to the involved robotic system.
The first robotic system is a humanoid robot on which a novel use of the null-space is presented: its use to transmit emotions to the users as a low priority task while the robot is executing a task with higher priority. A mapping to translate emotions as points in a three dimensional space to motions of the robot to be fed to the null-space is proposed. The proposed model is implemented and verified in a Pepper robot through a user study. In this study, a salutation motion is executed as the highest priority task, and the null-space is used to generate emotional motions. The analysis of the user study shows that the null-space is a proper mean to convey emotions to the user.
The second robotic system is a novelty in itself: it consists of a teleoperation robotic system composed of a mobile manipulator, a UAV with a camera, and a haptic device. The operator teleoperates the mobile manipulator through the haptic device while getting visual feedback from the camera of the drone. The kinematic model of the robotic system, and an algorithm to coordinate the robot and the UAV so that the operator is released from the explicit command of the drone, are proposed. The results of a user study show that the proposed algorithm is appropriate in terms of the operator workload and the learning curve. A null-space algorithm is proposed to avoid own-occlusions of the robot end-effector, that is, situations where parts of the robot occlude the view from the camera of the object at the end-effector. An algorithm for the activation of the camera movements that guarantees that the operator does not lose sight of the teleoperated object, and which is only activated when the robot is about to leave the camera field of view, is presented. Additionally, the continuous inverse, a mathematical operator well suited for smooth transitions between the different levels of priority, is studied; two enhancements are proposed to avoid instabilities and that the lower priority tasks affect the higher priority tasks during transitions. The proposed algorithms are verified in simulations and in real experiments.Esta tesis doctoral se enmarca en el uso de la redundancia de un robot para ejecutar varias tareas simultáneamente con distintos niveles de prioridad en dos sistemas robóticos distintos. La memoria de la tesis se estructura en dos partes, de acuerdo con el sistema robótico tratado. El primer sistema es un robot humanoide sobre el que se propone un uso novedoso de su espacio nulo: su potencial para transmitir emociones como una tarea secundaria mientras el robot está ejecutando otra tarea con máxima prioridad. Se propone un mapa para convertir emociones descritas como puntos en un espacio tridimensional a movimientos del robot, que se utilizan para alimentar el espacio nulo. El modelo propuesto ha sido implementado y validado en un robot Pepper mediante un estudio con usuarios. En este estudio se ejecuta un movimiento de saludo como tarea principal, y se utiliza el espacio nulo para dotar al robot de movimientos con carga emocional. De los resultados del estudio se concluye que el espacio nulo de un robot es un mecanismo apropiado para transmitir emociones. El segundo sistema robótico estudiado es una novedad en sí mismo: consiste en un sistema robótico teleoperado formado por un manipulador móbil, un dron con cámara de visióny un dispositivo háptico. El operador teleopera el manipulador móbil mediante el dispositivo háptico, utilizando la realimentación visual que le proporciona la cámara del dron. Se plantea el modelo cinemático del sistema robótico y se propone un algoritmo para la coordinación del robot y el dron que evite el control explícito del éste, a fin de reducir la carga de trabajo del operador. Se presentan los resultados de un estudio con usuarios para validar que el nivel de carga de trabajo del operador y la curva de aprendizaje son adecuados. Se propone también el uso del espacio nulo del manipulador móbil para evitar que el robot se interponga entre el objeto en el elemento terminal del robot y la cámara, lo que entorpecería la teleoperación. Se propone un algoritmo para la activación del movimiento de la cámara que garantiza que el operador no pierde de vista el objeto teleoperado y que únicamente se activa cuando el robot está a punto de salir de su campo de visión. Adicionalmente, se estudia la inversa continua, un operador matemático que utiliza el espacio nulo y que es indicado para ejecutar transiciones suaves entre varias tareas con distintos niveles de prioridad; se proponen dos mejoras que evitan la aparición de inestabilidades y que las tareas de menor prioridad afecten a las de mayor prioridad durante las transiciones. Los algoritmos propuestos son validades mediante simulaciones y experimentación real.
12
Martin, Eric 1969 Feb 26. "Interaction of payload and attitude controller in space robotic systems." Thesis, McGill University, 1994. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22662.
Повний текст джерелаАнотація:
Space manipulators mounted on a free-floating base are structurally flexible mechanical systems. For some applications, it is necessary to control the attitude of the base by the use of on-off thrusters. However, thruster operation produces a rather broad frequency spectrum that can excite sensitive modes of the flexible system. This situation is likely to occur especially when the manipulator is moving a big payload. The excitation of these modes can introduce further disturbances to the attitude control system, and therefore, undesirable fuel replenishing limit cycles may develop. To investigate these dynamic interactions, an approximate two-mass system, where the manipulator is replaced with an equivalent spring-and-dashpot system, is used to reproduce the relative motion of the payload with respect to the spacecraft. A dynamic model of two-flexible-joint planar manipulator was derived to obtain its natural frequencies and then, to determine the corresponding spring stiffness and damping coefficient of the approximate system. SInce the attitude controller assumes the use of on-off thrusters, which are nonlinear devices, the describing function technique, an approximate method for the analysis of nonlinear systems, is used to perform a parametric study investigating the significant parameters of three models studied. This study provides some guidelines for the design of attitude control systems when flexibility is a major concern. As well, this study shows that one of the three models studied is a very good alternative to the actual attitude controllers. Finally, simulations are executed to confirm these results and to study the addition of noise and model uncertainties in the three selected models.
13
Silva, Adenilson Roberto da. "Parameters identification and failure detection applied to space robotic manipulators." Instituto Nacional de Pesquisas Espaciais, 2001. http://urlib.net/sid.inpe.br/jeferson/2004/09.06.08.57.
Повний текст джерелаАнотація:
A identificação de parâmetros físicos é muito útil em muitas aplicações, especialmente na área aeroespacial e também na robótica. A análise de sistemas aeroespaciais e robôs normalmente requerem modelos matemáticos precisos os quais são utilizados pelo controle. Por outro lado, a identificação de parâmetros físicos, além dos requisitos normais de identificação (excitação do sistema, por exemplo), envolve tarefas adicionais, tais como modelagem matemática do sistema, seleção dos algoritmos de identificação, etc. Nesta tese, é mostrada uma detalhada modelagem matemática de uma junta robótica. Os modelos são mostrados numa ordem crescente de complexidade (o que significa, em teoria, que a representação matemática está mais próxima do sistema real), onde os típicos termos não-lineares da junta robótica foram considerados. Um novo procedimento para se selecionar trajetórias apropriadas (considerando o nível de excitação do sistema) baseada na decomposição em valores singulares da matriz de medidas é também apresentado. A tarefa de identificação foi realizada através da obtenção (ou melhora) e implementação de novos algoritmos. As estratégias e algoritmos mostraram bom desempenho em vários aspectos: precisão, confiabilidade e baixo esforço computacional. A fim de permitir a inclusão de termos não-lineares no vetor de parâmetros (na identificação recursiva), um novo algoritmo (TS - Algoritmo Duas Etapas) baseado numa versão modificada do algoritmo dos mínimos quadrados recursivos (mRLS) com um fator de esquecimento variável (variable forgetting factor) e no algoritmo Multi Level Coordinate Search (MCS) foi obtido. Os resultados mostraram que o algoritmo TS tem uma excelente performance na identificação dos parâmetros em ambos os casos: usando dados reais e simulados. Um procedimento integrado para detecção e isolamento de falhas (FDI) baseado na teoria de subespaço é também mostrado. O algoritmo MIMO Output Error State Space Model Identification (MOESP) foi usado para se obter um modelo matemático que serve como base para o algoritmo FDI. O algoritmo FDI mostrou elevada eficiência e confiabilidade na detecção e no isolamento das falhas em todos os casos simulados. Finalmente, os algoritmos TS e FDI foram integrados em um único ambiente a fim de simular uma situação onde o sistema a ser identificado é variante no tempo e vários sensores apresentam falhas. Os resultados indicam que parâmetros confiáveis podem ser obtidos mesmo no caso de múltiplas falhas. Todos os modelos e algoritmos obtidos foram testados utilizando-se dados coletados no experimento Intelligent Robotic Joint (IRJ) construído pelo Centro Espacial Alemão (DLR Oberpfaffenhofen).Physical parameters identification is useful in many applications, especially in aerospace and robotics fields. Aerospace and robotics system analysis normally requires accurate physical system models for control. On the other hand, the identification of physical parameters, besides the normal identification requirements (system excitation, for instance), involves several tasks: mathematical modeling and algorithm selection for instance. In this thesis, a detailed modeling of a robotic joint has been presented. The models are derived in an increasing degree of complexity (which means that, in theory, the mathematical representation is approaching to the real system), where the typical non-linear terms of a robotic joint have been taken into account. A new procedure to select suitable robotic trajectories based on the singular value decomposition (SVD) of measurement matrix is also presented. The identification task has been carried out by deriving (or improving) and implementing new algorithms. The strategies and algorithms have shown good performance in both: accuracy and also concerning computer load. In order to allow the inclusion of non-linear terms in the parameters vector, a new algorithm (TS -Two Step Algorithm) based on a modified version of Recursive Least Squares (mRLS) with a variable forgetting factor and MCS (Multi Level Coordinate Search) algorithms has been derived. The results have shown that the TS algorithm has excellent performance in identifying the unknown parameters vector by using both: real and simulated data. In addition, an integrated procedure for sensors failure detection and isolation (FDI) based on subspace theory is derived. The MOESP (MIMO Output Error State Space Model Identification) algorithm has been used to build a model, which serves as a reference for the FDI algorithm. The FDI algorithm has shown high reliability in detecting and isolating all the simulated failures in the sensors. Finally, the TS and the FDI algorithms have been integrated in a single environment to simulate an integrated situation where the system is time variant and the sensors also fail. The results have shown that reliable parameters are obtained even in case of multi failure. All derived models and algorithms have been tested by using data collected from IRJ (Intelligent Robotic Joint) experiment built at DLR (German Aerospace Centers) in Oberpfaffenhofen.
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Bunuan, Paul F. "FIDOE: A Proof-of-concept Martian Robotic Support Cart." Digital WPI, 1999. https://digitalcommons.wpi.edu/etd-theses/906.
Повний текст джерелаАнотація:
"The National Aeronautics and Space Administration (NASA) plans to send a human exploration team to Mars within the next 25 years. In support of this effort Hamilton Standard Space Systems International (HSSSI), current manufacturers of the Space Shuttle spacesuit, began exploring alternative solutions for supporting an astronaut during a Martian surface exploration. A design concept was developed by HSSSI to integrate a minimally equipped Martian spacesuit with a robotic support cart capable of providing life support assistance, communications, and independent navigational functions. To promote NASA's visionary efforts and increase university relations, HSSSI partnered with Worcester Polytechnic Institute (WPI) to develop a proof-of-concept robotic support cart system, FIDOE - Fully Independent Delivery of Expendables. As a proof-of-concept system, the primary goal of this project was to demonstrate the feasibility of current technologies utilized by FIDOE's communication and controls system for future Martian surface explorations. The primary objective of this project was to procure selected commercial-off-the-shelf components and configure these components into a functional robotic support cart. The design constraints for this project, in addition to the constraints imposed by the Martian environment and HSSSI's Martian spacesuit, were a one-year time frame and a $20,000 budget for component procurement. This project was also constrained by the protocols defined by the NASA demonstration test environment. The final design configuration comprised of 37 major commercial off-the-shelf components and three individual software packages that integrated together to provide FIDOE's communications and control capabilities. Power distribution was internally handled through a combination of a main power source and dedicated power supplies. FIDOE also provided a stowage area for handling assisted life support systems and geological equipment. The proof-of-concept FIDOE system proved that the current technologies represented by the selected components are feasible applications for a Mars effort. Specifically, the FIDOE system demonstrated that the chosen technologies can be integrated to perform assisted life support and independent functions. While some technologies represented by the proof-of-concept system may not adequately address the robustness issues pertaining to the Mars effort, e.g., voice recognition and power management, technology trends indicate that these forms of technology will soon become viable solutions to assisting an astronaut on a Martian surface exploration."
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Chhatpar, Siddharth R. "Localization for Robotic Assemblies with Position Uncertainty." Case Western Reserve University School of Graduate Studies / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=case1133555909.
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Patel, Ketan. "Frequency and time domain contact parameter estimation for space robotic operations." Thesis, McGill University, 2003. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=19579.
Повний текст джерелаАнотація:
Computer simulations play a significant role in the development and operation of space systems because of the difficulty in performing ground-based hardware testing and onorbit tests are impossible before the launch of these systems. Hence, accurate modeling and simulation of space robotic tasks involving contact is very crucial. This in turn implies that accurate model (contact) parameters, used as inputs to the software to represent the contact operation being simulated, are imperative. In this work, we addressed the contact parameter estimation problem for simple contacting geometries (one-point contact) and complex contacting geometries (multiple-point contact). Several frequency domain identification strategies were applied to one-point contact parameter estimation problem to estimate contact stiffness and damping. The performance of these frequency domain algorithms was evaluated and compared with time domain identification algorithms. The identification algorithm for multiple point contact scenario to estimate contact stiffness, damping and coefficient of friction was also investigated. We determined the cause for poor estimation results obtained with previous implementation of this identification algorithm and were able to improve the performance of the algorithm. Finally, a thorough evaluation of sensitivity of the algorithm to noise in measured data was conducted.
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McCarthy, Bryan Patrick. "Flight hardware development for a space-based robotic assembly and servicing testbed." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/90780.
Повний текст джерелаАнотація:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2014.Cataloged from PDF version of thesis. "This material is declared a work of the United States Government and is not subject to copyright protection in the United States."
Includes bibliographical references (pages 161-165).
Robotic assembly and servicing missions in space are becoming increasingly attractive for their potential to expand space capabilities and save money. Future missions may construct large systems on-orbit, service existing space assets, or remove retired satellites from valuable locations in the Geosynchronous orbit, among other things. Due to the high-risk nature of these missions, rigorous test facilities are a necessity. This thesis examines the existing testbeds for robotic assembly and servicing technologies and argues that a new, space-based testbed is necessary. It presents initial ground testing results for applicable control concepts, which also indicate that the dynamic authenticity associated with a six-degree-of-freedom on-orbit testbed is crucial for further development. This thesis then presents the requirements for such a testbed and describes the SPHERES Facility on the International Space Station. The facility, created by members of MIT's Space Systems Laboratory, has many of the desired testbed characteristics and can be easily expanded to meet the requirements through a hardware augmentation known as the Halo. The thesis develops the requirements for the Halo and then steps through the conception, design, and implementation of that hardware, along with the planned operations aboard the International Space Station.
by Bryan Patrick McCarthy.
S.M.
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Romero, Ignacio. "Dynamic analysis and control system design of a deployable space robotic manipulator." Thesis, Cranfield University, 2001. http://dspace.lib.cranfield.ac.uk/handle/1826/13328.
Повний текст джерелаАнотація:
This thesis presents a dynamic analysis and a control system for a flexible space manipulator, the Deployable Robotic Manipulator or DRM, which has a deployable/retractable link. The link extends (or retracts) from the containing slewing link of the manipulator to change the DRM's length and hence its workspace. This makes the system dynamics time varying and therefore any control strategy has to adapt to this fact. The aim of the control system developed is to slew the manipulator through a predetermined angle given a maximum angular acceleration, to reduce flexural vibrations of the manipulator and to have a certain degree of robustness, all of this while carrying a payload and while the length of the manipulator is changing. The control system consists of a slewing motor that rotates the manipulator using the open-loop assumed torque method and two reaction wheel actuators, one at the base and one at the tip of the manipulator, which are driven by a closed-loop damping control law. Two closed-loop control laws are developed, a linear control law and a Lyapunov based control law. The linear control law is based on collocated output feedback. The Lyapunov control law is developed for each of the actuators using Lyapunov stability theory to produce vibration control that can achieve the objectives stated above for different payloads, while the manipulator is rotating and deploying or retracting. The response of the system is investigated by computer simulation for two-dimensional vibrations of the deployable manipulator. Both the linear and Lyapunov based feedback control laws are found to eliminate vibrations for a range of payloads, and to increase the robustness of the slewing mechanism to deal with uncertain payload characteristics.
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Viggh, Herbert E. M. "Artificial intelligence applications in teleoperated robotic assembly of the EASE space structure." Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/39358.
Повний текст джерелаАнотація:
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.Bibliography: leaf 197.
by Herbert E. M. Viggh.
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, and Dept. of Electrical Engineering and Computer Science, 1988.
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Hall, Jason S. "Design and integration of a three degrees-of freedom robotic vehicle with control moment gyro for the Autonomous Multiagent Physically Interacting Spacecraft (AMPHIS) testbed." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; National Technical Information Service [distributor], 2006. http://www.dtic.mil/dtic/.
Повний текст джерелаАнотація:
Thesis (M.S. in Astronautical Engineering)--Naval Postgraduate School, September 2006."September 2006." Thesis advisor: Romano, Marcello. Performed by Naval Postgraduate School, Monterey, CA. Includes bibliographical references (p. 73-74). Also available online from the Naval Postgraduate School (NPS), Dudley Knox Library site and the DTIC Online site.
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Curtis, Phillip. "Frequency-domain range data registration for three-dimensional space modeling in robotic applications." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27120.
Повний текст джерелаАнотація:
The registration method presented in this thesis does not require an initial estimation of the transformation, and avoids problems of the classical iterative techniques by employing the multi-dimensional Fourier transform, which decouples the estimation of rotational parameters from the estimation of the translational parameters. Using the magnitude of the Fourier transform, an axis of rotation is estimated by determining the line that contains the minimal energy differential between two rotated 3-D images. By using a coarse to fine approach, the angle of rotation is determined from the minimal sum squared difference between the two rotated image. As the Fourier transform introduces hermitical symmetry in the rotation, the proper solution is identified through the use of a phase-correlation technique, and the estimate of translation is simultaneously obtained. Experimental results illustrate the accuracy that can be achieved by the proposed registration technique and performance is compared with that of the classical iterative closest point method.
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ALHAMMADI, Khalid A. "Applying Wide Field of View Retroreflector Technology to Free Space Optical Robotic Communications." NCSU, 2006. http://www.lib.ncsu.edu/theses/available/etd-10012006-175414/.
Повний текст джерелаАнотація:
This dissertation deals with research into the design and implementation of a new wide field of view retroreflector device for autonomous mobile robot communication. In order to demonstrate effective and efficient optical communication for robots, the research had first to address the problem of expanding the field of view of retroreflectors. Experimentation shows that the device is beneficial for robotics navigation and localization, and for underwater optical communication. The retroreflector is similar to other conventional cat?s-eye retroreflector designs, but the use of a fisheye lens and compensating lens to collimates the light before it enters a spherical retroreflector was found facilitate a wider field of view. Using this approach the retroreflector FOV was increased to 180 degrees although at the expense of divergence angle due to spherical aberration. The combination of both a laser transceiver unit and the retroreflector formed a very useful device for several short-range wireless optical communication scenarios including robot to robot communication in situations whereby navigation and localization was executed for collaborating robots and potentially underwater optical communication in turbid water. For ease in testing and implementation visible and near infrared wavelengths were used with a relatively low speed, polarization independent, liquid crystal modulator. While the data rate and range of the tested system are limited, the results of the project indicate that with high speed optical modulators and a suitable pointing and tracking system that collaborative robot activities and robot to robot communications can be substantially advance by using free space optical communications with wide field of view retroreflectors.
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Chuang, Ming-Chuen. "The application of multidimensional scaling to a robotic vision model of space perception /." Thesis, Connect to Dissertations & Theses @ Tufts University, 1988.
Знайти повний текст джерелаАнотація:
Thesis (Ph.D.)--Tufts University, 1988.Submitted to the Dept. of Engineering Design. Includes bibliographical references. Access restricted to members of the Tufts University community. Also available via the World Wide Web;
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Lichter, Matthew D. (Matthew Daniel) 1977. "Concept development for lightweight binary-actuated robotic devices, with application to space systems." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8546.
Повний текст джерелаАнотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2001."June 2001."
Includes bibliographical references (leaves 66-71).
Exploratory space missions of the future will require robotic systems to lead the way by negotiating and mapping very rough terrain, collecting samples, performing science tasks, and constructing facilities. These robots will need to be adaptable and reconfigurable in order to achieve a wide variety of objectives. Conventional designs using gears, motors, bearings, encoders, and many discrete components will be too complex, heavy, and failure-prone to allow highly-reconfigurable systems to be feasible. This thesis develops new concepts that may potentially enable the design of self-transforming space explorers. The vision of this research is to integrate compliant bistable mechanisms with large numbers of binary-actuated embedded smart materials. Compliant mechanisms are lightweight and robust. Binary actuation is the idea of using an actuator in a discrete on/off manner rather than in a continuous manner. A binary actuator is easy to control and robust, and by using tens or hundreds of binary actuators, one can approximate a continuous system, much like a digital computer can approximate an analog system. The first part of this thesis examines the fundamental planning issues involved with systems having large numbers of binary actuators. The notion of a workspace is described and applied to the optimization of a manipulator design. Methods for solving the forward and inverse kinematics are discussed in the context of this application. These methods are extended to the trajectory and locomotion planning problems. Methods for planning systems of substantial complexity are developed in the context of exploratory space robotics. The second part of this thesis presents experimental demonstrations that examine elements of the concept. The results of several design prototypes are discussed.
by Matthew D. Lichter.
S.M.
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Hamann, Heiko. "Space-Time Continuous Models of Swarm Robotic Systems Supporting Global-to-Local Programming /." [S.l. : s.n.], 2008. http://digbib.ubka.uni-karlsruhe.de/volltexte/1000009904.
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RICCOBONO, DARIO. "Space Exploration Robotic Systems ¿ Sample Chain Analysis and Development for Enceladus Surface Acquisition." Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2957730.
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Ellery, Alexander. "Systems design and control of a freeflying space robotic manipulator system (ATLAS) for in-orbit satellite servicing operations." Thesis, Cranfield University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.359995.
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Wood, John Travis Ian. "Almeria-Mars: A web based robotic simulation." CSUSB ScholarWorks, 2003. https://scholarworks.lib.csusb.edu/etd-project/33.
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Ono, Masahiro S. M. Massachusetts Institute of Technology. "Experimental validation of the efficient robotic transportation algorithm for large-scale flexible space structures." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/42199.
Повний текст джерелаАнотація:
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2007.Includes bibliographical references (p. 77-79).
A new large space structure transportation method proposed recently is modified and experimentally validated. The proposed method is to use space robots' manipulators to control the vibration, instead of their reaction jets. It requires less fuel than the reaction jet-based vibration control methods, and enables quick damping of the vibration. The key idea of this work is to use the decoupled controller, which controls the vibration mode and rigid body mode independently. The performance of the proposed method and the control algorithm is demonstrated and quantitatively evaluated by both simulation and experiments.
by Masahiro Ono.
S.M.
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Winters, Amy. "Why does soft matter? : exploring the design space of soft robotic materials and programmable machines." Thesis, Royal College of Art, 2017. http://researchonline.rca.ac.uk/2842/.
Повний текст джерелаАнотація:
This practice-led research examines how the emerging role of the ‘material designer’ can enrich the design process in Human Computer Interaction. It advocates embodiment as a design methodology by employing tacit knowledge; focusing on a subjective, affective and visceral engagement with computational materials. This theoretical premise is explored by drawing on the fields of soft robotics, as well as transitive and programmable materials. With the advancement and democratisation of physical computing and digital fabrication, it is now possible for designers to process, or even invent and composite new programmable materials, merging both their physical and digital capabilities. This study questions how the notion of soft can develop a distinct space for the design of novel user interfaces. This premise is applied through a phenomenological understanding of technology development—as opposed to generating data which is solely reliant on observable and measurable evidence. Bio-engineered technologies such as electroactive polymer, pneumatic and hydraulic actuator systems are deployed to explore a new type of responsive, sensual and organic materiality. Here, traditional medical diagnostic applications such as microfluidics are transferred into the experimental contexts of textiles and wearable technology. Therefore, by thinking through physical prototyping, a bodily engagement with materials and the interpretation of the elements of water, air and steam; a designer can create a fertile ground for a polyvalent imagination. Together, this methodology is used as a qualitative system for collecting and evaluating data on the significance of design-led thinking in soft robotic materials. This research concludes that there are insights to be gained from the creative practice and exploratory methods of material-led thinking in HCI that can contribute to the commercial research and development fields of wearable technology. Outputs include a prototype box of ‘Invention Tools’ for textile designers and the identification and creation of the role 04 of embodied making in relation to the imagination. Further, soft composite hybrids, incorporating elastomers, have potential applications in colour, texture and shape changing surfaces. Thus, this thesis argues that it is within the creative soft sciences that the next advancements in soft robotics may emerge.
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Arora, Akash. "Multi-Modal Active Perception for Robotic Information Gathering in Science Missions." Thesis, The University of Sydney, 2018. http://hdl.handle.net/2123/18415.
Повний текст джерелаАнотація:
Information gathering using mobile robots in dangerous and remote environments such as deep sea, underground, and outer space has significantly improved humanity's ability to understand the world. Typically in such science missions, a robot's role is limited to that of a sensing platform which passively gathers data along prescribed waypoints. Higher level decision making such as planning where to go in the context of mission objectives, making inferences from observations, and deciding which sensing modalities to deploy, is largely handled by a supervisory science team working remotely. However, communication constraints can hinder these processes and hence the rate of scientific progress. This thesis presents a novel active perception approach to science missions that aims to reduce robots' reliance on human supervision and improve science productivity by encoding an approximation of scientists' domain knowledge, inference, and decision making processes on-board the robot. Science missions can involve two complexities that are not addressed by existing approaches to robotic information gathering. Firstly, the variables of scientific interest may not be directly observable from on-board sensors, and instead require combining multi-modal proxy measurements with non-trivial amounts of scientific domain knowledge to infer. Secondly, robots may be equipped with multiple sensing modalities which measure different environmental variables and have some sensing cost associated with their usage. The first contribution of the thesis is the formulation of these requirements into a new information gain maximization sensor planning problem called scientific information gathering. An initial solution is presented which addresses scientific information gathering as two separate subproblems- estimating the variables of interest from sensor data by encoding an approximation of scientific domain knowledge, and planning paths and sensing actions that maximize the information gained on the variable of interest. Efficient solutions to these subproblems form the next two contributions. To tackle the first subproblem, a Bayesian network (BN) architecture that creates a probabilistic mapping between observations and the variables of scientific interest is proposed. The BN intuitively and jointly models critical aspects of scientific knowledge, as well as other prior knowledge such as sensor and classifier models, while the proposed network structure allows the robot to robustly handle noisy observations, has fast inference times, allows recursive estimation of key variables, and can utilize online parameter tuning to overcome initial modeling uncertainties. To address the second subproblem, a sampling-based forward simulation approach based on Monte Carlo tree search (MCTS) is proposed, which exploits the domain knowledge encoded in the BN and efficiently plans informative sensing actions with multiple sensing modalities in partially observable environments. The computational complexity of the BN-MCTS active perception framework does not grow with the number of observations taken, and allows long horizon planning in an anytime manner, making it highly applicable to field robots operating in large scale environments. The final contribution of the thesis is the application and evaluation of the proposed approach to three instances of scientific information gathering with unique mission constraints. The first is a Mars exploration mission where the robot is required to infer the geological type of locations in the environment by autonomously planning informative paths and observing geological features. The second scenario is modelled on the NASA Mojave Volatiles Prospector (MVP) project, where the robot attempts to autonomously refine errors in prior scientific knowledge during the mission. The final scenario explores how the active perception approach can be applied to next generation autonomous entry descent and landing (EDL) missions, which requires reasoning about temporal constraints. Extensive simulation results with synthetic and real data show that the proposed active perception approach significantly outperforms both myopic and passive approaches. Algorithms were also implemented on a prototype planetary rover along with supporting subsystems such as image processing modules, localization, and control. Autonomous end to end planning and execution of a science mission is demonstrated on an analog Mars environment, and key practical challenges in deploying the approach on real systems are discussed.
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Terán, Espinoza Antonio. "Probabilistic and learning approaches through concurrent parameter estimation and adaptive control for in-space robotic assembly." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/112480.
Повний текст джерелаАнотація:
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2017.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 143-148).
Autonomous and multi-agent space operations within the context of in-space robotic servicing, assembly, and debris removal have received particular attention from both research and industry communities. The presence of uncertainties and unknown system parameters amongst these missions is prevalent, as they primarily deal with unknown or uncooperative target objects, e.g., asteroids or unresponsive, unsupervised tumbling spacecraft. To lower the inherent risk associated with these types of operations, possessing an accurate knowledge of the aforementioned characteristics is essential. In order to achieve this, approaches that employ a unified framework between parameter estimation and learning methodologies through a Composite Adaptation (CA) structure are presented. Furthermore, to evaluate the likelihood of mission success or objective completion, a probabilistic approach upon the system's operations is introduced; by employing probability distributions to model the control system's response and pairing these with the analysis of objectives' requirements and agents' characteristics, the calculation of on-board feasibility and performance assessments is presented. A formulation for the estimator and the controllers is developed, and results for the adaptive approach are demonstrated through hardware implementation using MIT's Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) ground testing facilities. On-orbit test session data is analyzed, and further improvements upon the initial learning approach are verified through simulations.
by Antonio Terán Espinoza.
S.M.
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Wall, D. G. "A graph-theory-based C-space path planner for mobile robotic manipulators in close-proximity environments." Thesis, Cranfield University, 2016. http://dspace.lib.cranfield.ac.uk/handle/1826/10262.
Повний текст джерелаАнотація:
In this thesis a novel guidance method for a 3-degree-of-freedom robotic manipulator arm in 3 dimensions for Improvised Explosive Device (IED) disposal has been developed. The work carried out in this thesis combines existing methods to develop a technique that delivers advantages taken from several other guidance techniques. These features are necessary for the IED disposal application. The work carried out in this thesis includes kinematic and dynamic modelling of robotic manipulators, T-space to C-space conversion, and path generation using Graph Theory to produce a guidance technique which can plan a safe path through a complex unknown environment. The method improves upon advantages given by other techniques in that it produces a suitable path in 3-dimensions in close-proximity environments in real time with no a priori knowledge of the environment, a necessary precursor to the application of this technique to IED disposal missions. To solve the problem of path planning, the thesis derives the kinematics and dynamics of a robotic arm in order to convert the Euclidean coordinates of measured environment data into C-space. Each dimension in C-space is one control input of the arm. The Euclidean start and end locations of the manipulator end effector are translated into C-space. A three-dimensional path is generated between them using Dijkstra’s Algorithm. The technique allows for a single path to be generated to guide the entire arm through the environment, rather than multiple paths to guide each component through the environment. The robotic arm parameters are modelled as a quasi-linear parameter varying system. As such it requires gain scheduling control, thus allowing compensation of the non-linearities in the system. A Genetic Algorithm is applied to tune a set of PID controllers for the dynamic model of the manipulator arm so that the generated path can then be followed using a conventional path-following algorithm. The technique proposed in this thesis is validated using numerical simulations in order to determine its advantages and limitations.
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Huang, Jian, Pei Di, Toshio Fukuda, 敏男 福田, and Takayuki Matsuno. "Fault-tolerant Mating Process of Electric Connectors in Robotic Wiring Harness Assembly Systems." IEEE, 2008. http://hdl.handle.net/2237/11149.
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Hosseini, Shahrzad. "Human-robotic performance quantification under time-delay for lunar mission control scenarios." Thesis, Toulouse, ISAE, 2020. http://www.theses.fr/2020ESAE0019.
Повний текст джерелаАнотація:
La stratégie d'exploration spatiale de l'agence exige une approche efficace et abordable concernant l’opération et le contrôle des systèmes spatiaux. Dans le programme d'exploration une approche optimale, intégrant à la foi acteurs humains en orbite et au sol, doit être trouvée. Dans l'activité proposée nous passons à l’étape suivante: une analyse systématique des données expérimentales existantes et l'exécution de nouvelles expériences pour déterminer l'approche la plus efficace et abordable de technologies et opérations homme-robot intégrés. Dans un premier temps, des données expérimentales existantes de METERON (ESA), mais aussi de grandes bases de données issues d'autres opérations non spatiales, seront analysées et fourniront une métrique claire de la performance des opérations par rapport aux paramètres quantitatifs des propriétés de lien de communication, les capacités des actifs robotiques, le niveau d'automatisation et l'environnement de l'opérateur. La deuxième phase de l'étude définira et mettra en œuvre des expériences basées au sol abordable avec des actifs robotiques déployés dans des environnements analogues et des opérateurs placés dans des environnements de simulation. La troisième et dernière phase de l'activité se terminera par la rédaction de trois documents, en plus de la thèse de doctorat: 1) Manuel de formation d’équipages pour l’opération des technologies homme-robot dans le cadre des missions d’exploration de l'ESA 2) Recommandations pour l'évaluation des performances humaine pour les opérations homme-robots dans le cadre de la sélection des astronautes 3) Un document d’évaluation de la technologie de coopération homme-robotThe Space Exploration Strategy of the Agency requires an affordable and efficient approach to operating and controlling space systems. In the exploration programme an optimum approach to integrate human decision makers in orbit and on the ground must be found. In the proposed activity the next logical step is taken: a systematic analysis of existing experimental data and execution of new experiments to find the most efficient and affordable approach to human-robotic integrated technology and operations. In a first phase, existing experimental data from METERON, but also large datasets from non- space operations will be processed to provide a clear metric of operations performance with respect to quantitative parameters of communication link properties, robotic asset capabilities, level of automation, and operator environment. The second phase of the study will define and implement affordable ground-based experiments with robotic assets deployed in analogue environments and operators hosted in a simulation environment. The third and final phase of the activity will culminate in the drafting of three documents in addition to the PhD thesis: 1) Crew-training manual for operating human-robotic technology on ESA exploration missions 2) Guideline for assessing human performance for human-robotic operations in the frame of astronaut selection 3) Human-robotic technology assessment document
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Sherry, Marion Mattis 1945. "AUTOMATED AND ROBOTIC TECHNIQUES FOR LABORATORY FLUID HANDLING IN MICROGRAVITY ON THE SPACE STATION (ISOELECTRIC FOCUSING, NASA, ELECTROPHORESIS, HUMAN/MACHINE INTERFACE, AUTOANALYZER)." Thesis, The University of Arizona, 1986. http://hdl.handle.net/10150/276415.
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Du, Minzhen. "Assessment of a Low Cost IR Laser Local Tracking Solution for Robotic Operations." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/103320.
Повний текст джерелаАнотація:
This thesis aimed to assess the feasibility of using an off-the-shelf virtual reality tracking system as a low cost precision pose estimation solution for robotic operations in both indoor and outdoor environments. Such a tracking solution has the potential of assisting critical operations related to planetary exploration missions, parcel handling/delivery, and wildfire detection/early warning systems. The boom of virtual reality experiences has accelerated the development of various low-cost, precision indoor tracking technologies. For the purpose of this thesis we choose to adapt the SteamVR Lighthouse system developed by Valve, which uses photo-diodes on the trackers to detect the rotating IR laser sheets emitted from the anchored base stations, also known as lighthouses. Some previous researches had been completed using the first generation of lighthouses, which has a few limitations on communication from lighthouses to the tracker. A NASA research has cited poor tracking performance under sunlight. We choose to use the second generation lighthouses which has improved the method of communication from lighthouses to the tracker, and we performed various experiments to assess their performance outdoors, including under sunlight. The studies of this thesis have two stages, the first stage focused on a controlled, indoor environment, having an Unmanned Aerial Vehicle (UAS) perform repeatable flight patterns and simultaneously tracked by the Lighthouse and a reference indoor tracking system, which showed that the tracking precision of the lighthouse is comparable to the industrial standard indoor tracking solution. The second stage of the study focused on outdoor experiments with the tracking system, comparing UAS flights between day and night conditions as well as positioning accuracy assessments with a CNC machine under indoor and outdoor conditions. The results showed matching performance between day and night while still comparable to industrial standard indoor tracking solution down to centimeter precision, and matching simulated CNC trajectory down to millimeter precision. There is also some room for improvement in regards to the experimental method and equipment used, as well as improvements on the tracking system itself needed prior to adaptation in real-world applications.Master of Science
This thesis aimed to assess the feasibility of using an off-the-shelf virtual reality tracking system as a low cost precision pose estimation solution for robotic operations in both indoor and outdoor environments. Such a tracking solution has the potential of assisting critical operations related to planetary exploration missions, parcel handling/delivery, and wildfire detection/early warning systems. The boom of virtual reality experiences has accelerated the development of various low-cost, precision indoor tracking technologies. For the purpose of this thesis we choose to adapt the SteamVR Lighthouse system developed by Valve, which uses photo-diodes on the trackers to detect the rotating IR laser sheets emitted from the anchored base stations, also known as lighthouses. Some previous researches had been completed using the first generation of lighthouses, which has a few limitations on communication from lighthouses to the tracker. A NASA research has cited poor tracking performance under sunlight. We choose to use the second generation lighthouses which has improved the method of communication from lighthouses to the tracker, and we performed various experiments to assess their performance outdoors, including under sunlight. The studies of this thesis have two stages, the first stage focused on a controlled, indoor environment, having an Unmanned Aerial Vehicle (UAS) perform repeatable flight patterns and simultaneously tracked by the Lighthouse and a reference indoor tracking system, which showed that the tracking precision of the lighthouse is comparable to the industrial standard indoor tracking solution. The second stage of the study focused on outdoor experiments with the tracking system, comparing UAS flights between day and night conditions as well as positioning accuracy assessments with a CNC machine under indoor and outdoor conditions. The results showed matching performance between day and night while still comparable to industrial standard indoor tracking solution down to centimeter precision, and matching simulated CNC trajectory down to millimeter precision. There is also some room for improvement in regards to the experimental method and equipment used, as well as improvements on the tracking system itself needed prior to adaptation in real-world applications.
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Salsi, Matteo. "Foam Making Sense - Integration of agent-based logics, behavioral robotic deposition and material feedback for multi-performance ridged shells, with a case study of an open space enhancer integration of agent-based logics, behavioral robotic deposition and material feedback for multiperformance ridged shells, with a case study of an open space enhancer." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2018.
Знайти повний текст джерелаАнотація:
La seguente tesi di ricerca affronta il progetto architettonico da un punto di vista multidisciplinare, integrando biomimetica, informatica, computer vision e robotica. L’indagine si focalizza sull’interazione via feedback tra un robot, utilizzato per la deposizione di materiale, e un algoritmo basato su sistemi complessi ispirati al mondo biologico. L’obiettivo è quello di esplorare le potenzialità morfologiche, costruttive ed espressive generate dall’influenza reciproca di design computazionale e comportamento materico reale.
Alla base di questa ricerca vi è l’approfondimento dei sistemi stigmergici, utilizzati nella programmazione dell’algoritmo che definisce le traiettorie eseguite dal robot, e la messa a punto di un sistema di visione e scansione tridimensionale che agisce come mezzo di comunicazione tra ambiente reale e digitale. Lo sviluppo di questi temi ha portato alla realizzazione di un processo iterativo di scansione e deposizione che genera un risultato non determinabile a priori ma che è frutto della negoziazione tra le intenzioni progettuali, i limiti fabbricativi, le performance richieste e il comportamento del materiale.
I risultati ottenuti hanno portato alla realizzazione di superfici architettoniche in vetroresina dove il materiale depositato, schiuma poliuretanica, sviluppa un sistema di nervature che integrano performance strutturali, funzionali e ornamento. I mold necessari alla laminazione del fibrocomposito sono stati realizzati per mezzo di superfici rigate e robotic Hot-Wire Cutting, tecnica che consente l’impiego di materiali riciclabili di relativa economicità e il taglio di grandi superfici in tempi brevi.
Infine, è stata studiata l’applicazione architettonica del sistema con la realizzazione di un open-space polifunzionale all’interno di un progetto di riqualificazione urbana attualmente in atto presso il Parco Innovazione delle Ex-Officine Reggiane a Reggio Emilia.
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Barlas, Fırat Alizade Rasim. "Design Of A Mars Rover Suspension Mechanism /." [S.l. : s.n.], 2004. http://library.iyte.edu.tr/tezler/master/makinamuh/T000341.pdf.
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Baskar, Ajith Kumar. "Evaluation Methodology Of Lubricants For Space Exploration Robotics." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-81782.
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Bueno, José Nuno Almeida Dias. "Controle robusto para robô manipulador espacial planar de base livre flutuante com dois braços." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-31082017-093441/.
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Manipuladores robóticos têm ganhado cada vez mais importância em operações espaciais por poderem substituir humanos na realização de tarefas perigosas ou demasiadamente demoradas e repetitivas. Em destaque tem-se os manipuladores de base livre, por poderem ser acoplados a satélites ou estações espaciais e representarem um grande desafio para engenheiros de controle. Tais robôs possuem dois modos de operação: com base livre controlada e com base livre flutuante. No primeiro modo a base do manipulador tem atitude e translação controladas por jatos propulsores ou rodas de reação, de modo que o comportamento do robô se aproxima de um manipulador de base fixa. Porém, há um considerável consumo de combustível e energia elétrica, além de novos distúrbios que são inseridos no sistema. No segundo modo, considerado neste trabalho de mestrado, os controles da base são desligados durante a operação e ela pode mover-se livremente em resposta aos movimentos do braço. Embora tenha-se notável economia de combustível e energia elétrica, o acoplamento dinâmico entre base e braço deve ser considerado tanto na modelagem como no projeto do controlador. Para modelar o robô espacial considerado neste projeto foi aplicado o método do Manipulador Dinamicamente Equivalente, que mapeia um manipulador de base livre flutuante através de um robô sub-atuado de base fixa. Dessa forma é possível utilizar sobre robôs espaciais técnicas de controle já desenvolvidas para manipuladores terrestres. Este trabalho trata da análise de controladores robustos e adaptativo aplicados sobre um manipulador planar de base livre flutuante com dois braços para realizar a tarefa de seguimento de trajetórias definidas no espaço de tarefa. Os sistemas de controle considerados foram: Regulador Linear Quadrático Recursivo Robusto (RLQR), controlador H-infinito robusto e controlador adaptativo com modos deslizantes. Os resultados mostraram que os controladores apresentaram desempenhos distintos mas ainda assim foram capazes de realizar a tarefa de seguir trajetórias no espaço de trabalho com erros de acompanhamento bastante pequenos. Foi elaborada também uma comparação quantitativa através de índices de desempenho considerando integral de torques e norma L2 de erros de acompanhamento.Robotic manipulators gained greater importance in space operations by being able to replace humans in dangerous or very long and repetitive tasks. Free-floating manipulators are highlighted, because they can be coupled to satellites or space stations and represent a great challenge to control engineers. These robots have two operation modes: controlled base and free-floating base. In the first mode, the base has its attitude and translation controlled by propulsion jets or reaction wheels, so that the robot behavior is similar to a fixed-base manipulator. However, there is considerable fuel and electrical energy consumption, besides additional disturbances inserted in the system. In the second mode, which is considered in this work, the base is not controlled during operation and is able to move freely in response to movements of the arm. Even though there is a remarkable fuel and electrical energy saving, the dynamic coupling between base and arm must be taken into account during modelling and controller design. To model the space manipulator considered in this work the Dynamically Equivalent Manipulator method was used, which maps a free-floating manipulator into a underactuated fixed-base manipulator. Thus, it is possible to apply known control techniques for terrestrial manipulators on free-floating ones. This work discusses robust and adaptive controllers applied on a planar dual-arm free-floating space manipulator in order to track trajectories defined in the workspace. The considered control systems are: Robust Recursive Linear Quadratic Regulator, Robust H-infinity and Adaptive Sliding Modes. Results showed that the controllers had distinct performances but were still able to perform trajectory tracking in workspace with very small tracking errors. A quantitative comparison was also elaborated with performance indexes considering integral of torques and L2 norm of tracking errors.
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Sarjoughian, Hessam Seyed 1959. "Intelligent agents and hierarchical constraint-driven diagnostic units for a teleoperated fluid handling laboratory." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/277219.
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The purpose of this thesis is to study and develop intelligent agents for the forthcoming Space Station Freedom. Relevant intelligent capabilities, which are necessary in a semi-autonomous laboratory environment, are assumed to be built into a robot. An intelligent controller based on the DEVS formalism and the event-based approach is considered for an experiment. We shall discuss multiple model representations, where each model is tailored toward a specific purpose. Considering the necessity of diagnostic capabilities, we shall discuss the possibility of hierarchical diagnostic units for the Space Station. A high-level diagnostic unit is implemented on the basis of an artificial intelligence scheme and a hierarchy of diagnosers. This thesis also discusses the need for real-time diagnostic units and real-time data acquisition. We shall consider a constraint driven diagnostic unit which utilizes the time/cost (i.e., the actual associated cost or time in inquiring information necessary for a diagnosis process) criterion in an attempt to locate the cause(s) of failures.
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Verbryke, Matthew R. "Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot." University of Cincinnati / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.
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Law, Po-lun. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space /." Hong Kong : University of Hong Kong, 1995. http://sunzi.lib.hku.hk/hkuto/record.jsp?B18973097.
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Thesis (M. Phil.)--University of Hong Kong, 1995.Cover title: Model-based variable-structure control of robot maniqulators in joint space and in Cartesian space. Includes bibliographical references (leaf 161-175).
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Palmer, Andrew W. "Belief Space Scheduling." Thesis, The University of Sydney, 2015. http://hdl.handle.net/2123/14280.
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This thesis develops the belief space scheduling framework for scheduling under uncertainty in Stochastic Collection and Replenishment (SCAR) scenarios. SCAR scenarios involve the transportation of a resource such as fuel to agents operating in the field. Key characteristics of this scenario are persistent operation of the agents, and consideration of uncertainty. Belief space scheduling performs optimisation on probability distributions describing the state of the system. It consists of three major components---estimation of the current system state given uncertain sensor readings, prediction of the future state given a schedule of tasks, and optimisation of the schedule of the replenishing agents. The state estimation problem is complicated by a number of constraints that act on the state. A novel extension of the truncated Kalman Filter is developed for soft constraints that have uncertainty described by a Gaussian distribution. This is shown to outperform existing estimation methods, striking a balance between the high uncertainty of methods that ignore the constraints and the overconfidence of methods that ignore the uncertainty of the constraints. To predict the future state of the system, a novel analytical, continuous-time framework is proposed. This framework uses multiple Gaussian approximations to propagate the probability distributions describing the system state into the future. It is compared with a Monte Carlo framework and is shown to provide similar discrimination performance while computing, in most cases, orders of magnitude faster. Finally, several branch and bound tree search methods are developed for the optimisation problem. These methods focus optimisation efforts on earlier tasks within a model predictive control-like framework. Combined with the estimation and prediction methods, these are shown to outperform existing approaches.
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Liu, Jason Hon Wei. "Robotic minimally invasive tools for restricted access confined spaces." Thesis, University of Leeds, 2016. http://etheses.whiterose.ac.uk/15489/.
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A study has been performed in the design and fabrication of deployable borehole robots into confined spaces. Three robot systems have been developed to perform a visual survey of a subterranean space where for any reason humans could not enter. A 12mm diameter snake arm was designed with a focus on the cable tensions and the failure modes for the components that make the snake arm. An iterative solver was developed to model the snake arm and algorithmically calculate the snake arms optimal length with consideration of the failure modes. A robot was developed to extend the range capabilities of borehole robots using reconfigurable borehole robots based around established actuation and manufacturing techniques. The expected distance and weight requirements of the robot are calculated alongside the forces the robot is required to generate in order to achieve them. The whegged design incorporated into the tracks is also analysed to measure the capability of the robot over rough terrain. Finally, the experiments to find the actual driving forces of the tracks are performed and used to calculate the actual range of the robot in comparison to the target range. The potential of reconfigurable mobile robots for deployment through boreholes is limited by the requirement for conventional gears, motors, and joints. This chapter explores the use of smart materials and innovative manufacturing techniques to form a novel concept of a self-folding robotic joint for a self-assembling robotic system. The design uses shape memory alloys fabricated in laminate structures with heaters to create folding structures.
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Khan, Rubaiyat. "Robotic user interface enabled interactive dialogue with intelligent spaces." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/37209.
Повний текст джерелаАнотація:
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.Includes bibliographical references (leaves 81-86).
Users can communicate with ubiquitous computing environments by natural means such as voice communication. However, users of the Intelligent Room at MIT CSAIL, a ubiquitous environment, have reported dissatisfaction communicating with the room due to the absence of a focal point and the room's inability to hold a dialogue. To enrich the user's interactive experience, we integrated a Robotic User Interface to the room, and augmented the room's natural language system to enable it to hold dialogues with users. The robotic teddy bear serves two purposes. First, it acts as the focal point of the room which users can address. Second, it enables the room to physically communicate with users by robotic gestures. We also incorporated a book recommendation system to illustrate the room's new ability to converse with users. These enhancements have heightened user experience in communicating with the Intelligent Room, as indicated by our user study.
by Rubaiyat Khan.
M.Eng.
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羅普倫 and Po-lun Law. "Model-based variable-structure control of robot manipulators in joint space and in Cartesian space." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1995. http://hub.hku.hk/bib/B31212463.
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York, Max. "Control systems for in-orbit microgravity facilities." Thesis, Bangor University, 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305975.
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Hartley, David Mark. "A study of motion interpolation in a finite twist image space." Thesis, University of Salford, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.301407.
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