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Dissertations / Theses on the topic 'Intelligent robotic control systems'

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Published: 3 June 2025

Last updated: 31 July 2025

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1

Zaiuddin, Syed Muhammad. "Intelligent control schemes for single and multiple arm robotic systems." Thesis, University of Sheffield, 1995. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.319447.

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2

Ma, Yu-xu Lecky. "Discrete iterative learning control of robotic manipulators /." [Hong Kong : University of Hong Kong], 1991. http://sunzi.lib.hku.hk/hkuto/record.jsp?B13142896.

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3

Sillitoe, Ian P. W. "Plethora : a framework for the intelligent control of robotic assembly systems." Thesis, Loughborough University, 1992. https://dspace.lboro.ac.uk/2134/26146.

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The thesis describes a distributed software environment designed for the development, evaluation and comparison of new techniques in knowledge based control of robot assembly work cells. It has characteristics which fulfil deficiencies within previous systems and contains within it new techniques in task specification, distributed control[1,2], object recognition[3,4] and path planning[5]. The control of the resources within the cell is based upon an extension of the facilities of a classical blackboard architecture to include plan execution. Unlike previous schemes, these additions allow Plet

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4

馬裕旭 and Yu-xu Lecky Ma. "Discrete iterative learning control of robotic manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1991. http://hub.hku.hk/bib/B31232723.

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5

Karakaşoğlu, Ahmet 1961. "Design of a rule-based control system for decentralized adaptive control of robotic manipulators." Thesis, The University of Arizona, 1988. http://hdl.handle.net/10150/276874.

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This thesis is concerned with the applicability of model reference adaptive control to the control of robot manipulators under a wide range of configuration and payload changes, and a comparison of the performance of this technique with that of the non-adaptive schemes. The dynamic equations of robot manipulators are highly nonlinear and are difficult to determine precisely. For these reasons there is an interest in applying adaptive control techniques to robot manipulators. In this work, the detailed performance of three adaptive controllers are studied and compared with that of a non-adaptiv

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6

Sutherland, Alistair James. "A torso driven walking algorithm for dynamically balanced variable speed biped robots." University of Western Australia. School of Electrical, Electronic and Computer Engineering, 2007. http://theses.library.uwa.edu.au/adt-WU2007.0049.

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As a contribution toward the objective of developing useful walking machines, this dissertation considers solutions to some of the problems involved with bipedal robot development. The main area of focus involves control system design and implementation for dynamically balanced walking robots. A new algorithm “Torso Driven Walking” is presented, which reduces the complexity of the control problem to that of balancing the robot’s torso. All other aspects of the system are indirectly controlled by the changing robot state resulting from direct control of the robot’s torso. The result is literall

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7

GHAFFARI, MASOUD. "PERCEPTION-BASED CONTROL FOR INTELLIGENT SYSTEMS." University of Cincinnati / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1155739459.

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8

Mellodge, Patricia. "Feedback Control for a Path Following Robotic Car." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/32100.

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This thesis describes the current state of development of the Flexible Low-cost Automated Scaled Highway (FLASH) laboratory at the Virginia Tech Transportation Institute (VTTI). The FLASH lab and the scale model cars contained therein provide a testbed for the small scale development stage of intelligent transportation systems (ITS). In addition, the FLASH lab serves as a home to the prototype display being developed for an educational museum exhibit. This thesis also gives details of the path following lateral controller implemented on the FLASH car. The controller was developed using the

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9

Ngan, Choi-chik, and 顔才績. "A hidden Markov model approach to force-based contact recognition for intelligent robotic assembly." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2002. http://hub.hku.hk/bib/B31243496.

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10

Liu, Yukang. "Virtualized Welding Based Learning of Human Welder Behaviors for Intelligent Robotic Welding." UKnowledge, 2014. http://uknowledge.uky.edu/ece_etds/51.

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Combining human welder (with intelligence and sensing versatility) and automated welding robots (with precision and consistency) can lead to next generation intelligent welding systems. In this dissertation intelligent welding robots are developed by process modeling / control method and learning the human welder behavior. Weld penetration and 3D weld pool surface are first accurately controlled for an automated Gas Tungsten Arc Welding (GTAW) machine. Closed-form model predictive control (MPC) algorithm is derived for real-time welding applications. Skilled welder response to 3D weld pool sur

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11

Manorathna, Prasad. "Intelligent 3D seam tracking and adaptable weld process control for robotic TIG welding." Thesis, Loughborough University, 2015. https://dspace.lboro.ac.uk/2134/18794.

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Tungsten Inert Gas (TIG) welding is extensively used in aerospace applications, due to its unique ability to produce higher quality welds compared to other shielded arc welding types. However, most TIG welding is performed manually and has not achieved the levels of automation that other welding techniques have. This is mostly attributed to the lack of process knowledge and adaptability to complexities, such as mismatches due to part fit-up. Recent advances in automation have enabled the use of industrial robots for complex tasks that require intelligent decision making, predominantly through

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12

Bernardes, Vitor Giovani. "Urban environment perception and navigation using robotic vision : conception and implementation applied to automous vehicle." Thesis, Compiègne, 2014. http://www.theses.fr/2014COMP2155/document.

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Le développement de véhicules autonomes capables de se déplacer sur les routes urbaines peuvent fournir des avantages importants en matière de réduction des accidents, en augmentant le confort et aussi, permettant des réductions de coûts. Les véhicules Intelligents par exemple fondent souvent leurs décisions sur les observations obtenues à partir de différents capteurs tels que les LIDAR, les GPS et les Caméras. En fait, les capteurs de la caméra ont reçu grande attention en raison du fait de qu’ils ne sont pas cher, facile à utiliser et fournissent des données avec de riches informations. Les

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13

Palmer, Luther R. "Intelligent control and force redistribution for a high-speed quadruped trot." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1174570965.

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14

Fu, Bo. "Towards Intelligent Telerobotics: Visualization and Control of Remote Robot." UKnowledge, 2015. http://uknowledge.uky.edu/cs_etds/40.

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Human-machine cooperative or co-robotics has been recognized as the next generation of robotics. In contrast to current systems that use limited-reasoning strategies or address problems in narrow contexts, new co-robot systems will be characterized by their flexibility, resourcefulness, varied modeling or reasoning approaches, and use of real-world data in real time, demonstrating a level of intelligence and adaptability seen in humans and animals. The research I focused is in the two sub-field of co-robotics: teleoperation and telepresence. We firstly explore the ways of teleoperation using m

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15

Al-Hasan, Sami A. "Intelligent approaches to mission planning and control for autonomous vehicles." Diss., Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/15414.

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16

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

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17

Anderson, Jeffrey David. "Methods and metrics for human control of multi-robot teams /." Diss., CLICK HERE for online access, 2006. http://contentdm.lib.byu.edu/ETD/image/etd1596.pdf.

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18

Stanley, Benjamin David. "A comparison of binaural ultrasonic sensing systems." Access electronically, 2003. http://www.library.uow.edu.au/adt-NWU/public/adt-NWU20040326.140246/index.html.

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19

Kotze, Johannes Marthinus Albertus. "TCP/IP facilitated flexible robotics controller." Thesis, Stellenbosch : University of Stellenbosch, 2007. http://hdl.handle.net/10019.1/2665.

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Thesis (MScEng (Industrial Engineering))--University of Stellenbosch, 2008.<br>Robot control by TCP/IP communication is investigated in this thesis for existing robots used in tertiary education. The request for newer software for robotic computer control came from the University of Stellenbosch Industrial Engineering department where existing software dating back to 1988 is still in use. A thorough investigation into the research and technologies available is followed by a discussion on the proposed software to adhere to the requirement of compatibility with existing languages in use by

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20

Smith, Brian Stephen. "Automatic coordination and deployment of multi-robot systems." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28248.

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Thesis (M. S.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2009.<br>Committee Chair: Dr. Magnus Egerstedt; Committee Co-Chair: Dr. Ayanna Howard; Committee Member: Dr. David Taylor; Committee Member: Dr. Frank Dellaert; Committee Member: Dr. Ian Akyildiz; Committee Member: Dr. Jeff Shamma.

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21

Gallagher, William John. "Modeling of operator action for intelligent control of haptic human-robot interfaces." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50258.

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Control of systems requiring direct physical human-robot interaction (pHRI) requires special consideration of the motion, dynamics, and control of both the human and the robot. Humans actively change their dynamic characteristics during motion, and robots should be designed with this in mind. Both the case of humans trying to control haptic robots using physical contact and the case of using wearable robots that must work with human muscles are pHRI systems. Force feedback haptic devices require physical contact between the operator and the machine, which creates a coupled system. This hu

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22

Snider, Scott Michael. "Feedforward adjustment for scaled trajectories in control systems with simple non-linearities." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17521.

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23

Sutherland, Alistair James. "A torso driven walking algorithm for dynamically balanced variable speed biped robots /." Connect to this title, 2006. http://theses.library.uwa.edu.au/adt-WU2007.0049.

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24

Mayi, Dieudonne. "An intelligent database for PSUBOT, an autonomous wheelchair." PDXScholar, 1992. https://pdxscholar.library.pdx.edu/open_access_etds/4332.

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In the design of autonomous mobile robots, databases have been used mainly to store information on the environment in which the device is to operate. For most of the models and ready systems, the database when used, is not a stand alone component in the system, rather it is only intended to keep static information on the disposition and properties of objects on the map.

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25

Liu, Yu Gang. "Kinematics, dynamics and intelligent control for nonholonomic mobile modular manipulators." Thesis, University of Macau, 2006. http://umaclib3.umac.mo/record=b1636567.

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26

Piepmeier, Jenelle Armstrong. "A dynamic quasi-newton method for model independent visual servoing." Diss., Georgia Institute of Technology, 1999. http://hdl.handle.net/1853/18391.

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27

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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28

Muniganti, Purushotham. "Swarm robotic systems: ypod formation with analysis on scalability and stability." Doctoral thesis, Universitat Rovira i Virgili, 2016. http://hdl.handle.net/10803/364786.

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Aquesta tesi se central en la formació d’eixams, on s’estudia el comportament coordinat d’un grup de robots per formar un patró quan s’observa a nivell global. En aquest sentit, la formació de la forma general és un dels problemes actuals en d’intel·ligència d’eixams artificials. En aquesta tesi s’introdueix una nova formació en forma de Y, la qual presenta una gran quantitat d’aplicacions en comparació amb altres tècniques de formació. Per exemple, la formació en Y es pot aplicar com a formació estratègica per totes les escales, presenta facilitat per canviar de forma i grandària a més de re

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29

Sallinen, Mikko. "Modelling and estimation of spatial relationships in sensor-based robot workcells /." Espoo [Finland] : VTT Technical Research Centre of Finland, 2003. http://www.vtt.fi/inf/pdf/publications/2003/P509.pdf.

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30

Byrnes, Ronald Benton. "The Rational Behavior Model : a multi-paradigm, tri-level software architecture for the control of autonomous vehicles /." Monterey, Calif. : Springfield, Va. : Naval Postgraduate School; Available from the National Technical Information Service, 1993. http://edocs.nps.edu/npspubs/scholarly/dissert/1993/Mar/93Mar_Byrnes_PhD.pdf.

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31

Ma, Mo. "Navigation using one camera in structured environment /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20MA.

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32

Hosoe, Shigeyuki, Yoshikazu Hayakawa, and Zakarya Zyada. "Fuzzy Nonprehensile Manipulation Control of a Two-Rigid-Link Object by Two Cooperative Arms." International Federation of Automatic Control (IFAC), 2011. http://hdl.handle.net/2237/20767.

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33

Vitor, Giovani Bernardes 1985. "Urban environment and navigation using robotic vision = conception and implementation applied to autonomous vehicle = Percepção do ambiente urbano e navegação usando visão robótica: concepção e implementação aplicado à veículo autônomo." [s.n.], 2014. http://repositorio.unicamp.br/jspui/handle/REPOSIP/265843.

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Orientadores: Janito Vaqueiro Ferreira, Alessandro Corrêa Victorino<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica<br>Made available in DSpace on 2018-08-26T17:57:25Z (GMT). No. of bitstreams: 1 Vitor_GiovaniBernardes_D.pdf: 28262004 bytes, checksum: eeccacc4c01faa822412782af2e96121 (MD5) Previous issue date: 2014<br>Resumo: O desenvolvimento de veículos autônomos capazes de se locomover em ruas urbanas pode proporcionar importantes benefícios na redução de acidentes, no aumentando da qualidade de vida e também na redução de custos. Veículos intelig

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34

Whittington, William Grant. "Cooperative control of systems with variable network topologies." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/49107.

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Automation has become increasingly prevalent in all forms of society. Activities that are too difficult for a human or to dangerous can be done by machines which do not share those downsides. In addition, tasks can be scheduled more precisely and accurately. Increases in the autonomy have allowed for a new level of tasks which are completed by teams of automated agents rather than a single one, called cooperative control. This has many benefits; but comes at the cost of increased complexity and coordination. The main thrust of research in this field is problem based, considering communica

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35

Krishnakumar, Sita Srinivasaraghavan. "Intelligent actor mobility in wireless sensor and actor networks." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/24735.

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Thesis (Ph.D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2008.<br>Committee Chair: Abler, Randal T.; Committee Member: Copeland, John A.; Committee Member: Haas, Kevin; Committee Member: Moore II, Elliot; Committee Member: Owen III, Henry L.

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36

Yu, Weiwei. "Contribution to study and implementation of intelligent adaptive control strategies : application to control of complex dynamic systems." Phd thesis, Université Paris-Est, 2011. http://tel.archives-ouvertes.fr/tel-00665586.

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The main limitation of the CMAC (Cerebellar Model Articulation Controller) network in realistic applications for complex automated systems (robots, automated vehicles, etc...) is related to the required memory size. It is pertinent to remind that the memory used by CMAC depends firstly on the input signal quantification step and secondly on the input space dimension. For real CMAC based control applications, on the one hand, in order to increase the accuracy of the control the chosen quantification step must be as small as possible; on the other hand, generally the input space dimension is gre

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37

Barnes, Laura E. "A potential field based formation control methodology for robot swarms." [Tampa, Fla] : University of South Florida, 2008. http://purl.fcla.edu/usf/dc/et/SFE0002361.

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38

Kauppi, Ilkka. "Intermediate language for mobile robots : a link between the high-level planner and low-level services in robots /." Espoo [Finland] : VTT Technical Research Centre of Finland, 2003. http://www.vtt.fi/inf/pdf/publications/2003/P510.pdf.

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39

Lima, Jeferson José de [UNESP]. "Dinâmica e controle de manipuladores robóticos flexíveis, excitados por carregamento não-linear e não-ideal." Universidade Estadual Paulista (UNESP), 2017. http://hdl.handle.net/11449/152144.

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40

Lubbe, Hendrik Gideon. "Intelligent automated guided vehicle (AGV) with genetic algorithm decision making capabilities." Thesis, [Bloemfontein?] : Central University of Technology, Free State, 2007. http://hdl.handle.net/11462/85.

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Thesis (M.Tech.) - Central University of Technology, Free State, 2006<br>The ultimate goal regarding this research was to make an intelligent learning machine, thus a new method had to be developed. This was to be made possible by creating a programme that generates another programme. By constantly changing the generated programme to improve itself, the machines are given the ability to adapt to there surroundings and, thus, learn from experience. This generated programme had to perform a specific task. For this experiment the programme was generated for a simulated PIC microcontroller abo

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41

Wu, Jianxin. "Visual place categorization." Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/29784.

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Thesis (Ph.D)--Computing, Georgia Institute of Technology, 2010.<br>Committee Chair: Rehg, James M.; Committee Member: Christensen, Henrik; Committee Member: Dellaert, Frank; Committee Member: Essa, Irfan; Committee Member: Malik, Jitendra. Part of the SMARTech Electronic Thesis and Dissertation Collection.

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42

Girbés, Juan Vicent. "Clothoid-based Planning and Control in Intelligent Vehicles (Autonomous and Manual-Assisted Driving)." Doctoral thesis, Universitat Politècnica de València, 2016. http://hdl.handle.net/10251/65072.

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[EN] Nowadays, there are many electronic products that incorporate elements and features coming from the research in the field of mobile robotics. For instance, the well-known vacuum cleaning robot Roomba by iRobot, which belongs to the field of service robotics, one of the most active within the sector. There are also numerous autonomous robotic systems in industrial warehouses and plants. It is the case of Autonomous Guided Vehicles (AGVs), which are able to drive completely autonomously in very structured environments. Apart from industry and consumer electronics, within the automotive fiel

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Cazangi, Renato Reder. "Sintese de controladores autonomos em robotica movel por meio de computação bio-inspirada." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/261234.

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Orientador: Fernando Jose Von Zuben<br>Acompanha CD-ROM<br>Tese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica e de Computação<br>Made available in DSpace on 2018-08-13T02:48:36Z (GMT). No. of bitstreams: 1 Cazangi_RenatoReder_D.pdf: 8716830 bytes, checksum: 272657e08f1aeb5622ebeb4412c49048 (MD5) Previous issue date: 2008<br>Resumo: Novas técnicas de navegação autônoma de robôs móveis visam suprir a crescente demanda pelo emprego de robôs em diversos setores da sociedade e junto a uma ampla gama de tarefas. Os desafios envolvidos no desenvolvimento do siste

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Boje, Ellenor Petronella. "Intelligent AGV with navigation, object detection and avoidance in an unknown environment." Thesis, Bloemfontein : Central University of Technology, Free State, 2007. http://hdl.handle.net/11462/83.

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Thesis (M.Tech.) - Central University of Technology, Free State, 2007<br>The latest technological trend worldwide, is automation. Reducing human labour and introducing robots to do the work is a pure business decision. The reason for automating a plant can be some, or all, of the following: Improve productivity Reduce labour and equipment costs Reduce product damage System reliability can be monitored Improves plant safety When the automation process is started, Automatic Guided Vehicles (AGVs) will be one of the first commodities that can be used. The reason for this is that

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45

Yazbeck, Jano. "Accrochage immatériel sûr et précis de véhicules automatiques." Thesis, Université de Lorraine, 2014. http://www.theses.fr/2014LORR0070/document.

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Dans cette thèse, nous nous intéressons au problème du suivi en convoi, désigné en anglais par le terme platooning, où un train de robots essaie de suivre un chemin décrit par le leader. Ce chemin, n'étant pas prédéfini mais généré au cours du suivi, est inconnu de tous les robots suiveurs. Dans ce travail, nous choisissons une approche décentralisée locale où chaque robot du convoi observe son voisinage et calcule son contrôle de façon à avoir un suivi stable (absence d'oscillations) et précis (erreur latérale aussi faible que possible). Cette thèse étudie plus précisément le comportement lat

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Yazbeck, Jano. "Accrochage immatériel sûr et précis de véhicules automatiques." Electronic Thesis or Diss., Université de Lorraine, 2014. http://www.theses.fr/2014LORR0070.

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Dans cette thèse, nous nous intéressons au problème du suivi en convoi, désigné en anglais par le terme platooning, où un train de robots essaie de suivre un chemin décrit par le leader. Ce chemin, n'étant pas prédéfini mais généré au cours du suivi, est inconnu de tous les robots suiveurs. Dans ce travail, nous choisissons une approche décentralisée locale où chaque robot du convoi observe son voisinage et calcule son contrôle de façon à avoir un suivi stable (absence d'oscillations) et précis (erreur latérale aussi faible que possible). Cette thèse étudie plus précisément le comportement lat

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47

Leitner, Jürgen. "From vision to actions: Towards adaptive and autonomous humanoid robots." Thesis, Università della Svizzera Italiana, 2014. https://eprints.qut.edu.au/90178/2/2014INFO020.pdf.

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Although robotics research has seen advances over the last decades robots are still not in widespread use outside industrial applications. Yet a range of proposed scenarios have robots working together, helping and coexisting with humans in daily life. In all these a clear need to deal with a more unstructured, changing environment arises. I herein present a system that aims to overcome the limitations of highly complex robotic systems, in terms of autonomy and adaptation. The main focus of research is to investigate the use of visual feedback for improving reaching and grasping capabilities o

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48

Alves, Silas Franco dos Reis. "Arquitetura de controle inteligente para interação humano-robô." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-04082016-142914/.

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Supondo-se que os robôs coexistirão conosco num futuro próximo, é então evidente a necessidade de Arquiteturas de Controle Inteligentes voltadas para a Interação Humano-Robô. Portanto, este trabalho desenvolveu uma Organização de Arquitetura de Controle Inteligente comportamental, cujo objetivo principal é permitir que o robô interaja com as pessoas de maneira intuitiva e que motive a colaboração entre pessoas e robôs. Para isso, um módulo emocional sintético, embasado na teoria bidimensional de emoções, foi integrado para promover a adaptação dos comportamentos do robô, implementados por Esqu

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49

Santos, Higor Barbosa. "Controle inteligente de posição e velocidade para um robô escalador com rodas direcionáveis." Universidade Tecnológica Federal do Paraná, 2016. http://repositorio.utfpr.edu.br/jspui/handle/1/2539.

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This work presents an intelligent control of position and velocity to a climber robot developed to perform inspections of pressure vessels. The climber robot has steerable and magnetic wheels, which makes it similar to an omnidirectional robot due to its high maneuverability. The intelligent velocity control proposed uses the switching Fuzzy controllers according to the movement to be performed, which allow the use of all the robot's movement potential respecting the constraints imposed by the dynamic model and magnetic adhesion. Also, a position controller was developed in cascade with the sp

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Killpack, Marc Daniel. "Model predictive control with haptic feedback for robot manipulation in cluttered scenarios." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50208.

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Current robot manipulation and control paradigms have largely been developed for static or highly structured environments such as those common in factories. For most techniques in robot trajectory generation, such as heuristic-based geometric planning, this has led to putting a high cost on contact with the world. This approach and methodology can be prohibitive to robots operating in many unmodeled and dynamic environments. This dissertation presents work on using haptic based feedback (torque and tactile sensing) to formulate a controller for robot manipulation in clutter. We define “clutter

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