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1
Jech, Filip. "Robotizovaný adaptivní systém pro přesné broušení mechanických dílů." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2021. http://www.nusl.cz/ntk/nusl-442433.
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The aim of diploma theses is the design of an adaptive robotic workplace. The theoretical part focus on the division of robotic systems and the technical description of individual devices that were used in the implementation of the solution. The practical part contains an analysis of solutions and optimization of the entire production process in terms of minimizing the trajectory, smoothness of movements, time interval, which were analyzed in RoboSim software and in Roboshop software source code was created. Part of the theses is the design for an adaptive production process. The result of the work is an algorithm for controlling robot movements between individual processes. The theses contain a variant solution and possible innovative solutions for possible expansion of the workplace.
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Voráček, Martin. "Obrábění pomocí robotů." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-231970.
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Diploma thesis presents a study focused at the current level of industrial robotsand ther applications in the machining process. It presents current technology used in the selected company to produce components for the automotive industry. Based on analysis of the finished products presents the possible ways of alternating the current technology to ensure the required quality of production. This thesis also includes a financial assessment of current technology.
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Mills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.
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This thesis investigates the problem of sensors used with mobile robots. Firstly, a colour sensor is considered, for its ability to detect objects having the three primary colours Red, Green and Blue (RGB). Secondly, an accelerometer was investigated, from which velocity was derived from the raw data using numerical integration. The purpose of the design and development of the sensors was to use them for robotic navigation and collision avoidance. This report presents the results of experiments carried out on the colour sensor and the accelerometer. A discussion of the results and some conclusions are also presented. It proved feasible to achieve the goal of detecting colours successfully but only for a limited distance. The accelerometer proved reliable but is not yet being applied in real time. Both the colour sensor and the accelerometer proved to be inexpensive. Some recommendations are made to improve both the colour sensor and the accelerometer sensors.
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Wallin, Marcus. "Robotic Illustration." Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-141680.
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Detta projekt åsyftade att möjliggöra för en industrirobot att illustrera godtyckliga digitalabilder på en plan yta. Detta uppnåddes genom att utrusta en manipulator med ett ritverktyg. Genom digital bildbehandling så kunde rörelsemönster genereras vilka matades till industriroboten för att den skulle kunna återskapa den digitala versionen. Roboten ritar med en teknik benämnd pointillism som innebär att endast punkter plottas. Resultatet blir en konkret svartvit representation av originalbilden. Projektet genomfördes på institutionen Industriell Produktion på Kungliga Tekniska Högskolan. Projektet är i sin natur väldigt inriktat på forskning och utveckling eftersom det går ut på skapandet av en teknik för att uppnå ett tydligt mål. Kontinuerlig utveckling var kopplat till målet för att förbättra resultatet från olika aspekter.<br>This project strived to enable an industrial robot to illustrate arbitrary digitized images on a planar surface. This was accomplished by equipping a robotic manipulator with a drawing utensil. Motion patterns were generated based on digital image processing and fed to the robot for it to imitate the digital version. The robot prints with a technique called pointillism, which implies that solely points are plotted. The result is a tangible black and white representation of the original image. The project was carried out in the Production Engineering facilities at the Royal Institute of Technology. The nature of the project is very research and development oriented as it deals with the creation of a technology to achieve an explicit goal. Continuous development was related to the goal to improve the result from different aspects.
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Burbridge, David. "Robotic football /." Leeds : University of Leeds, School of Computer Studies, 2003. http://www.leeds.ac.uk/cgi-bin/library/compst.pl?CAT=BSC&FILE=200304/burbidge.pdf.
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Paracencio, Luis Gustavo de Mello. "Projeto e montagem experimental de um manipulador robotico não-linear de dois graus de liberdade." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264672.
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Orientadores: Helder Anibal Hermini, Jose Manoel Balthazar<br>Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica<br>Made available in DSpace on 2018-08-06T08:25:11Z (GMT). No. of bitstreams: 1
Paracencio_LuisGustavodeMello_M.pdf: 4796765 bytes, checksum: 995f6c689cb11d91ba0a846b33152415 (MD5)
Previous issue date: 2005<br>Resumo: A partir de considerações de dinâmica não-linear aplicada à robótica, foi desenvolvida a montagem experimental de um manipulador de dois graus de liberdade em que à primeira junta é atuada e a segunda é sub-atuada. Para tal, foram estabelecidos os objetivos para a concepção do protótipo gerado. A montagem experimental foi realizada a partir do desenvolvimento de manipuladores de dois graus de liberdade, considerados rígidos, podendo ser futuramente estendidos a outros graus de liberdade com alguma flexibilidade. A partir dos resultados apresentados, puderam ser verificadas as vantagens e desvantagens da utilização das arquiteturas de controladores aplicadas ao comando de mecanismos robóticos<br>Abstract: From reasons of applied nonlinear dynamics to robotics, it was developed an experimental setting of manipulator of two degrees of freedom where to the first joint is acted and second is sub-acted. The objectives had been established for the conception of the generated archetype. The experiment was carried through the development of manipulators of two degrees of freedom considered rigid. It can be extended to other degrees of freedom with some flexibility in future. The advantages and disadvantages of the use of architectures of controllers could be identified for applied to the command of mechanisms robotics<br>Mestrado<br>Mecanica dos Sólidos e Projeto Mecanico<br>Mestre em Engenharia Mecânica
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Sobotka, Tomáš. "Návrh pracoviště s průmyslovým robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-379010.
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Design of robotic cell for welding operations at specific production part including unchangeable process technology. Design of subsystems provides required functions and abilities. Risk management of entire model and its transformation into Siemens Process Simulate simulation software including creation task-cycle simulation.
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Kallio, M. (Martti). "Robotin ohjelmointi ongelmanratkaisun kehittäjänä:luokanopettajakoulutuksen teknisen työn sivuaineopiskelijoiden käsityksiä robotin ohjelmointiprosessista." Master's thesis, University of Oulu, 2015. http://urn.fi/URN:NBN:fi:oulu-201505141531.
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Opetussuunnitelmauudistuksen myötä on vuoden 2014 perusopetuksen opetussuunnitelman perusteisiin sisällytetty ohjelmoinnin opetus. Ohjelmoinnin opetuksen perusteena on pidetty oppilaiden ongelmanratkaisutaitojen kehittämistä ja tulevaisuudessa tarvittavien taitojen kartuttamista. Se, miten ohjelmoinnin opetus tullaan opetusryhmäkohtaisesti toteuttamaan, riippuu pitkälti paikallisten opetussuunnitelmien sisällöstä ja opettajan tekemistä valinnoista opetuksen järjestämiseksi. Tällä Pro Gradu -tutkimuksella on selvitetty, miten robotiikan aihepiiriin sisällytetty ohjelmointi vastaa ongelmanratkaisuprosessia, sekä millaisia didaktisia haasteita on hyvä huomioida opetuksen suunnittelussa, kun ohjelmoinnin opetukseen käytetään robotiikan aihepiiriä.
Tässä tutkimuksessa on käytetty kvalitatiivista tutkimusotetta ja fenomenografista tutkimusstrategiaa. Tutkimusaineisto on kerätty teemahaastattelulla. Haastateltavina ovat olleet Oulun yliopiston kasvatustieteen tiedekunnan luokanopettajakoulutuksen teknisen työn sivuaineopiskelijat (N=5), jotka ovat osallistuneet robotiikkakurssille. Haastattelussa he ovat reflektoineet omakohtaista robotin ohjelmointiprosessiaan teemahaastattelussa esitettyjen kysymysten kautta. Tutkimustulokset ovat muodostettu haastateltavien käsityksiä systemaattisesti analysoiden.
Tutkimuksessa havaittiin robotin ohjelmointiprosessin olevan verrattavissa ongelmanratkaisuprosessiin. Mikäli ohjelmoinnin opetus järjestetään käyttäen robotiikan aihepiiriä, on opetuksen suunnittelussa kiinnitettävä huomiota didaktisiin haasteisiin, jotka muodostuvat sekä ohjelmointiprosessiin liittyvistä ohjelmoinnillisista ja ympäristöllisistä seikoista että oppilaaseen kohdistuvista kognitiivisiin vaatimuksista.
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Weber, Michael. "Robotic telescopes & Doppler imaging measuring differential rotation on long-period active stars /." Phd thesis, [S.l. : s.n.], 2004. http://deposit.ddb.de/cgi-bin/dokserv?idn=974318302.
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Igelmo, Victor. "Using a general robot programming system to control an industrial robot." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15722.
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Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operating System (ROS), Yet Another Robot Language (YARP), etc. These systems require more time to fully set up, but once they are set up supposedly they can be used for a lot of different applications and can be used on several industrial robots from different manufacturers. Currently, University of Skövde have robots from Universal Robots (UR) with several peripheral equipment which has limited control because the built-in language does not support it. Therefore, they need help with both investigating which robot system could be used and implementing that robot system. This thesis will prove the suitability of using ROS to control aforesaid hardware, fulfilling all the requirements. It will be also demonstrated the feasibility of ROS in the long-term, according to the future plans for this equipment in University of Skövde.
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Cuevas, Jiménez Erik Valdemar. "Intelligent robotic vision." kostenfrei, 2006. http://www.diss.fu-berlin.de/2006/665/index.html.
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Liu, Melody Grace. "Gelsight robotic fingertip." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/113503.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (page 28).<br>Tactile sensing is integral in robotic manipulation, enabling robot hands to identify objects and explore the environment. The gelsight tactile sensor designed in MIT CSAIL is able to reconstruct the surface topography of objects up to submicron accuracy. This thesis is focused on the integration of the gelsight tactile sensor into the MIT Team's gripper for the 2017 Amazon Robotics Challenge. The design of the sensor is dependent on the three manipulation primitives in the gripper platform: scooping, grasping, and suction. This paper discusses the primitives and the sensory inputs they would require to create more precise manipulation models. We then propose a gelsight tactile sensor around those primitives, creating a design that can recover shear, deflection, compliance, and contact area information. Lastly, we implement some of the image processing to recover deflection by creating a mapping between image points and ground truth vicon values, producing an 75% accuracy rate within a distance threshold, a value that can be improved with increased measurements and better image processing techniques. Further work focuses on image processing for shear, compliance, and contact area, to be integrated into the overall design for the 2017 ARC gripper.<br>by Melody Grace Liu.<br>S.B.
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MARKOVSKA, MARIA, and VIEIDER FELICIA GIHL. "Drawing robotic arm." Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226660.
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A drawing robot requires precise steering and high accuracy.The purpose with this project is to design a roboticarm with 3-dof that can be fed with a gray scale picture anddraw it on a paper. This thesis investigates which drawingtechnique that fits better for the robot, which controller isthe most suitable and what accuracy is achieved with thechosen controller. During the project a drawing robot iscreated and two different controllers are implemented andtested PD and PID. The implementation shows that PDcontrol is not working for this application. Therefore, PIDcontrol is the most suitable. Experiments are set up tomeasure the drawing accuracy using the PID-controller. Adrawing accuracy of ±11mm is achieved by the robot. Theachieved accuracy is a result depending on several factors,for instance the resolution of the potentiometers.<br>En ritande robot kräver en precis styrning och hög noggrannhet. Syftet med detta projekt är att skapa en robot arm med tre frihetsgrader som kan matas med en svartvit bild och rita upp den på ett papper. Projektet undersöker vilken ritteknik som är mest passande för ändamålet, vilken regulator som passar bäst samt vilken noggrannhet som uppnås för den ritade bilden. Under projektets gång skapas en ritande robot och två olika regulatorer testas och implementeras, PD- och PID-regulatorn. Implementeringen visar att en PD-regulator inte fungerar för denna applikation. PID-regulatorn är därför den lämpligaste. Experiment utförs med PID-regulatorn implementerad för att mäta den noggrannhet som roboten ritar med. Roboten uppnår en noggrannhet på ±11mm. Den uppnådda noggrannheten är ett resultat beroende av flera faktorer, bland annat upplösningen på potentiometrarna.
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Jiang, Allen. "Robotic granular jamming." Thesis, King's College London (University of London), 2014. http://kclpure.kcl.ac.uk/portal/en/theses/robotic-granular-jamming(20a38899-4080-4adc-a1f3-483f4330cc4d).html.
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Granular jamming is a phenomenon where discrete granules can transition their macro behavior between a fluid-like and a solid-like state. In the context of soft robotics, this thesis examines granular jamming in three key aspects. The first aspect investigates the modeling of the granule behavior as it is jammed and unjammed. A simplified model was developed where the macro stiffness of the granules in different states is encompassed in one variable, E. In an engineering context, the usage of this one variable enables structures of different types to be quantitatively compared. The second aspect investigates the structure of mechanisms using granule jamming. For the granules, experiments were performed on different shapes, sizes, and materials. The results show that there can be a significant change in the stiffness range and profile when a parameter of the granule is changed. The properties of the membrane holding the granules and properties of the interparticle fluid were also studied for their affect on the behavior of the stiffnesses. For the membrane, the boundary layer applying the external stress, different materials and designs were found to have as much as a significant impact as changing granule type. For the interparticle fluid, the effects of air and water as the inter-granule fluid were compared, which showed that there is no significant difference between the stiffness range. However, the use of water can shrink the transition region between the fluid-like and solid-like states of granular behavior. While this smaller transition region limits the tunability of compliance for a granular jamming mechanism, it gives the added benefit of requiring less volume of fluid to create vacuum, due to the incompressibility to water. This effectively untethers granular jamming mechanisms from cumbersome vacuum pumps, a key step in mobilizing the technology in the context of robotics. Lastly, this thesis focuses on the aspect of control for granular jamming. This encompasses the development of granular jamming-based actuators and the control of those actuators though impedance control.
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Jodas, Danilo Samuel. "Desenvolvimento de um sistema de navegação baseado em máquina de vetores de suporte para dirigibilidade de um robô móvel por caminhos em plantações /." São José do Rio Preto : [s.n.], 2012. http://hdl.handle.net/11449/98649.
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Orientador: Norian Marranghello<br>Banca: Evandro Luís Linhari Rodrigues<br>Banca: Alexandre César Rodrigues da Silva<br>Resumo: A utilização de robôs móveis mostra-se importante em atividades onde a atuação do ser humano é difícil ou perigosa. A exploração em locais de difícil acesso, como por exemplo em operações de resgate e em missões espaciais, é uma situação onde robôs móveis são frequentemente utilizados para evitar exposição dos especialistas humanos a situações de riscos. Na agricultura, robôs móveis são utilizados em tarefas de cultivo e na aplicação de agrotóxicos em quantidades mínimas para reduzir a poluição do meio ambiente. Neste trabalho é apresentado o desenvolvimento de um sistema para controlar a navegação de um robô móvel autônomo por caminhos em plantações. O controle da direção do robô é realizado com base em imagens das trilhas as quais, após um processamento prévio, para extração de características, são submetidas a máquinas de vetores de suporte, para a definição da rota a ser seguida. O objetivo do projeto no qual este trabalho se insere é o controle do robô em tempo real, para tanto, o sistema foi implementado em hardware para mostrar que o ganho de desempenho pode ser melhor em relação à execução em software. Neste trabalho, relata-se a implementação de uma máquina de vetores de suporte a qual apresentou uma precisão em torno de 93% da rota adequada<br>Abstract: The use of mobile robots turns out to be interesting in activities where the actions of human beings is difficult or dangerous. The exploration in areas of difficult access, such as in rescue operations and in space missions, is a situation where mobile robots are often used to avoid exposure of human experts to risky situations. In agriculture, mobile robots are used in tasks of cultivation and application of pesticides in minute quantities to reduce environmental pollution. In this paper we present the development of a system to control an autonomous mobile robot navigation through tracks in plantations. Track images are used to control robot direction by preprocessing them to extract image features, and then submitting such characteristic features to a support vector machine to find out the most appropriate route. As the overall goal of the project to which this work is connected is the robot control in real time, the system was embedded onto a hardware platform to show that the performance gain can be better if compared to execution in software. However, in this paper we report the software implementation of a support vector machine, which presented around 93% accuracy in predicting the appropriate route<br>Mestre
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Zhang, Yu. "Investigation of cochlear disturbance induced during surgical intervention." Thesis, Brunel University, 2018. http://bura.brunel.ac.uk/handle/2438/16920.
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Hearing loss is a common impairment or disability for human beings, and is impacting an increasing amount of people, augmented by the growing aging population around the globe. Cochlear implantation, as one of the most effective ways to restore hearing, can only applied to profoundly deaf patients at the moment. In order to expand the group of people who can benefit from cochlear implantation to those with less severe hearing loss, endeavours need to be made to best preserve residual hearing and minimise trauma induced during cochlear implantation surgery. In this thesis, the disturbance induced in the cochlea, i.e. the acoustic and mechanical energy transmitted into the cochlea, during cochleostomy drilling is studied - as well as establishing a comparison between a manually guided conventional technique and a manually supported tissue guided robotic drilling technique. The results show that by changing surgical techniques and how they are applied can have a significant impact on levels of disturbance induced - robotic-aided approach induced lower level of equivalent SPL for up to 86% of the time and can be as much as 39 dB lower than that generated by conventional surgical drilling. This work is timely because trauma is an important consideration to clinicians and health care providers. Cochleostomy is one of the major and most disruptive surgical process during cochlear implantation. With the increasing amount of cochlear implant electrode array designs that are shorter and less intrusive, and the increasing demand of electric-acoustic stimulation via cochlear implant to better resemble the human auditory system, the approach to reduce disruption during cochleostomy drilling is highly relevant to the progression in the hearing care industry and the benefits of the growing hearing impairment community.
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Seran, Onur. "Visually Guided Robotic Assembly." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/4/1223353/index.pdf.
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This thesis deals with the design and implementation of a visually
guided robotic assembly system. Stereo imaging, three dimensional location
extraction and object recognition will be the features of this system. This
thesis study considers a system utilizing an eye-in-hand configuration. The
system involves a stereo rig mounted on the end effector of a six-DOF ABB
IRB-2000 industrial robot. The robot is controlled by a vision system, which
uses open-loop control principles. The goal of the system is to assemble
basic geometric primitives into their respective templates.
Recognition
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Felip, León Javier. "Contact driven robotic grasping." Doctoral thesis, Universitat Jaume I, 2016. http://hdl.handle.net/10803/662853.
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As a result, in this thesis we provide a complete implementation of a manipulation
system that can operate in unstructured environments. However, there is room for
improvement in all the components presented and many unsolved questions that should
be addressed in the future remain<br>Como resultado del trabajo presentado en esta tesis, se proporciona una implementación
completa de un sistema de manipulación que puede funcionar en entornos no estructurados.
Sin embargo, hay margen de mejora en todos los componentes y quedan muchas
preguntas sin resolver que deberían ser abordadas en el futuro.
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Gupta, Pramod. "Neurocontrol of robotic manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0018/NQ42740.pdf.
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Collet, Romea Alvaro. "Lifelong Robotic Object Perception." Research Showcase @ CMU, 2012. http://repository.cmu.edu/dissertations/204.
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In this thesis, we study the topic of Lifelong Robotic Object Perception. We propose, as a long-term goal, a framework to recognize known objects and to discover unknown objects in the environment as the robot operates, for as long as the robot operates. We build the foundations for Lifelong Robotic Object Perception by focusing our study on the two critical components of this framework: 1) how to recognize and register known objects for robotic manipulation, and 2) how to automatically discover novel objects in the environment so that we can recognize them in the future.
Our work on Object Recognition and Pose Estimation addresses two main challenges in computer vision for robotics: robust performance in complex scenes, and low latency for real-time operation. We present MOPED, a framework for Multiple Object Pose Estimation and Detection that integrates single-image and multi-image object recognition and pose estimation in one optimized, robust, and scalable framework. We extend MOPED to leverage RGBD images using an adaptive image-depth fusion model based on maximum likelihood estimates. We incorporate this model to each stage of MOPED to achieve object recognition robust to imperfect depth data.
In Robotic Object Discovery, we address the challenges of scalability and robustness for long-term operation. As a first step towards Lifelong Robotic Object Perception, we aim to automatically process the raw video stream of an entire workday of a robotic agent to discover novel objects. The key to achieve this goal is to incorporate non-visual information| robotic metadata|in the discovery process. We encode the natural constraints and nonvisual sensory information in service robotics to make long-term object discovery feasible. We introduce an optimized implementation, HerbDisc, that processes a video stream of 6 h 20 min of challenging human environments in under 19 min and discovers 206 novel objects.
We tailor our solutions to the sensing capabilities and requirements in service robotics, with the goal of enabling our service robot, HERB, to operate autonomously in human environments.
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Abderrahim, Mohamed. "Modelling of robotic manipulators." Thesis, University of Glasgow, 1996. http://theses.gla.ac.uk/2151/.
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This thesis explores the different aspects of robotic manipulator modelling and covers both the dynamic and the kinematic issues for the purpose of improving the overall manipulator accuracy. It is shown that the modelling should not stop at producing the model, but rather the model should be validated. The thesis presents a description of the modelling process and examines the three most important formulations for dynamic modelling. A comparison of their performance and ease of use is made, both for manual and computer assisted implementation. Three commercial computer modelling packages are also described and compared with regard to their performance and ease of use for robotic manipulator modelling. It is shown that some software development is required to make the packages easy to use for manipulator specific modelling. As part of this work, one such development was a programme written as a back end to AUTOLEV. This combination provides a powerful tool for dynamic modelling and simulation of manipulators. A more integrated computer aided engineering approach is also discussed through modelling a large industrial manipulator using a geometric modelling package along with another dynamic modelling and simulation program. This approach is very efficient in providing useful information which is difficult to otherwise obtain from direct measurements. The thesis emphasises validation as part of the modelling process. A model does not have to be an exact mathematical description of the manipulator, inclusive of all characteristics, but rather a valid description for the intended use. It is shown that a manipulator model can be split into several joint models and validation performed on each using a parameter estimation technique. It is also shown that friction parameter tuning produces acceptable parameter values for a valid model of a Puma 560 manipulator.
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Merritt, Brandon T. "Vision based robotic convoy." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0025035.
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Jermak, H. E. "Robotic polarimetry of blazars." Thesis, Liverpool John Moores University, 2017. http://researchonline.ljmu.ac.uk/5462/.
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The motivation of this thesis was the study of radio-loud, active galaxies. These galaxies house relativistic jets at their centres, powered by accretion onto a super massive black hole. The focus was on the optical flux and polarised emission produced by these powerful jets. An automated pipeline was developed to reduce data from the Liverpool Telescope Ringo2 and Ringo3 polarimeters. As part of this work, the Ringo3 instrumental polarisation and depolarisation were characterised by repeated observations of standard stars. The Ringo2 and Ringo3 optical polarimetry and photometry of a sample of 20 gamma-ray bright blazars were combined with Fermi gamma-ray space telescope data and were used to explore possible correlations and thus probe the emission sites in the jet. We found that optical and gamma-ray fluxes had strong, positive correlations. This suggests that the dominant source of optical and gamma-ray emission is from shared emission regions. If the Inverse Compton model is adopted to explain the gamma-ray emission (i.e. upscattering of photons by relativistic electrons), this correlation suggests that synchrotron self-Compton emission processes are occurring in the jet, along with inverse Compton upscattering from nearby electrons (rather than those outside the jet). The gamma-ray flux and optical degree of polarisation were not significantly correlated. The optical flux and degree of polarisation were weakly positively correlated (with correlations that did not improve with an introduced lag). Both of these results imply that there is no large scale highly ordered magnetic field in the region where the gamma-ray emission originates. We found that the maximum degree of polarisation differs depending on the location of the source's synchrotron-peak. This may be a result of the viewing angle of the observer with respect to the jet. This suggests that the majority of optical polarisation is produced in shocked regions within the jet, downstream of the main emission region. We found that the degree of polarisation was lower during a period of polarisation angle rotation compared with a period of non-rotation. This implies that the downstream magnetic field structure is either helical or compressed in a direction transverse to that of the jet. Consistent with other work, our Ringo3 colour analysis showed that, with the exception of one source, flat spectrum radio quasars had a `redder' when brighter property. This suggests that when the source is more luminous, the jet (i.e. non-thermal) emission dominates over the thermal emission from the accretion disk (which is powerful in FSRQs). We found that BL~Lacs had a `bluer' when brighter behaviour, suggesting that the brighter emission may come from more energetic photons within the jet. We presented data from our long-term, multi-colour, blazar monitoring campaign. We found that all but one source had a `redder' polarisation when the polarisation was higher. This implies that the highest polarisation is associated with higher densities of lower energy particles in the jet. Well-sampled, regular cadence data is very important for the effective study and interpretation of blazars. This is particularly crucial for the interpretation of the position angle rotations, which can afford information about the electric vector angle (and hence the magnetic field angle). In this work, we presented the design of a new multicolour polarimeter, MOPTOP. The optical components in MOPTOP allow as much of the light from the source to be exploited as possible by replacing the rotating Polaroid (from the Ringo polarimeter design) with a rotating half-wave plate and beam splitter. MOPTOP's design minimises exposure times, allowing more frequent observations and a better sampling of data. A densely sampled monitoring program that is not interrupted by periods of sunlight would be highly desirable for the study of blazar jets.
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Jyrkkä, J. (Johannes). "Konenäön hyödyntäminen robotin ohjauksessa." Bachelor's thesis, University of Oulu, 2018. http://urn.fi/URN:NBN:fi:oulu-201805171821.
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Työssä on tavoitteena tehdä kirjallisuuskatsaus konenäön hyödyntämisestä robotin ohjauksessa. Työssä selitetään aluksi konenäköä ja siihen liittyvää teoriaa. Lopuksi kerrotaan, kuinka konenäköä voi hyödyntää robotin ohjauksessa. Yhteenvedossa pohditaan, kuinka konenäkö on muuttanut robotin ohjausta tähän mennessä, ja miten se tulee luultavasti muuttamaan sitä tulevaisuudessa. Työn tuloksena lukija saa peruskäsityksen konenäöstä, ja kuinka sitä voi hyödyntää robotin ohjauksessa<br>The aim of this bachelor’s thesis is to make a literature review of the utilization of the machine vision in robot control. The work will first explain the machine vision and the related theory. Finally, it is told how the machine vision can be utilized in robot control. The summary looks at how machine vision has changed robot control so far and how it will probably change it in the future. As a result of the work, the reader gets a basic idea of the machine vision and how it can be utilized in robot control
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Kamkarian, Pejman. "Robotic Offline Path Planning." OpenSIUC, 2015. https://opensiuc.lib.siu.edu/dissertations/1119.
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The aim of this study is to disseminate a novel path planner which is particularly used for offline robots to build more efficient collision-free trajectories in terms of the length in more skilled fashion. Robotic path planning as one of the most important problems has been under investigation by a variety of researchers within the last few decades. Path planner refers to a unit which is responsible to perform a series of operations on the robots’ environment with the sole purpose of building proper trajectories from a start point to the goal configuration. A robot’s planner generally consists of some or all of the following units: analyzing the workspace, mapping the workspace into an alternative methodology such as a graph, optimizing the constructed map, and calculating and refining the desired trajectory. Various path planners have been proposed based on the different robots’ functionalities as well as the environmental specifications. A path planner basically uses a methodology inspiring a scientific theory or event to build optimal paths. This research tends to propose a novel path planner which is able to be successfully applied on a variety of workspaces with different constraints. Moreover, the presented planner successfully builds the shortest collision-free trajectories from an initial to the goal configurations. In addition, compared to the other majority of path planners, the illustrated path planner uses less environmental global information to build optimal paths. This leads the planner unit to allocate less of system resources such as memory, hence, increasing the performance of the planner in terms of preserving more system resources.
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Tvrdoň, Radek. "3D tisk kovů robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-443161.
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The diploma thesis presents an overview of additive production technologies and a summary of technologies used for 3D metal printing using a robot. All of them are generally described and at the same time assigned to their specific commercial use, or the academic research that deals with them. The work examines the suitability of the material EN ISO 14341-A: G 3Si1 for 3D printing, for which a modification of the Col Metal Transfer technology, Cycle Step is used. The experimental printout of the sample is evaluated on the basis of surface and mechanical tests. Capillary test, examination of microstructure a macrostructure, tensile test and microhardness test. All of them were satisfactory and the suitability of the welding wire for 3D printing was confirmed by the given technology.
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Gylling, Martin, and Ruben Svensson. "Robotic Electric Guitar Tuner." Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226669.
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This report presents the process of building a system thattunes a guitar with the help of an Arduino board, writingalgorithms for processing signals from a microphone andcontrolling the tension of the strings according to the desiredfundamental frequency. The research question for thisproject is how different sample rates affects the accuracy ofthe tuning, different sample rates were examined in orderto find a sample rate that yields the best precision in tuningacross all strings of the guitar.<br>Denna rapport går igenom byggandet av ett system som harsom funktion att stämma en gitarr med hjälp av ett Arduinokort, samt implementering av algoritmer för behandlingav mikrofon signaler och styrning av strängarnas spänningenligt den önskade grundtonen. Forksningsfrågan för dettaprojekt är hur olika samplingstakter påverkar stämningensnoggranhet. Olika samplingstakter undersöktes för att finnaden som ger den bästa noggranheten för alla strängar.
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Fish, Jesse O. "Robotic Tour Guide Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1342039873.
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Chow, Der-Lin. "Computer-Assisted Robotic Suturing." Case Western Reserve University School of Graduate Studies / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=case1496677783008987.
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Fresk, Emil. "Towards Aerial Robotic Workers." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-26292.
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The aim of this thesis is to advance the control and estimation schemes for multirotors, and more specifically the Aerial Robotic Worker, in order to progress towards the necessary control and estimation performance for robust control, cooperation and collaboration. Towards this envisioned aim, this Licentiate thesis will present the following main research contributions: a) a singularity-free attitude controller for the attitude problem has been established, that does not have the inherent drawbacks of Euler angle or Direction Cosine Matrix based approaches, b) a generalized estimation scheme for attitude, position and parameter estimation will be presented that has the merit of low computational footprint, while it is robust towards magnetic disturbances and able to identify key parameters in the model of an Aerial Robotic Worker, c) an method for estimating the induced vibration frequencies on the multirotor’s frame, and the respective amplitudes, that relies on notch filtering for attenuating the induced vibrations, and d) a theoretical establishment, as well as an experimental development and evaluation of a variable pitch propeller model to add additional degrees of freedom and increase the robustness of an Aerial Robotic Worker. In the first part of this thesis the main contributions of the previous research approaches will be highlighted, while in the second part of the thesis the corresponding and in full detail articles will be presented.<br>Godkänd; 2015; 20151009 (emifre); Nedanstående person kommer att hålla licentiatseminarium för avläggande av teknologie licentiatexamen. Namn: Emil Fresk Ämne: Reglerteknik/Control Engineering Uppsats: Towards Aerial Robotic Workers Examinator: Biträdande Professor George Nikolakopoulos, Institutionen för system- och rymdteknik, Avdelning: Signaler och system, Luleå tekniska universitet Diskutant: Associate Professor Dimos Dimarogonas, Automatic Control, School of Electrical Engineering, KTH, Stockholm Tid: Onsdag 11 november 2015 kl 10.00 Plats: A109, Luleå tekniska universitet
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Carlsson, Matthias. "Automatic robotic gripping claw." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184500.
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In industrial production, automatization is a common concept utilized in a range of applications where time dependency is a key factor. The robotic arm is one of the tools applied in the area and its extension, such as a robotic claw, affects the execution and the accuracy of the robotics. This paper researches whether infrared- or ultrasonic sensors are best suited for the automation of a robotic claw, created out of 3D-printing and wooden material; in terms of time delay and object-size prediction. With help of a simple physical model and a sphere in motion the resulting time delay could be determined to be larger in ultrasonic sensors, while both were unable to provide accurate object measurement predictions. The research proved the infrared sensor better abilities in motion based automation.<br>Inom industriall produktion är automatisering ett vanligt utnyttjat koncept i ett urval applikationer där tidsberoendet är en nyckelfaktor. Robotarmen är ett av verktygen som uttnyttjas inom området och dess förlängning, såsom en robotklo, påverkar utförandet och noggrannheten hos robotiken. Den här uppsatsen undersöker huruvida infraröda- eller ultraljuds sensorer är bäst lämpade för automatisering av en robotklo, skapad via en 3D-printer och trämaterial; gällande tidsfördröjning och förutseendet av objektets storlek. Med hjälp av en simpel fysisk modell och en sfär i rörelse; kunde den resulterande tidsfödröjningen bekräftas större med ultrasonisk sensor, medan ingen utav sensorerna kunde ytföra noggranna beräkningar av objektet. Undersökningen kunde bevisa att infraröda sensorer innehar bättre egenskaper inom rörelsebaserad automation.
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Nunes, Luiz Eduardo Nicolini do Patrocínio [UNESP]. "Geração e otimização de trajetórias de um manipulador robótico utilizando algoritmos genéticos." Universidade Estadual Paulista (UNESP), 2007. http://hdl.handle.net/11449/105358.
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nunes_lenp_dr_guara.pdf: 1711475 bytes, checksum: 1ea89d3a534a0a1530a9ef0a0ba7cb3e (MD5)<br>Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)<br>Este trabalho trata da geração e otimização de trajetórias de um manipulador robótico planar (2D) de três graus de liberdade, num ambiente livre de obstáculos. Visto que a cinemática inversa de braços robóticos é um problema complexo que, em geral, geram múltiplas soluções, otimizam-se, aqui, estas soluções através de algoritmos genéticos (AGs). A função de avaliação do AG tem caráter multi-objetivo, de forma a minimizar os deslocamentos angulares e obter de forma precisa a posição da garra, usando funções desenvolvidas para o ambiente Matlab, tais como, GAOT e PLANMANT, devido a sua facilidade de programação e geração de gráficos. A seguir, foram obtidos resultados através de programa desenvolvido em linguagem C, utilizando a biblioteca GAUL, e tem-se avaliado o desempenho computacional de processamento. E finalmente, para a validação experimental deste estudo, tem-se implementado este procedimento em um manipulador robótico Robix RCS-6 de configuração similar ao modelo simulado. Os resultados mostram que o método implementado é eficiente, computacionalmente rápido e viável em aplicações reais.<br>This work treats of the generation and optimization of trajectories for a planar robotic manipulator (2D) of three degrees of freedom, in free environment obstacles. Since the inverse kinematics of robotic arms are a complex problem that, generally, generate multiple solutions, here are optimized these solutions through genetic algorithms (AGs). The evaluation function of the AG has multi-objective character which minimize the angular displacements and the positional errors, being used functions developed for the Matlab environment, such as, GAOT and PLANMANT, due its compliance of programming and graphics generation. Immediately, results were obtained through program developed in language C, using the GAUL library. The computational processing performance has been evaluated. And finally, for the experimental validation of this study, has been implemented this procedure in a robotic manipulator Robix RCS-6 of similar configuration to the simulated model. The results show that the implemented method is efficient, and computationally fast and viable in real applications. KEYWORDS: Robotic manipulator, Optimal trajectory, Inverse kinematics, Genetic algorithm.
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Jans, Luzia. "Entwicklung eines modularen mobilen Roboters." [S.l. : s.n.], 2005. http://nbn-resolving.de/urn:nbn:de:bsz:747-opus-228.
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Cantum, Cecilia G. "Planning and control for simulated robotic Sandia hand for the DARPA Robotic Challenge." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/83686.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 32-33).<br>The DARPA Robotic Challenge (DRC) required the development of user interface, perception, and planning and control modules for a robotic humanoid. This paper focuses on the planning and control component for the manipulation qualification task of the virtual section of the DRC. Nonlinear algorithms were employed for the planning systems, such as the grasp optimization system and the robot state trajectory computation system. However, for closed-loop control, a linear proportional-derivative (PD) joint position controller was used. The nonlinear algorithms used for the planning systems may be improved, but their current functionality allows the successful completion of the manipulation qualification task. Also, even though PD controllers seem appropriate for the closed-loop control, PID controllers might yield a higher level of accuracy if tuned properly. In conclusion, a linear controller appears sufficient for certain control of the highly nonlinear ATLAS humanoid robot and Sandia hand as long as accurate optimization and planning systems complement such control.<br>by Cecilia G. Cantu.<br>S.B.
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Zylberstein, Adam, and Fredrik Mälberg. "ENSURING PUBLIC ACCEPTANCE OF ROBOTIC TECHNOLOGY : A study exploring the determinants of robotic acceptance." Thesis, Mälardalens högskola, Akademin för ekonomi, samhälle och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-38002.
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Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.
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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery.
In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques.
Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
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Snow, Bradley William. "Prototyping a robotic disassembly testbed." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17955.
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Mottola, Laura. "Systems analysis for robotic mining." Thesis, McGill University, 1996. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=23751.
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Mining automation has incrementally progressed from line-of-sight remote operation to teleoperation and automatic control of mobile machines, mainly due to significant advances in underground communication systems. The present trend points towards a robotic mining environment where mobile machinery and stationary equipment will be fully integrated with a mine-wide information system overseeing all aspects of mining via a communication network. The successful design and implementation of the software and hardware components necessary to realize this vision depends on the level of seamless integration achieved. The complexity involved in terms of systems functionality and coherence necessitates systems analysis and computer-aided software engineering tools to actively support this integration effort.<br>Hence, the primary objective of this thesis is to introduce and relate systems analysis concepts and tools to the business of mining. This investigation begins by setting the industrial context of this work with respect to past initiatives and future trends. It discusses different approaches to the design and implementation of mining information systems. It reviews the fundamentals of software and information engineering as well as structured and object-oriented analysis and design. It presents a survey of computerized tools for systems analysis. It then applies systems analysis concepts and tools to a high-level top-down analysis of a Mine Information System and examines a specific mining process in detail. Finally, it compares the applicability of structured versus object-oriented analysis and design methodologies to the complex problem of mining.
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Chinellato, Eris. "Visual neuroscience of robotic grasping." Doctoral thesis, Universitat Jaume I, 2008. http://hdl.handle.net/10803/669156.
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En esta tesis se define e implementa un modelo funcional de las áreas del cerebro involucradas en las acciones de agarre basadas en visión que incluye todos los pasos requeridos para la ejecución de un agarre satisfactorio. El modelo es fiel a la realidad biológica, pero también apropiado para su implementación en un entorno robótico real. Por tanto, siguiendo este modelo, se ha desarrollado un sistema completo de agarre robótico capaz de estimar la forma, tamaño y posición de un objeto desconocido usando datos visuales, planificar y ejecutar una acción de agarre integrando tales datos con la información proprioceptiva del estado del brazo y de la mano. Los resultados experimentales confirman que la nueva línea de investigación propuesta por esta tesis es significativa y prometedora para el agarre robótico. Además, tanto el modelado computacional como los experimentos robóticos ayudan a validar teorías sobre los mecanismos empleados por las áreas del cerebro involucradas en las acciones de agarre. Esta tesis ofrece nuevas ideas e hipótesis de investigación relacionadas con dichos mecanismos, y ayuda a establecer un marco de trabajo común para neurocientíficos y robóticos en el estudio de los mecanismos cerebrales.
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Thomaschewski, Boris. "Workspaces of continuous robotic manipulators." [S.l. : s.n.], 2002. http://deposit.ddb.de/cgi-bin/dokserv?idn=974856967.
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Yuen, Ka Ming. "Control of robotic fixtureless assembly." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape11/PQDD_0004/NQ42891.pdf.
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Smuda, William James. "Rapid prototyping of robotic systems." Monterey, Calif. : Naval Postgraduate School, 2007. http://bosun.nps.edu/uhtbin/hyperion-image.exe/07Jun%5FSmuda%5FPhD.pdf.
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Dissertation (Ph.D. in Software Engineering)--Naval Postgraduate School, June 2007.<br>Dissertation Advisor(s): Mikhail Auguston. "June 2007." Includes bibliographical references (p. 221-226). Also available in print.
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Shucker, Brian. "Control of distributed robotic macrosensors." Diss., Connect to online resource, 2006. http://gateway.proquest.com/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:3239382.
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Graaf, Menno Wouter de. "Sensor-guided robotic laser welding." Enschede : University of Twente [Host], 2007. http://doc.utwente.nl/58092.
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Chen, Changhe. "Robotic handling of nursery containers." Connect to resource, 1990. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1195164404.
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Jones, Emma. "Characterisation of the robotic mutation." Thesis, University of Oxford, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.400190.
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Lenz, Alexander. "Cerebellum inspired robotic gaze control." Thesis, University of the West of England, Bristol, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.557412.
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The primary aims of this research were to gain insight into control architectures of the mammalian brain and to explore how such architectures can be transferred into real-world robotic systems. Specifically, the work presented in this thesis focuses on the cerebellum, a part of the brain implicated in motor learning. Based on biologically grounded assumptions of uniformity of the cerebellar structure, one specific (but representative) example of cerebellar motor control was investigated: the mammalian vestibula-ocular reflex (VOR). During movement, animals are faced with disturbances with respect to their vision system. The VOR compensates for head motion by driving the eyes in the opposite direction of the head and thereby stabilising the image on the retina. Due to severe delays in the visual feedback signal, the VOR is required to operate as an open-loop controller, which uses proprioceptive information about head motion to instigate eye movements. As a feed-forward control system, it requires calibration to gradually learn the required motor commands. This is achieved by the cerebellum through the utilisation of the delayed visual information encoding image slip. In order to explore the suitability of a recurrent cerebellar model to achieve similar performance in a robotic context, engineering equivalents of the biological sub-systems were developed and integrated as a distributed embedded computing infrastructure. These included systems for rotation sensing, vision, actuation, stimulation and monitoring. Real-time implementations of cerebellar models were developed and then tested on two custom designed robotic eyes: one actuated with electrical motors and the other operated by pneumatic artificial muscles. It is argued that the successful transfer of cerebellar models into robotic systems implicitly validates these models by providing an existence proof in terms of structure, robust learning under noisy real- world conditions, and the functional role of the cerebellum. In addition, the gained insights from this research may be exploitable in terms of control of novel actuators in the emerging field of soft robotics. Finally, the presented architectures, including hardware and software infrastructures, provide a platform with which to explore other advanced models of brain mediated sensory-motor control interfaces.
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Schelb, Joachim, and Hartmut Ilch. "Hygienic Handling – Hygienic Design Robotic." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-163567.
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Die MAJA-Maschinenfabrik Hermann Schill GmbH & Co. KG wurde im Jahre 1955 von Hermann Schill sen., dem Großvater der heutigen Eigentümer, in der Gemeinde Goldscheuer bei Kehl am Rhein gegründet und zählt heute zu den Marktführern der Branche. Seit 60 Jahren entwickelt, produziert und vertreibt MAJA Entschwartungs-, Entfettungs und Entvliesmaschinen, Enthäutungsmaschinen für Fisch und Geflügel, Fleischschneidesysteme und Automatisierungslösungen für die Lebensmittelbranche, außerdem Eiserzeuger zur Herstellung und Kühlung von Lebensmitteln.
Lebensmittelvergiftungen, Verunreinigungen und Rückrufaktionen sind meist die Folgen von nicht konsequent durchgeführten Hygienestandards. Die Hygienerichtlinien werden zunehmend verschärft und müssen neben den Mitarbeitern vor Ort auch von den Anlagen- und Maschinenbauern eingehalten werden. MAJA hat sich die Entwicklung und Produktion einer Robotermechanik nach den höchsten Hygienestandards zur Aufgabe gemacht, da diese nach unserer Auffassung das Herzstück einer flexiblen Automatisierung darstellt und ein Maximum an Robustheit und Zuverlässigkeit auch hier unabdingbar ist.
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Bell, Timothy L. "Sea-Shore interface robotic design." Thesis, Monterey, California: Naval Postgraduate School, 2014. http://hdl.handle.net/10945/42580.
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Approved for public release; distribution is unlimited<br>An exoskeleton platform was developed, prototyped and tested for mobility performance in a beachfront environment. New platform, drive-train, motor-controller and wheel design were employed in the experiment. The objective was to improve on the shortcoming of previous NPS research. Three wheel-designs were tested during fixed pattern tests on grass, concrete and sand. Data suggests that, with regard to power consumption, there is a marginal difference on preferred wheel design. The sparse print round wheel showed promise in heavy vegetation; however, the WhegTM wheel proved to be the most versatile on various terrains. This suggests that a WhegTM wheel with improved round wheel characteristics would be optimal for various beachfront terrains.
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Harrison, D. "Adaptive techniques in robotic manufacture." Thesis, University of Portsmouth, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.383286.
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