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Fiorini, Marco. "Tool a supporto della programmazione multi-piattaforma: Il caso di robovm e itucson." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amslaurea.unibo.it/8416/.
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La tesi, che si colloca all'interno di un progetto di esplorazione degli approcci alla programmazione multi-piattaforma tra Java e iOS, mira a proseguire ed ampliare lo studio del tool RoboVM, in particolare grazie allo sviluppo dell'applicazione iTuCSoN, porting del Command Line Interpreter contenuto in TuCSoN (http://tucson.apice.unibo.it/)
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Голубець, Михайло Борисович, and Mukhailo Holubets. "Дослідження ефективності використання технології Xamarin при розробці мобільних додатків." Thesis, Тернопільський національний технічний університет імені Івана Пулюя, 2017. http://elartu.tntu.edu.ua/handle/123456789/19004.
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Дипломна робота на здобуття освітнього ступеня магістра 8.05010201 – Комп’ютерні
системи та мережі. – Тернопільський національний технічний університет імені Івана
Пулюя, Тернопіль 2017.
Дипломна робота присвячена дослідженню ефективності використання технології
Xamarin при розробці мобільних додатків в порівнянні з альтернативними
технологіями. Новизна полягає у розробці методів дослідження ефективності розробки
мобільних додатків з технологією Xamarin, в результаті чого було отримано
характеристики досліджуваної технології. Проведено аналіз процесу розробки
мобільних додатків, в результаті чого визначено ефективні та неефективні способи
розробки. Проведено дослідження альтернативних методів та технологій, а саме: Ionic,
RoboVM та PhoneGap. В результаті чого було підтверджено високі характеристики
технології Xamarin в порівнянні з альтернативами. Досліджено розробку на Xamarin за
допомогою патерну MVVM, в результаті чого було написано програму для зберігання
контактів.The diploma paper for obtaining the Master’s degree 8.05010201 – Computer systems and networks – Ternopil Ivan Puluj National Technical University, Ternopil 2017 . The novelty lies in the development of research methods efficiency of Xamarin mobile application development technology, which resulted in obtaining characteristics of the technology. An analysis of mobile application development was performed, which resulted in determining of the effective and ineffective development ways. The research of alternative methods and technologies, namely: Ionic, RoboVM and PhoneGap, was made. As a result, high performance Xamarin technology characteristics were confirmed in comparison to alternatives. The design process at Xamarin with the use of MVVM pattern was studied, which resulted in creating software for your contacts saving
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Switzer, Barbara T. "Robotic path planning with obstacle avoidance /." Online version of thesis, 1993. http://hdl.handle.net/1850/11712.
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Václavek, Miroslav. "Řízení 6-ti osého robota v RTOS." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-217874.
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The thesis deals with the analysis, software design and the study of 3D kinematic model of robotic manipulator ROB 2-6. It creates the control software for this manipulator, containing user interface based on MFC applications. Moreover, the thesis is concentrated on the solution of various problems, e.g. non-linearity of servomotor or the limitation of manipulator´s attainability. Finally, it poses a documentation of the single project and offers new possibilities of further development in the control of this manipulator.
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O'Hara, Keith Joseph. "Leveraging distribution and heterogeneity in robot systems architecture." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42706.
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Like computer architects, robot designers must address multiple, possibly competing, requirements by balancing trade-offs in terms of processing, memory, communication, and energy to satisfy design objectives. However, robot architects currently lack the design guidelines, organizing principles, rules of thumb, and tools that computer architects rely upon. This thesis takes a step in this direction, by analyzing the roles of heterogeneity and distribution in robot systems architecture.
This thesis takes a systems architecture approach to the design of robot systems, and in particular, investigates the use of distributed, heterogeneous platforms to exploit locality in robot systems design. We show how multiple, distributed heterogeneous platforms can serve as general purpose robot systems for three distinct domains with different design objectives: increasing availability in a search and rescue mission, increasing flexibility and ease-of-use for a personal educational robot, and decreasing the computation and sensing resources necessary for navigation and foraging tasks.
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Baba, Akihiko. "Robot navigation using ultrasonic feedback." Morgantown, W. Va. : [West Virginia University Libraries], 1999. http://etd.wvu.edu/templates/showETD.cfm?recnum=677.
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Thesis (M.S.)--West Virginia University, 1999.Title from document title page. Document formatted into pages; contains viii, 122 p. : ill. Includes abstract. Includes bibliographical references (p. 57-59).
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Monahan, Melissa A. "Scalability study for robotic hand platform /." Online version of thesis, 2010. http://hdl.handle.net/1850/12225.
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Luh, Cheng-Jye 1960. "Hierarchical modelling of mobile, seeing robots." Thesis, The University of Arizona, 1989. http://hdl.handle.net/10150/276998.
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This thesis describes the implementation of a hierarchical robot simulation environment which supports the design of robots with vision and mobility. A seeing robot model applies a classification expert system for visual identification of laboratory objects. The visual data acquisition algorithm used by the robot vision system has been developed to exploit multiple viewing distances and perspectives. Several different simulations have been run testing the visual logic in a laboratory environment. Much work remains to integrate the vision system with the rest of the robot system.
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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.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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Sorour, Mohamed. "Motion discontinuity-robust controller for steerable wheeled mobile robots." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS090/document.
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Les robots mobiles à roues orientables gagnent de la mobilité en employant des roues conventionnelles entièrement orientables, comportant deux joints actifs, un pour la direction et un autre pour la conduite. En dépit d'avoir seulement un degré de mobilité (DOM) (défini ici comme degrés de liberté instantanément autorisés DOF), correspondant à la rotation autour du centre de rotation instantané (ICR), ces robots peuvent effectuer des trajectoires planaires complexes de $ 2D $. Ils sont moins chers et ont une capacité de charge plus élevée que les roues non conventionnelles (par exemple, Sweedish ou Omni-directional) et, en tant que telles, préférées aux applications industrielles. Cependant, ce type de structure de robot mobile présente des problèmes de contrôle textit {basic} difficiles de la coordination de la direction pour éviter les combats d'actionneur, en évitant les singularités cinématiques (ICR à l'axe de la direction) et les singularités de représentation (du modèle mathématique). En plus de résoudre les problèmes de contrôle textit {basic}, cette thèse attire également l'attention et présente des solutions aux problèmes de textit {niveau d'application}. Plus précisément, nous traitons deux problèmes: la première est la nécessité de reconfigurer "de manière discontinue" les articulations de direction, une fois que la discontinuité dans la trajectoire du robot se produit. Une telle situation - la discontinuité dans le mouvement du robot - est plus susceptible de se produire de nos jours, dans le domaine émergent de la collaboration homme-robot. Les robots mobiles qui fonctionnent à proximité des travailleurs humains en mouvement rapide rencontrent généralement une discontinuité dans la trajectoire calculée en ligne. Le second apparaît dans les applications nécessitant que l'angle de l'angle soit maintenu, certains objets ou fonctionnalités restent dans le champ de vision (p. Ex., Pour les tâches basées sur la vision) ou les changements de traduction. Ensuite, le point ICR est nécessaire pour déplacer de longues distances d'un extrême de l'espace de travail à l'autre, généralement en passant par le centre géométrique du robot, où la vitesse du robot est limitée. Dans ces scénarios d'application, les contrôleurs basés sur l'ICR à l'état de l'art conduiront à des comportements / résultats insatisfaisants. Dans cette thèse, nous résolvons les problèmes de niveau d'application susmentionnés; à savoir la discontinuité dans les commandes de vitesse du robot et une planification meilleure / efficace pour le contrôle du mouvement du point ICR tout en respectant les limites maximales de performance des articulations de direction et en évitant les singularités cinématiques et représentatives. Nos résultats ont été validés expérimentalement sur une base mobile industrielleSteerable wheeled mobile robots gain mobility by employing fully steerable conventional wheels, having two active joints, one for steering, and another for driving. Despite having only one degree of mobility (DOM) (defined here as the instantaneously accessible degrees of freedom DOF), corresponding to the rotation about the instantaneous center of rotation (ICR), such robots can perform complex $2D$ planar trajectories. They are cheaper and have higher load carrying capacity than non-conventional wheels (e.g., Sweedish or Omni-directional), and as such preferred for industrial applications. However, this type of mobile robot structure presents challenging textit{basic} control issues of steering coordination to avoid actuator fighting, avoiding kinematic (ICR at the steering joint axis) and representation (from the mathematical model) singularities. In addition to solving the textit{basic} control problems, this thesis also focuses attention and presents solutions to textit{application level} problems. Specifically we deal with two problems: the first is the necessity to "discontinuously" reconfigure the steer joints, once discontinuity in the robot trajectory occurs. Such situation - discontinuity in robot motion - is more likely to happen nowadays, in the emerging field of human-robot collaboration. Mobile robots working in the vicinity of fast moving human workers, will usually encounter discontinuity in the online computed trajectory. The second appears in applications requiring that some heading angle is to be maintained, some object or feature stays in the field of view (e.g., for vision-based tasks), or the translation verse changes. Then, the ICR point is required to move long distances from one extreme of the workspace to the other, usually passing by the robot geometric center, where the feasible robot velocity is limited. In these application scenarios, the state-of-art ICR based controllers will lead to unsatisfactory behavior/results. In this thesis, we solve the aforementioned application level problems; namely discontinuity in robot velocity commands, and better/efficient planning for ICR point motion control while respecting the maximum steer joint performance limits, and avoiding kinematic and representational singularities. Our findings has been validated experimentally on an industrial mobile base
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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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Sequeira, Gerard. "Vision based leader-follower formation control for mobile robots." Diss., Rolla, Mo. : University of Missouri-Rolla, 2007. http://scholarsmine.mst.edu/thesis/pdf/Sequeira_09007dcc804429d4.pdf.
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Thesis (M.S.)--University of Missouri--Rolla, 2007.Vita. The entire thesis text is included in file. Title from title screen of thesis/dissertation PDF file (viewed February 13, 2008) Includes bibliographical references (p. 39-41).
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Silva, Jorge Vicente Lopes da. "Otimização na geração automatica de modelos dinamicos para o controle e a estimação de parametros de robos." [s.n.], 1990. http://repositorio.unicamp.br/jspui/handle/REPOSIP/258922.
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Orientador: Edson de Paula FerreiraDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Eletrica
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Resumo: Este trabalho apresenta contribuições no sentido de agilizar e otimizar a modelagem geométrica e dinâmica de robôs. A finalidade principal na utilização destes modelos é o desenvolvimento de estratégias de controle mais eficientes, que consigam compensar efeitos indesejáveis, quando é exigido um desempenho superior dos robôs. Estes modelos são de grande complexidade e sua obtenção manual, além de demorada, é extremamente árida e bastante sujeita a erros. Por este motivo, implementamos um sistema para a geração automática de modelos geométricos e modelos dinâmicos com base no formalismo de Lagrange, utilizando recursos para otimização destes modelos. É proposto um algoritmo eficiente para modelagem dinâmica, o qual elimina automaticamente um grande número de redundâncias. Este algoritmo é apresentado à nível de implementação
Abstract: This work presents contributions aiming at time saving and model improvement in the generation of geometric and dynamic robot models. The main purpose is to enable the generation of models suited for use in the development of more efficient control strategies, 50 as to compensa te effects that become undesirable when a better robot performance is required. These are quite complex models and the manual derivation of them is tedious, costly (time-consuming) and often error-prone. 50, it was implemented a system for automatic generation of symbolic geometric and dynamic robot models based in the Lagrange formulation and that also cares about model optimization. It is also proposed an efficient algorithm for dynamic modelling, which automatically eliminates a great number of redundancies. This algorithm is presented in the implementation level
Mestrado
Automação
Mestre em Engenharia Elétrica
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Chen, Haoyao. "Towards multi-robot formations : study on vision-based localization system /." access full-text access abstract and table of contents, 2009. http://libweb.cityu.edu.hk/cgi-bin/ezdb/thesis.pl?phd-meem-b3008295xf.pdf.
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Thesis (Ph.D.)--City University of Hong Kong, 2009."Submitted to Department of Manufacturing Engineering and Engineering Management in partial fulfillment of the requirements for the degree of Doctor of Philosophy." Includes bibliographical references (leaves 87-100)
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Smarr, Cory-Ann Cook. "Applying a qualitative framework of acceptance of personal robots." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/53096.
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Personal robots can help people live safer, more efficient and comfortable lives. However, such benefits cannot be achieved if people do not use, or accept, personal robots. The use of a technology is predominantly influenced by an individual's intention to use it, which is influenced by his or her attitudes toward it (Davis, 1989). Presently, the key factors that impact the use of personal robots are not fully understood. Two studies were conducted as first step assessments of the Smarr, Fisk, and Rogers (2013) theoretically-based framework of acceptance of personal robots. In study 1, 14 participants used a personal robot (a robot lawn mower) at their homes for about six weeks. Their acceptance and factors important for acceptance identified in the framework were measured using pre-use and post-use interviews and questionnaires, and weekly diaries. The framework was conceptually validated; participants mentioned 16 of the 20 factors in the Smarr et al. (2013) framework. However, the framework did not fully account for the breadth of factors discussed by participants, thereby suggesting variables may need to be added to or removed from the framework. In study 2, 280 participants reported their initial acceptance of a personal robot (a robot mower) with different levels of reliability and communication of feedback in an online survey. Level of robot reliability did significantly affect attitudinal and intentional acceptance. Follow up analyses indicated a trend that participants who received no information on reliability had numerically higher acceptance than participants who were informed that the robot had 70% reliability or 90% reliability. Neither communication of feedback nor its interaction with reliability affected acceptance. The Smarr et al. (2013) framework explained about 60% of the variance in intentional acceptance and 57% in attitudinal acceptance of a personal robot. Eight of the 15 relationships tested were supported via path analysis. Findings largely supported the Smarr et al. (2013) framework in explaining what impacts intentional and attitudinal acceptance of a personal robot. Results from these studies can inform the Smarr et al. (2013) framework of robot acceptance and other models of acceptance, and can guide designers in developing acceptable personal robots.
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Aguilar, Jeffrey Jose. "Exploring lift-off dynamics in a jumping robot." Thesis, Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/45961.
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We study vertical jumping in a simple robot comprising an actuated mass spring arrangement. The actuator frequency and phase are systematically varied to find optimal performance. Optimal jumps occur above and below (but not at) the robot's resonant frequency f0. Two distinct jumping modes emerge: a simple jump which is optimal above f0 is achievable with a squat maneuver, and a peculiar stutter jump which is optimal below f0 is generated with a countermovement. A simple dynamical model reveals how optimal lift-off results from non-resonant transient dynamics.
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Wooden, David T. "Graph-based Path Planning for Mobile Robots." Diss., Available online, Georgia Institute of Technology, 2006, 2006. http://etd.gatech.edu/theses/available/etd-11092006-180958/.
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Thesis (Ph. D.)--Electrical and Computer Engineering, Georgia Institute of Technology, 2007.Magnus Egerstedt, Committee Chair ; Patricio Vela, Committee Member ; Ayanna Howard, Committee Member ; Tucker Balch, Committee Member ; Wayne Book, Committee Member.
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Pires, Leo Santana. "Uma contribuição ao estudo da dinamica não linear e controle de um particular sistema robotico levando-se em conta as interações entre as juntas." [s.n.], 2005. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264708.
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Orientadores: Helder Anibal Hermini, Jose Manoel BalthazarDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Meêanica
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Resumo: Uma aproximação unificada para projeto e controle de manipuladores robóticos que retenha todas as não linearidades inerentes na dinâmica é desenvolvido para uma configuração robô-motor considerado como um sistema interagente. Este projeto de sistema interagente, baseado no modelo de teoria de controle de desacoplagem não-linear de Beekmann, desacopla a configuração robô-motor para os subsistemas robô, motor e interação cm série. Esta aproximação está em contraste ao tratamento convencional do motor como uma pura fonte dc torque c o negligenciamento da interação dinâmica entre a junta do robô e o motor, e ao desconsiderar a formulação não-linear
Abstract: A unified approach to a robotic controI design, which retains all the nonlinearities inherent in the dynamics, is developed for the motor-robot configuration considered as an imeracting system. This control system design, based on the Beekmann model's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approch is in contrast to the conventional treatment of the motor as apure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism and not consider the nonlinear formulation
Mestrado
Projeto Mecanico e Mecanica dos Solidos
Mestre em Engenharia Mecânica
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Garratt, Matthew A. "Biologically inspired vision and control for an autonomous flying vehicle /." View thesis entry in Australian Digital Theses Program, 2007. http://thesis.anu.edu.au/public/adt-ANU20090116.154822/index.html.
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Kwok, Chung Tin. "Robust real-time perception for mobile robots /." Thesis, Connect to this title online; UW restricted, 2004. http://hdl.handle.net/1773/7017.
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Bertone, Osvaldo Hugo. "Desenvolvimento de uma plataforma universal para aplicações em robôs móveis." [s.n.], 2012. http://repositorio.unicamp.br/jspui/handle/REPOSIP/260985.
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Orientador: Marco Antonio Robert AlvesTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação
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Resumo: Este trabalho visa o desenvolvimento de uma plataforma básica com o propósito de ser-vir de estrutura para aplicações em robôs móveis. Esta plataforma consta de módulos de comunicação para o meio exterior (Bluetooth, WiFi e ZigBee) e com um barramento de comunicação interior que permite a inclusão de módulos que controlam sensores e atuadores (sensores como de distância, câmeras de vídeo, GPS, Bussola digital, acelerômetros, umidade, temperatura, pressão, etc., e atuadores como motores, servos, válvulas, etc.). A plataforma básica consta de protocolos de comunicação e um set de comandos tanto nas comunicações via rádio como no barramento interno o que permite o desenvolvimento de novas aplicações. O software interno, também é um software de código aberto que permite aos pesquisadores, hobbistas, profissionais, alunos e professores modificar e desenvolver qualquer tipo de aplicação tanto para que a plataforma seja montada em estruturas diferentes como também o desenvolvimento de software desktop para comando do robô via internet, celular ou qualquer tipo de tele-comunicação futura. Com este trabalho se pretende preencher um vazio que fará viável sua aplicação nas áreas de educação básica, esta não apenas nas disciplinas tradicionais, como Matemática e Geografia, mas também em disciplinas transversais, nas quais os alunos poderão aprender a programar rotinas para educação no trânsito, seleção de lixo reciclável, ecologia (reconhecimento de águas), inclusão social e reconhecimentos de MAPas, utilizando sistemas de programação em blocos. No caso dos pesquisadores e hobbistas, os produtos seriam utilizados para o desenvolvimento de novos módulos e outras aplicações mais sofisticadas, podendo tudo isso ser realizado via tele-operação. Como foi desenvolvido um único sistema a ser usado tanto na educação básica quanto para pesquisas de alto nível tecnológico, o sistema é flexível, possuindo um software com programação em blocos, para as escolas de ensino fundamental e médio; e um software com programação em C, para pesquisadores e hobbistas
Abstract: This study aims at developing a basic platform in order to provide a structure for applications in mobile robots. This platform consists of modules for communication to the outside world (Bluetooth, WiFi and ZigBee) and an internal communication bus that allows the inclusion of modules that control sensors and actuators (such as distance sensors, video cameras, GPS, digital compass , accelerometers, humidity, temperature, pressure, etc ... as motors and actuators, servos, valves, etc ...). The basic platform consists of communication protocols and a set of commands as much as radio communications in the internal bus that allows the development of new applications. The internal software is also an open source software that allows researchers, hobbyists, professionals, students and teachers to modify and develop any type of application for both the platform is mounted on different structures as well as the development of desktop software for remote control of robot via the Internet, mobile phone or any type of tele-communication future. This work is intended to fill a void that will make feasible its application in the areas of basic education, this not only in traditional disciplines such as math and geography, but also in cross-disciplines in which students can learn to program routines for traffic education, selection of recyclable waste, ecology recognition (water), social inclusion and recognition of MAPas using systems programming block. For researchers and hobbyists, the products would be used for the development of new modules and other more sophisticated applications, may all be performed via the teleoperation. Was developed as a single system to be used both in basic education and for research on high technology, the system is flexible, having a software programming blocks to the elementary schools and middle, and a software programming in C for researchers and hobbyists
Doutorado
Eletrônica, Microeletrônica e Optoeletrônica
Doutor em Engenharia Elétrica
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Moya, Fuentes Javier Eduardo. "Detección, Evasión y Manejo de Caídas en Robots Bípedos Humanoides." Tesis, Universidad de Chile, 2010. http://repositorio.uchile.cl/handle/2250/103736.
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El objetivo general del presente trabajo de título es el desarrollo e implementación de un sistema para el manejo de caídas en robots humanoides, que incluya la detección de inestabilidades en la postura del robot, junto con reflejos que permiten evitarlas o disminuir los daños en el caso de que la caída sea inevitable. El contexto en el cual se enmarca este trabajo es la competencia internacional de fútbol robótico Robocup, categoría humanoide. El sistema se implementa en el firmware del controlador de bajo nivel de un robot HR18 de Hajime Research Institute.
El sistema de detección de caídas considera un sensor virtual, que entrega la inclinación y velocidad angular del robot, en los ejes lateral y sagital, combinando a través de un filtro de Kalman los datos obtenidos de un acelerómetro y un giróscopo de 3 ejes. Se presentan 5 métodos de detección de caídas basados en las lecturas del sensor virtual, de los cuales, en base a pruebas preliminares realizadas en MATLAB®, se seleccionan 3 para su implementación en el firmware del robot. El primero de ellos, se basa en la modelación de la inclinación a partir de la lectura de los ángulos de los motores. El siguiente, en el cálculo del punto de momento cero del robot y el último de ellos, en el test de de Hotelling.
Para la evasión de caídas se implementa un reflejo en el cual se disminuye la altura del centro de masa del robot y se detiene la caminata hasta que se logra pasar a un estado estable. De manera similar, se implementa un reflejo para la disminución de daños, que consiste en la amortiguación de la caída con los motores de los brazos con torque reducido.
Como conclusión principal, se puede afirmar que los objetivos fueron cumplidos exitosamente, pues se implementa en el firmware del robot un sistema completo para el manejo de caídas en robots humanoides, en que se abarca la detección, la evasión y la reducción del impacto de una caída, el cual queda completamente funcional, con parámetros ajustados para el normal funcionamiento del robot en un partido de fútbol robótico con tasas prácticamente nulas de falsos positivos y falsos negativos.
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Hornfeck, Kenneth B. "A Customizable Socially Interactive Robot with Wireless Health Monitoring Capability." Case Western Reserve University School of Graduate Studies / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1301595272.
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Beer, Jenay M. "Understanding older adults' perceptions of usefulness of an assistive home robot." Diss., Georgia Institute of Technology, 2013. http://hdl.handle.net/1853/50404.
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Developing robots that are useful to older adults is more than simply creating robots that complete household tasks. To ensure that older adults perceive a robot to be useful, careful consideration of the users’ capabilities, robot autonomy, and task is needed (Venkatesh & Davis, 2000). The purpose of this study was to investigate the construct of perceived usefulness within the context of robot assistance. Mobile older adults (N = 12) and older adults with mobility loss (N=12) participated in an autonomy selection think aloud task, and a persona based interview. Findings suggest that older adults with mobility loss preferred an autonomy level where they command/control the robot themselves. Mobile older adults’ preferences were split between commanding/controlling the robot themselves, or the robot commands/controls itself. Reasons for their preferences were related to decision making, and were task specific. Additionally, findings from the persona base interview study support Technology Acceptance Model (TAM) constructs, as well as adaptability, reliability, and trust as positively correlated with perceptions of usefulness. However, despite the positive correlation, barriers and facilitators of acceptance identified in the interview suggest that perceived usefulness judgments are complex, and some questionnaire constructs were interpreted differently between participants. Thus, care should be taken when applying TAM constructs to other domains, such as robot assistance to promote older adult independence.
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Dentler, Donald Richard II. "Design, Control, and Implementation of a Three Link Articulated Robot Arm." University of Akron / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=akron1217208877.
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Sung, Ja-Young. "Towards the human-centered design of everyday robots." Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/39539.
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The recent advancement of robotic technology brings robots closer to assisting us in our everyday spaces, providing support for healthcare, cleaning, entertaining and other tasks. In this dissertation, I refer to these robots as everyday robots. Scholars argue that the key to successful human acceptance lies in the design of robots that have the ability to blend into everyday activities. A challenge remains; robots are an autonomous technology that triggers multi-faceted interactions: physical, intellectual, social and emotional, making their presence visible and even obtrusive. These challenges need more than technological advances to be resolved; more human-centered approaches are required in the design. However to date, little is known about how to support that human-centered design of everyday robots.
In this thesis, I address this gap by introducing an initial set of design guidelines for everyday robots. These guidelines are based on four empirical studies undertaken to identify how people live with robots in the home. These studies mine insights about what interaction attributes of everyday robots elicit positive or negative user responses. The guidelines were deployed in the development of one type of everyday robot: a senior-care robot called HomeMate. It shows that the guidelines become useful during the early development process by helping designers and robot engineers to focus on how social and emotional values of end-users influence the design of the technical functions required.
Overall, this thesis addresses a question how we can support the design of everyday robots to become more accepted by users. I respond to this question by proposing a set of design guidelines that account for lived experiences of robots in the home, which ultimately can improve the adoption and use of everyday robots.
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Celikkanat, Hande. "Control Of A Mobile Robot Swarm Via Informed Robots." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/12609966/index.pdf.
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In this thesis, we study how and to what extent a self-organized mobile robot flock can be guided by informing some of the robots within the flock about a preferred direction of motion. Specifically, we extend a flocking behavior that was shown to maneuver a swarm of mobile robots as a cohesive group in free space, avoiding obstacles. In its original form, this behavior does not have a preferred direction and the flock would wander aimlessly. In this study, we incorporate a preference for a goal direction in some of the robots. These informed robots do not signal that they are informed (a.k.a. unacknowledged leadership) and instead guide the swarm by their tendency to move in the desired direction. Through experimental results with physical and simulated robots we show that the self-organized flocking of a robot swarm can be effectively guided by an informed minority of the flock. We evaluate the system using a number of quantitative metrics: First, we propose to use the mutual information metric from Information Theory as a dynamical measure of the information exchange. Then, we discuss the accuracy metric from directional statistics and size of the largest cluster as the measures of system performance. Using these metrics, we perform analyses from two points of views: In the transient analyses, we demonstrate the information exchange between the robots as the time advances, and the increase in the accuracy of the flock when the conditions are suitable for an adequate amount of information exchange. In the steady state analyses, we investigate the interdependent effects of the size of the flock in terms of the robots in it, the ratio of informed robots in the flock over the total flock size, the weight of the direction preference behavior, and the noise in the system.
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Park, Hae Won. "Robot learners: interactive instance-based learning with social robots." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/53442.
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On one hand, academic and industrial researchers have been developing and deploying robots that are used as educational tutors, mediators, and motivational tools. On the other hand, an increasing amount of interest has been placed on non-expert users being able to program robots intuitively, which has led to promising research efforts in the fields of machine learning and human-robot interaction. This dissertation focuses on bridging the gap between the two subfields of robotics to provide personalized experience for the users during educational, entertainment, and therapeutic sessions with social robots. In order to make the interaction continuously engaging, the workspace shared between the user and the robot should provide personalized contexts for interaction while the robot learns to participate in new tasks that arise.
This dissertation aims to solve the task-learning problem using an instance-based framework that stores human demonstrations as task instances. These instances are retrieved when confronted with a similar task in which the system generates predictions of task behaviors based on prior solutions. The main issues associated with the instance-based approach, i.e., knowledge encoding and acquisition, are addressed in this dissertation research using interactive methods of machine learning. This approach, further referred to as interactive instance-based learning (IIBL), utilizes the keywords people use to convey task knowledge to others to formulate task instances. The key features suggested by the human teacher are extracted during the demonstrations of the task. Regression approaches have been developed in this dissertation to model similarities between cases for instance retrieval including multivariate linear regression and sensitivity analysis using neural networks. The learning performance of the IIBL methods were then evaluated while participants engaged in various block stacking and inserting scenarios and tasks on a touchscreen tablet with a humanoid robot Darwin.
In regard to end-users programming robots, the main benefit of the IIBL framework is that the approach fully utilizes the explanatory behavior of the instance-based method which makes the learning process transparent to the human teacher. Such an environment not only encourages the user to produce better demonstrations, but also prompts the user to intervene at the moment a new instance is needed. It was shown through user studies that participants naturally adapt their teaching behavior to the robot learner's progress and adjust the timing and the number of demonstrations. It was also observed that the human-robot teaching and learning scenarios facilitate the emergence of various social behaviors from participants. Encouraging social interaction is often an objective of the task especially with children with cognitive disabilities, and a pilot study with children with autism spectrum disorder revealed promising results comparable to the typically developing group.
Finally, this dissertation investigated the necessity of renewable context for prolonged interaction with robot companions. Providing personalized tasks that match each individual's preferences and developmental stages enhances the quality of the user experience with robot learners. Confronted with the limitations of the physical workspace, this research proposes utilizing commercially available touchscreen smart devices as a shared platform for engaging the user in educational, entertainment, and therapeutic tasks with the robot learners.
To summarize, this dissertation attempts to defend the thesis statement that a robot learner that utilizes an IIBL approach improves the performance and efficiency of general task learning, and when combined with the state-of-the-art mobile technology that provides personalized context for interaction, enhances the user's experience for prolonged engagement of the task.
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Bethel, Cindy L. "Robots Without Faces: Non-Verbal Social Human-Robot Interaction." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003097.
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Long, Matthew T. "Creating a distributed field robot architecture for multiple robots." [Tampa, Fla.] : University of South Florida, 2004. http://purl.fcla.edu/fcla/etd/SFE0000539.
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Bhamjee, Sajida. "Children's perception and interpretation of robots and robot behaviour." Thesis, University of Warwick, 2012. http://wrap.warwick.ac.uk/57067/.
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The world of robotics, like that of all technology is changing rapidly (Melson, et al., 2009). As part of an inter-disciplinary project investigating the emergence of artificial culture in robot societies, this study set out to examine children’s perception of robots and interpretation of robot behaviour. This thesis is situated in an interdisciplinary field of human–robot interactions, drawing on research from the disciplines of sociology and psychology as well as the fields of engineering and ethics. The study was divided into four phases: phase one involved children from two primary schools drawing a picture and writing a story about their robot. In phase two, children observed e-puck robots interacting. Children were asked questions regarding the function and purpose of the robots’ actions. Phase three entailed data collection at a public event: Manchester Science Festival. Three activities at the festival: ‘XRay Art Under Your Skin’, ‘Swarm Robots’ and ‘Build-a-Bugbot’ formed the focus of this phase. In the first activity, children were asked to draw the components of a robot and were then asked questions about their drawings. During the second exercise, children’s comments were noted as they watched e-puck robot demonstrations. In the third exercise, children were shown images and asked whether these images were a robot or a ‘no-bot’. They were then prompted to provide explanations for their answers. Phase 4 of the research involved children identifying patterns of behaviour amongst e-pucks. This phase of the project was undertaken as a pilot for the ‘open science’ approach to research to be used by the wider project within which this PhD was nested. Consistent with existing literature, children endowed robots with animate and inanimate characteristics holding multiple understandings of robots simultaneously. The notion of control appeared to be important in children’s conception of animacy. The results indicated children’s perceptions of the location of the locus of control plays an important role in whether they view robots as autonomous agents or controllable entities. The ways in which children perceive robots and robot behaviour, in particular the ways in which children give meaning to robots and robot behaviour will potentially come to characterise a particular generation. Therefore, research should not only concentrate on the impact of these technologies on children but should focus on capturing children’s perceptions and viewpoints to better understand the impact of the changing technological world on the lives of children.
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Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.
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Li, Wan-chiu. "Localization of a mobile robot by monocular vision /." Hong Kong : University of Hong Kong, 2001. http://sunzi.lib.hku.hk/hkuto/record.jsp?B23765896.
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Liu, Guanfeng. "Synthesis of dextrous manipulation by multifingered robotic hands /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LIU.
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Preti, Jeferson [UNESP]. "Projeto e desenvolvimento de robô cartesiano de baixo custo para manipulação de produtos em linhas de média cadência." Universidade Estadual Paulista (UNESP), 2014. http://hdl.handle.net/11449/115741.
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000802124.pdf: 3623921 bytes, checksum: c5cdec0e844145a402028c647f8dcc90 (MD5)Este trabalho apresenta a análise, o projeto e o desenvolvimento de um manipulador robótico industrial de baixo custo, para linhas de produção que demandem menos de 10 ciclos de manipulação por minuto, denominadas de média e baixa cadência. O aparato proposto possui potencial para contribuir na melhoria das condições de utilização de células robóticas no cenário industrial nacional, auxiliando na superação dos desafios existentes para Implantação de células robóticas por pequenas e médias empresas, nomeadamente, custos de implantação, manutenção e reprogramação/reconfiguração. O manipulador robótico industrial foi projetado considerando uma estrutura metálica leve de baixo custo, com elementos mecânicos de precisão média e não dedicados, facilmente encontrados no mercado nacional. Além disso, o manipulador robótico foi projetado para ser capaz de alcançar velocidades médias provendo tempos de ciclo de operação quase equivalentes aos apresentados por robôs polares articulados convencionais, nas mesmas aplicações. O sistema de controle foi concebido para não entregar o dispendioso sistema convencional de hardware centralizado de controle de eixos, sendo esta operação realizada por algoritmo computacional executado no mesmo PC responsável pela gestão e integração dos processos. Assim, a operação emprega dispositivos acionadores descentralizados considerando o envio dos sinais de referência diretamente aos acionadores, possibilitando a compensação das restrições dos esforços da estrutura com recursos de suavização de trajetórias. A integração com o usuário possui uma interface gráfica de manipulação amigável que permite facilmente os processos de operação, manutenção e reconfiguração, com recursos de supervisão, histórico de falhas e assistência remota. Por fim, um protótipo do manipulador robótico industrial proposto é apresentado demonstrando as principais...
This master dissertation presents the analysis, design and development of an industrial low cost robotic manipulator for production lines that require manipulation less than 10 cycles per minute, denominated medium and low cadense lines. The proposed apparatus has the potential to contribute improving the use of robotic cells in the national industrial scene, helping to overcome the existing challenges in deployment of robotic cellis by small and medium enterprises, in particular, implementation costs, maintenance and reprogramming/reconfiguration. The industrial robot manipulator was designed considering a low cost light steel structure, with average precision non-delicated mechanical elements, easily found on the national market. In addition, the robotic manipulator was designed to be able to achieve average speeds with times of operation almost equivalent to those presented by conventional polar articulated robots in the same applications. The control system was designed without the costly centralized hardware system of axes control, this operation being performed by computer algorithm running on the same PC responsible for the management and integration of processe. Thus, the operation employs descentralized devices providing the reference signals directly to the actuators, allowing the mitigation of the efforts restrictions in structure with programmable smoothing of trajectories. Integration wiht the user is designed to have a user-friendly graphical interface allowing an easy handling of operation processes, maintenance and reconfiguration, with resources for supervision, fault history and remote assistance. Finally, a prototype of the proposed industrial robot manipulator is presented in order to corroborate the construction and operational characteristics
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Che, Da. "Toward Humanoid Choreography and Dance." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1337187519.
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Kotzev, Shmuel. "Hierarchical task decomposition and execution for robot manipulation task using a wrist force sensor." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29627.
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The research developed force-motion strategies and subsequent force and position control algorithms, using a PUMA 560 robot arm and its original controller. A task decomposition
methodology has been developed that enables a mechanical assembly task to be subdivided into a series of executable subtasks. By applying this methodology to the assembly of a hydraulic gear pump, a library of special purpose, task oriented, subtask programs were created. Most of these programs, though derived for a pump assembly task, are applicable (when used with appropriate parameters) to other assembly tasks.
Most of the algorithms require force/torque sensory information that is supplied by a JR³ wrist force sensor. The force control algorithms use that data and system compliance in order to produce new position instructions that are transferred to the controller of the arm. The logic of the control law and system behaviour when contacting the environment, were checked, using the dynamics and compliance of a simplified structure of a robotic arm and its wrist sensor.
A demonstration of the pump assembly task, using the arm, force sensor, controller and the derived library algorithms is an integral part of the thesis.Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate
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Vidlák, Marek. "Článkové roboty." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2015. http://www.nusl.cz/ntk/nusl-232193.
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Master’s thesis deals with design the link robot and motion simulation. It is divided into four parts. In first part are briefly explained basic information of industrial robots and manipulators, their design and structure. Further it is listed some examples of design industrial robots and manipulators and principle of computation of kinematic chain. On beginning of the second part is performed analysis of configuration link robots, description of their designs and structures, examples of design link robots and their applications. In third part is selected option of design, created mathematical and kinematic model. Then it is designed and described construction of robot. The last section is devoted to simulation of robot’s kinematics, description of simulation softwares and their use for required results.
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Robinette, Paul. "Developing robots that impact human-robot trust in emergency evacuations." Diss., Georgia Institute of Technology, 2015. http://hdl.handle.net/1853/54415.
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High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near future, robots will perform tasks to help people in such situations, thus robots must understand why a person makes a trust decision in order to effectively aid the person. High casualty rates in several emergency evacuations motivate our use of this scenario as an example of a high-risk, time-critical situation. Emergency guidance robots can be stored inside of buildings then activated to search for victims and guide evacuees to safety. In this dissertation, we determined the conditions under which evacuees would be likely to trust a robot in an emergency evacuation.
We began by examining reports of real-world evacuations and considering how guidance robots can best help. We performed two simulations of evacuations and learned that robots could be helpful as long as at least 30% of evacuees trusted their guidance instructions. We then developed several methods for a robot to communicate directional information to evacuees. After performing three rounds of evaluation using virtually, remotely and physically present robots, we concluded that robots should communicate directional information by gesturing with two arms. Next, we studied the effect of situational risk and the robot's previous performance on a participant's decision to use the robot during an interaction. We found that higher risk scenarios caused participants to align their self-reported trust with their decisions in a trust situation. We also discovered that trust in a robot drops after a single error when interaction occurs in a virtual environment. After an exploratory study in trust repair, we have learned that a robot can repair broken trust during the emergency by apologizing for its prior mistake or giving additional information relevant to the situation. Apologizing immediately after the error had no effect.
Robots have the potential to save lives in emergency scenarios, but could have an equally disastrous effect if participants overtrust them. To explore this concept, we created a virtual environment of an office as well as a real-world simulation of an emergency evacuation. In both, participants interacted with a robot during a non-emergency phase to experience its behavior and then chose whether to follow the robot’s instructions during an emergency phase or not. In the virtual environment, the emergency was communicated through text, but in the real-world simulation, artificial smoke and fire alarms were used to increase the urgency of the situation. In our virtual environment, we confirmed our previous results that prior robot behavior affected whether participants would trust the robot or not. To our surprise, all participants followed the robot in the real-world simulation of an emergency, despite half observing the same robot perform poorly in a navigation guidance task just minutes before. We performed additional exploratory studies investigating different failure modes. Even when the robot pointed to a dark room with no discernible exit the majority of people did not choose to exit the way they entered.
The conclusions of this dissertation are based on the results of fifteen experiments with a total of 2,168 participants (2,071 participants in virtual or remote studies conducted over the internet and 97 participants in physical studies on campus). We have found that most human evacuees will trust an emergency guidance robot that uses understandable information conveyance modalities and exhibits efficient guidance behavior in an evacuation scenario. In interactions with a virtual robot, this trust can be lost because of a single error made by the robot, but a similar effect was not found with real-world robots. This dissertation presents data indicating that victims in emergency situations may overtrust a robot, even when they have recently witnessed the robot malfunction. This work thus demonstrates concerns which are important to both the HRI and rescue robot communities.
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Alami, Rachid. "Robots autonomes : du concept au robot. Architectures, représentations et algorithmes." Habilitation à diriger des recherches, Université Paul Sabatier - Toulouse III, 1996. http://tel.archives-ouvertes.fr/tel-00165562.
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Le travail présenté procède de l'ambition de doter le robot d'un haut niveau de flexibilité et d'adaptation à la tâche en présence d'imprécisions et d'incertitudes liées à celle-ci et à son état interne. Ceci se traduit par le développement de concepts et d'outils visant à permettre au robot de planifier sa tâche et d'en contrôler l'exécution. Une première partie porte sur l'élaboration d'architectures permettant d'intégrer les composantes décisionnelle et fonctionnelle et de mettre en \oe uvre des processus bouclés sur la tâche et sur l'environnement à différents niveaux d'abstraction. Elle présente notamment une architecture de contrôle générique permettant à la fois l'élaboration d'un plan d'actions (processus généralement coûteux en temps calcul et non borné dans le temps), et la disponibilité permanente dans un environnement évolutif (réactivité). Un deuxième aspect concerne le développement de représentations et d'algorithmiques pour la planification et l'interprétation de plans: planification logique et temporelle (au niveau de la mission) mais aussi planification géométrique (plus proche de la tâche). Les contributions portent sur la planification de mission avec prise en compte de contraintes temporelles et du non-déterminisme, la coopération multi-robot, la planification des tâches de manipulation, ainsi que la planification de stratégies de déplacement pour un robot mobile en présence d'incertitudes. La dernière partie présente la réalisation effective de systèmes robotiques complets démontrant les capacités développées et servant de support de validation et d'aiguillons exigeants à l'extension de ces mêmes capacités.
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Yang, Ying. "Dynamic Obstacle-Avoidance Human-Robot Collaboration System for Industry Robots." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-285545.
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Nowadays, human-robot collaboration technologies are realized in controlling different typesof robots in industry. Even now the current robot technology is very advanced, due to therobot's freedom space and complex operating environment, which makes robot pathplanning issues more complicated. Human-robot collaboration is the trend for industrialfactories in the future，as it both provides the accuracy of robots and the flexibility of thehuman. In this case, combining robot technology with computer virtual control and simulationplatforms makes it possible to carry out research on robots without a real robot.Obstacle avoidance of a robot arm is an important factor to be considered in the pathplanning for industry production. When there is any obstacle, like if human appears in theoperating environment, real-time detection of obstacles can effectively prevent the roboticarm from colliding with the obstacle.Based on a literature review about current path planning algorithms and the applied situation,this master thesis concentrates on developing a system with an improved path planningmethod called T-RRT(Transition-based Rapidly-exploring Random Tree) to realize that thissystem can prevent the robot from the obstacle collision in real-time. This thesis provides abasic prototype about dynamic avoidance in a simulation environment both with the respectto the obstacles and the Universal Robot 5. The results show that the T-RRT algorithm caneffectively plan a new path when there is any obstruction in the ongoing path. Besides, thedetection secure distance represented by a bounding box will change along with the speedof the obstacle.Nuförtiden realiseras teknologier för människa-robot-samarbet för att styra olika typer avrobotar i industrin. Redan nuvarande robotteknik är mycket avancerad, på grund av robotensfrihetsgrader och komplexa driftsmiljö, vilket gör att rörelseplanering mer komplicerat.Robotar som samarbetar med människor är en trend för framtidens industrifabriker, eftersomdet kombinerar robotarnas noggrannhet med människans flexibilitet. I detta fall är det möjligtatt utveckla robotteknik utan tillgång till en riktig robot, genom att kombinera robotteknik medvirtuella datorstyrda simuleringsplattformar.Att undvika kollisioner med hinder, är en viktig fråga, när man planerar robotrörelse förindustriproduktion. När det finns ett hinder, till expempel om en människa befinner sig iarbetsmiljön, kan realtidsdetektering av hinder förhindra robotarmen från att kollidera medhindret.Baserat på en litteraturstudie om aktuella rörelseplaneringsalgoritmer och den tillämpadesituationen, fokuserar denna masteruppsats på att utveckla ett system med en förbättradrörelseplaneringsmetod som kallas T-RRT (Transition-based Rapidly-exploring RandomTree) för att förhindra roboten från kollision med hinder, i realtid. Denna avhandling ger engrundläggande prototyp som dynamiskt förhindrar kollistioner, i en simuleringsmiljön med etthinder och en Universal Robot 5. Resultatet visar att T-RRT-algoritmen effektivt kan planeraen ny rörelseväg när det finns någon hinder i den pågående vägen. Dessutom ändras detdetekteringssäkra avståndet, representerat av en avgränsningsbox, beroende på hindretshastighet.
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Pavez, Bahamondes Matías Fernando. "Diseño e implementación de memoria de largo plazo para robots de servicio." Tesis, Universidad de Chile, 2018. http://repositorio.uchile.cl/handle/2250/169774.
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Memoria para optar al título de Ingeniero Civil EléctricoMemoria para optar al título de Ingeniero Civil en Computación
El objetivo de este trabajo de título es el diseño e implementación de un sistema de memoria episódica de largo plazo para robots de servicio domésticos. Además, el sistema debe considerar componentes emocionales y ser integrado en el software del robot Bender, perteneciente al Laboratorio de Robótica del Departamento de Ingeniería Eléctrica de la Universidad de Chile. Un sistema de estas características es esencial para mejorar el desempeño de un robot doméstico, especialmente en el ámbito de la interacción humano-robot. Sin embargo, tras la revisión del estado del arte, se encuentran pocos trabajos relacionados y que aún no existe un consenso en el tema. El sistema es diseñado para cumplir con un conjunto de requerimientos episódicos mínimos para este tipo de memorias. Además, el diseño es agnóstico del robot objetivo, permitiendo la definición de estructuras de datos genéricas para la representación episódica, las que son manejadas por un sistema de plugins. De esta forma, el sistema puede ser integrado en otras plataformas robóticas basadas en Robot Operating System (ROS). El sistema implementado es capaz de recolectar episodios automáticamente desde las má- quinas de estado que definen el comportamiento del robot. Utiliza la base de datos MongoDB para el almacenamiento de episodios y está programado en C ++ y Python, solo utilizando paquetes estándar en ROS. Además, el sistema provee una API ROS capaz de responder consultas sobre estos episodios, las que permiten realizar búsquedas mediante combinaciones de condiciones lógicas. La implementación es evaluada de manera cuantitativa, mediante experimentos de escala- bilidad y eficiencia. Los resultados indican que el sistema se adapta al caso de uso esperado para el robot Bender. Sin embargo, la formulación de consultas al sistema tiene un alto im- pacto en su desempeño. Por esto, es importante seleccionar adecuadamente las operaciones, para que el uso de recursos no comprometa la interacción humano-robot. Desde otro enfoque, la integración del sistema LTM en Bender es validada mediante sesiones de demostración, donde el robot genera memorias sobre los humanos con quien interactúa. Se concluye que el sistema cumple con la mayoría de los requerimientos establecidos, teniendo que acotar el proyecto para dejar algunos aspectos como trabajo futuro. Particular- mente, queda propuesta la implementación de un sistema emocional para el robot.
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Snyder, Benjamin M. "SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196.
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Robon, Melissa. "Heavy weather." View electronic thesis, 2008. http://dl.uncw.edu/etd/2008-1/rp/robonm/melissarobon.pdf.
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Pudney, Christopher John. "Surface modelling and surface following for robots equipped with range sensors." University of Western Australia. Dept. of Computer Science, 1994. http://theses.library.uwa.edu.au/adt-WU2003.0002.
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The construction of surface models from sensor data is an important part of perceptive robotics. When the sensor data are obtained from fixed sensors the problem of occlusion arises. To overcome occlusion, sensors may be mounted on a robot that moves the sensors over the surface. In this thesis the sensors are single–point range finders. The range finders provide a set of sensor points, that is, the surface points detected by the sensors. The sets of sensor points obtained during the robot’s motion are used to construct a surface model. The surface model is used in turn in the computation of the robot’s motion, so surface modelling is performed on–line, that is, the surface model is constructed incrementally from the sensor points as they are obtained. A planar polyhedral surface model is used that is amenable to incremental surface modelling. The surface model consists of a set of model segments, where a neighbour relation allows model segments to share edges. Also sets of adjacent shared edges may form corner vertices. Techniques are presented for incrementally updating the surface model using sets of sensor points. Various model segment operations are employed to do this: model segments may be merged, fissures in model segment perimeters are filled, and shared edges and corner vertices may be formed. Details of these model segment operations are presented. The robot’s control point is moved over the surface model at a fixed distance. This keeps the sensors around the control point within sensing range of the surface, and keeps the control point from colliding with the surface. The remainder of the robot body is kept from colliding with the surface by using redundant degrees–of–freedom. The goal of surface modelling and surface following is to model as much of the surface as possible. The incomplete parts of the surface model (non–shared edges) indicate where sections of surface that have not been exposed to the robot’s sensors lie. The direction of the robot’s motion is chosen such that the robot’s control point is directed to non–shared edges, and then over the unexposed surface near the edge. These techniques have been implemented and results are presented for a variety of simulated robots combined with real range sensor data.
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Vaughan, Richard. "Experiments in animal-interactive robotics." Thesis, University of Oxford, 1998. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.325617.
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Steven, Andrew. "Hybrid force and position control in robotic surface processing." Thesis, University of Newcastle Upon Tyne, 1989. http://hdl.handle.net/10443/657.
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This programme of research was supported by NEI Parsons Ltd. who sought a robotic means of polishing mechanical components. A study of the problems associated with robot controlled surface processing is presented. From this evolved an approach consistent with the formalisation of the demands of workpiece manipulation which included the adoption of the Hybrid robot control scheme capable of simultaneous force and position control. A unique 3 axis planar experimental manipulator was designed which utilized combined parallel and serial drives. A force sensing wrist was used to measure contact force. A variant of the Hybrid control 'scheme was successfully implemented on a twin computer control system. A number of manipulator control programs are presented. The force control aspect is shown both experimentally and analytically to present control problems and the research has concentrated on this aspect. A general analysis of the dynamics of force control is given which shows force response to be dependent on a number' of important parameters including force sensor, environment and manipulator dynamics. The need for a robust or adaptable force controller is discussed. A series of force controlled manipulator experiments is described and the results discussed in the context of general analyses and specific single degree of freedom simulations. Improvements to manipulator force control are suggested and some were implemented. These are discussed together with their immediate application to the improvement of robot controlled surface processing. This work also lays important foundations for long term related research. In particular the new techniques for actively controlled assembly and force control under 'fast' operation.
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李宏釗 and Wan-chiu Li. "Localization of a mobile robot by monocular vision." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2001. http://hub.hku.hk/bib/B31226371.
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Bussy, Antoine. "Approche cognitive pour la représentation de l’interaction proximale haptique entre un homme et un humanoïde." Thesis, Montpellier 2, 2013. http://www.theses.fr/2013MON20090/document.
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Les robots sont tout près d'arriver chez nous. Mais avant cela, ils doivent acquérir la capacité d'interagir physiquement avec les humains, de manière sûre et efficace. De telles capacités sont indispensables pour qu'il puissent vivre parmi nous, et nous assister dans diverses tâches quotidiennes, comme porter une meuble. Dans cette thèse, nous avons pour but de doter le robot humanoïde bipède HRP-2 de la capacité à effectuer des actions haptiques en commun avec l'homme. Dans un premier temps, nous étudions comment des dyades humains collaborent pour transporter un objet encombrant. De cette étude, nous extrayons un modèle global de primitives de mouvement que nous utilisons pour implémenter un comportement proactif sur le robot HRP-2, afin qu'il puisse effectuer la même tâche avec un humain. Puis nous évaluons les performances de ce schéma de contrôle proactif au cours de tests utilisateurs. Finalement, nous exposons diverses pistes d'évolution de notre travail: la stabilisation d'un humanoïde à travers l'interaction physique, la généralisation du modèle de primitives de mouvements à d'autres tâches collaboratives et l'inclusion de la vision dans des tâches collaboratives haptiquesRobots are very close to arrive in our homes. But before doing so, they must master physical interaction with humans, in a safe and efficient way. Such capacities are essential for them to live among us, and assit us in various everyday tasks, such as carrying a piece of furniture. In this thesis, we focus on endowing the biped humanoid robot HRP-2 with the capacity to perform haptic joint actions with humans. First, we study how human dyads collaborate to transport a cumbersome object. From this study, we define a global motion primitives' model that we use to implement a proactive behavior on the HRP-2 robot, so that it can perform the same task with a human. Then, we assess the performances of our proactive control scheme by perfoming user studies. Finally, we expose several potential extensions to our work: self-stabilization of a humanoid through physical interaction, generalization of the motion primitives' model to other collaboratives tasks and the addition of visionto haptic joint actions
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Bishop, Russell C. "A Method for Generating Robot Control Systems." Connect to resource online, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=ysu1222394834.
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