subject:(Obstacle avoidance)

University of Waterloo

1. Cornish, Benjamin. Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units.

Degree: 2019, University of Waterloo

URL: http://hdl.handle.net/10012/14374

► Cost-effective wearable sensors to measure movement have gained traction as research and clinical tools. The potential to quantify movement with a portable and inexpensive way… (more)

▼ Cost-effective wearable sensors to measure movement have gained traction as research and clinical tools. The potential to quantify movement with a portable and inexpensive way could provide benefits to patient populations (e.g. amputees) to supplement or replace current clinical evaluations. For example, characterization of frontal plane kinematic outcome measures is a relevant movement pattern to a complex amputee population. The ability to capture such movements could have important therapeutic opportunities. The current research worked towards characterizing frontal plane compensatory movement patterns with kinematic outcome measures described by inertial measurement units (IMU) data in healthy adults. This was an initial step towards developing a future toolkit that could characterize normal and aberrant movement patterns in clinical populations. The thesis is comprised of two related studies. The first study set out to evaluate the numerical accuracy of IMU estimated spatial measures when compared to a gold standard system. Six subjects completed six different movement tasks while instrumented with optical motion capture and IMUs. Each movement task probed the accuracy of specific deviations (e.g. vertical deviation). The hypothesis was that outcome measures would be strongly associated (r>0.8) and mean error would not be significantly different from zero and the coefficient of repeatability would be within priori set limits of agreement (±18 mm). Kinematic outcome measures had small mean error bias compared to gold standard measures and range of subject specific mean errors showed minimal differences. Task specific differences were evident when movement patterns exhibit large transverse rotations. These results showed the devices have a level of accuracy that may be suitable to characterize changes in movement patterns clinically. The second study aimed to utilize the same techniques from study 1 to describe compensatory kinematic outcome measures during a clinical obstacle avoidance task to differentiate between compensatory and normal movement patterns. Twelve subjects wore IMUs bilaterally on the ankles and on the belt above the right hip. An off the shelf orthotic knee brace was used to restrict lower limb knee joint kinematics (reduce range of motion). Participants completed 15 walking trials for three different brace conditions (No Brace, Unlocked Brace, Locked Brace) and two obstacle task conditions (Level Ground Walking and Obstacle Avoidance) to elicit a comparison of normal and compensatory movements. During the walking task, IMUs were able to characterize compensatory movements typical of the amputee population. Lateral deviation of the swinging foot was significantly larger during obstacle crossing with a locked brace compared to no brace. Maximum elevation of the limb was significantly larger while crossing obstacles compared to level ground walking and was precise enough to discern elevation differences of No Brace elevation from both Unlocked and Locked Brace conditions. Hip hiking was also…

Subjects/Keywords: Gait; Wearable sensors; Obstacle avoidance

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APA (6^th Edition):

Cornish, B. (2019). Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/14374

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Cornish, Benjamin. “Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units.” 2019. Thesis, University of Waterloo. Accessed March 09, 2021. http://hdl.handle.net/10012/14374.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Cornish, Benjamin. “Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units.” 2019. Web. 09 Mar 2021.

Vancouver:

Cornish B. Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units. [Internet] [Thesis]. University of Waterloo; 2019. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10012/14374.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Cornish B. Characterizing the Variability of Kinematic Outcome Measures and Compensatory Movements using Inertial Measurement Units. [Thesis]. University of Waterloo; 2019. Available from: http://hdl.handle.net/10012/14374

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

2. Dicheva, Svetlana. Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle.

Degree: Docteur es, Sciences de l'ingénieur, 2012, Evry-Val d'Essonne

URL: http://www.theses.fr/2012EVRY0012

► Cette thèse de doctorat s’inscrit dans le cadre des activités de recherche sur les systèmes de lancement aéroporté autonome. L’originalité du travail est basée sur… (more)

▼ Cette thèse de doctorat s’inscrit dans le cadre des activités de recherche sur les systèmes de lancement aéroporté autonome. L’originalité du travail est basée sur la planification de mission effectuée par un algorithme de type A*(A-étoile). Cet algorithme a été amélioré pour répondre aux besoins de la mission de largage d’un lanceur. Il effectue la planification du chemin le plus court dans un espace tridimensionnel. Le meilleur chemin est choisi à partir de plusieurs points de passage générés dans la région de mission. Une région peut être une phase du vol ou une partie du profil de vol. Le chemin le plus court est identifié par rapport à la présence de différents obstacles dans l’espace de recherche et son objectif consiste à atteindre un point désiré. Les obstacles ont différentes dimensions et orientations dans l’espace. L’étude de leur comportement est associée aux incertitudes en provenance de l’environnement. Ils peuvent représenter des régions interdites au vol ou des conditions atmosphériques défavorables. L’évolution de ces derniers n’est pas prévisible à l’avance, ce qui impose l’addition d’une fonctionnalité dans l’algorithme. Il est possible de replanifier le chemin à partir d’un point de passage appartenant à un chemin généré en fonction de la position détectée récemment de l’obstacle en déplacement pour arriver dans la configuration finale désirée. Cette détection est possible grâce aux capteurs positionnés sur le premier étage de ce système de lancement représenté par un avion-porteur. Les points de passage que le véhicule aérien doit suivre pour atteindre les objectifs importants ne sont pas choisis d’une manière aléatoire. Leur génération dans l’espace de recherche du chemin est définie en rapport aux limitations dynamiques de l’avion. Les modèles cinématique et dynamique du véhicule aérien qui décrivent son évolution sont aussi développés dans cette thèse. Ces modèles sont étudiés dans un système de coordonnées aérodynamiques. Le référentiel traite la présence du vent qui influe sur le comportement du véhicule. Cela nous permet de considérer d’une manière prédictive plusieurs incertitudes en provenance de l’environnement ou internes pour le véhicule. Les perturbations internes sont provoquées par le largage du lanceur. Le régime transitoire est relié à la perte de masse qui pour certaines missions peut atteindre le tiers de la masse totale du système de lancement. L’algorithme de planification traite une autre prévision – la possibilité que le largage ne soit pas réalisé. Cela peut arriver dans le cas où une tempête s’est installée dans la région de lancement ou il y a plusieurs obstacles dont l’évitement risque de consommer trop de carburant et d’empêcher le retour sur le site d’atterrissage. Les connexions entre les différents points de passage peuvent être souvent brutes et difficiles à réaliser par le véhicule aérien. Pour résoudre cette problématique dans le deuxième module développé sur la génération de trajectoire réalisable, nous utilisons l’approche des polynômes de troisième ordre. Ces… Advisors/Committee Members: Bestaoui, Yasmina (thesis director).

Subjects/Keywords: Evitement d'obstacles; Obstacle avoidance

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Dicheva, S. (2012). Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle. (Doctoral Dissertation). Evry-Val d'Essonne. Retrieved from http://www.theses.fr/2012EVRY0012

Chicago Manual of Style (16^th Edition):

Dicheva, Svetlana. “Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle.” 2012. Doctoral Dissertation, Evry-Val d'Essonne. Accessed March 09, 2021. http://www.theses.fr/2012EVRY0012.

MLA Handbook (7^th Edition):

Dicheva, Svetlana. “Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle.” 2012. Web. 09 Mar 2021.

Vancouver:

Dicheva S. Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle. [Internet] [Doctoral dissertation]. Evry-Val d'Essonne; 2012. [cited 2021 Mar 09]. Available from: http://www.theses.fr/2012EVRY0012.

Council of Science Editors:

Dicheva S. Planification de mission pour un système de lancement aéroporté autonome : Mission planning for an autonomous airborne launch vehicle. [Doctoral Dissertation]. Evry-Val d'Essonne; 2012. Available from: http://www.theses.fr/2012EVRY0012

3. Westbrook, Matthew Glen. SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE.

Degree: MS, 2020, University of New Hampshire

URL: https://scholars.unh.edu/thesis/1404

► The use of robots has become more prevalent in the last several decades in many sectors such as manufacturing, research, and consumer use [18].… (more)

Subjects/Keywords: Obstacle Avoidance; Shared Control

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APA (6^th Edition):

Westbrook, M. G. (2020). SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE. (Thesis). University of New Hampshire. Retrieved from https://scholars.unh.edu/thesis/1404

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Westbrook, Matthew Glen. “SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE.” 2020. Thesis, University of New Hampshire. Accessed March 09, 2021. https://scholars.unh.edu/thesis/1404.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Westbrook, Matthew Glen. “SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE.” 2020. Web. 09 Mar 2021.

Vancouver:

Westbrook MG. SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE. [Internet] [Thesis]. University of New Hampshire; 2020. [cited 2021 Mar 09]. Available from: https://scholars.unh.edu/thesis/1404.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Westbrook MG. SHARED CONTROL FOR MOBILE ROBOT OBSTACLE AVOIDANCE. [Thesis]. University of New Hampshire; 2020. Available from: https://scholars.unh.edu/thesis/1404

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

West Virginia University

4. Nguyen, Jennifer Quyen. Navigation under Obstacle Motion Uncertainty using Markov Decision Processes.

Degree: MS, Mechanical and Aerospace Engineering, 2020, West Virginia University

URL: https://doi.org/10.33915/etd.7516 ; https://researchrepository.wvu.edu/etd/7516

► In terms of navigation, a central problem in the field of autonomous robotics is obstacle avoidance. This research explores how to navigate as well… (more)

▼ In terms of navigation, a central problem in the field of autonomous robotics is obstacle avoidance. This research explores how to navigate as well as avoid obstacles by leveraging what is known of the environment to determine decisions with new incoming information during execution. The algorithm presented in this work is divided into two procedures: an offline process that uses prior knowledge to navigate toward the goal; and an online execution strategy that leverages results obtained offline to drive safely towards the target when new information is encountered (e.g., obstacles). To take advantage of what is known offline, the navigation problem was formulated as a Markov Decision Process (MDP) where the environment is characterized as an occupancy grid. Baseline dynamic programming techniques were used to solve this, producing general behaviors that drive the robot (or agent) toward the goal and a value function which encodes the value of being in particular states. Then during online execution, the agent uses these offline results and surrounding local information of the environment to operate (e.g., data from a LIDAR sensor). This locally acquired information, which may contain new data not seen prior, is represented as a small occupancy grid and leverages the offline obtained value function to define local goals allowing the agent to make short term plans. When the agent encounters an obstacle locally, the problem becomes a Partially Observable Markov Decision Process (POMDP) since it is uncertain where these obstacles will be in the next state. This is solved by utilizing an approximate planner (QMDP) that uses uncertainty of the obstacle motion and considers all possible obstacle state combinations in the next time step to determine the best action. The approximate planner can quickly solve the POMDP, due to the small size of the local occupancy grid and by using the behaviors produced offline to help speed up convergence, which opens the possibility for this procedure to be executed in real time, on a physical robot. Two simulated environments were created, varying in complexity and dynamic obstacles. Simulation results under complex conditions with narrow operable spaces and many dynamic obstacles show the proposed algorithm has approximately an 85% success rate, in test cases with cluttered environments and multiple dynamic obstacles, and is shown to produce safer trajectories than the baseline approach, which had roughly a 37% success rate, under the assumptions that dynamic obstacles can only move a short distance by the next time step. Advisors/Committee Members: Yu Gu, Jason Gross.

Subjects/Keywords: navigation; obstacle avoidance; MDP; POMDP; QMDP

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Nguyen, J. Q. (2020). Navigation under Obstacle Motion Uncertainty using Markov Decision Processes. (Thesis). West Virginia University. Retrieved from https://doi.org/10.33915/etd.7516 ; https://researchrepository.wvu.edu/etd/7516

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Nguyen, Jennifer Quyen. “Navigation under Obstacle Motion Uncertainty using Markov Decision Processes.” 2020. Thesis, West Virginia University. Accessed March 09, 2021. https://doi.org/10.33915/etd.7516 ; https://researchrepository.wvu.edu/etd/7516.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Nguyen, Jennifer Quyen. “Navigation under Obstacle Motion Uncertainty using Markov Decision Processes.” 2020. Web. 09 Mar 2021.

Vancouver:

Nguyen JQ. Navigation under Obstacle Motion Uncertainty using Markov Decision Processes. [Internet] [Thesis]. West Virginia University; 2020. [cited 2021 Mar 09]. Available from: https://doi.org/10.33915/etd.7516 ; https://researchrepository.wvu.edu/etd/7516.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Nguyen JQ. Navigation under Obstacle Motion Uncertainty using Markov Decision Processes. [Thesis]. West Virginia University; 2020. Available from: https://doi.org/10.33915/etd.7516 ; https://researchrepository.wvu.edu/etd/7516

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

5. Eskilsson, Fredrik. Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance.

Degree: The Institute of Technology, 2011, Linköping UniversityLinköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72768

► In this master thesis a control strategy for a Human Power Amplifier (HPA) ispresented. An HPA can be described as a machine that amplifies… (more)

Subjects/Keywords: Passive Controller; Force Amplification; PVFC; Obstacle Avoidance

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APA (6^th Edition):

Eskilsson, F. (2011). Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance. (Thesis). Linköping UniversityLinköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72768

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Eskilsson, Fredrik. “Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance.” 2011. Thesis, Linköping UniversityLinköping University. Accessed March 09, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72768.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Eskilsson, Fredrik. “Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance.” 2011. Web. 09 Mar 2021.

Vancouver:

Eskilsson F. Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance. [Internet] [Thesis]. Linköping UniversityLinköping University; 2011. [cited 2021 Mar 09]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72768.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Eskilsson F. Passive Control for a Human Power Amplifier,providing Force Amplification, Guidance and Obstacle Avoidance. [Thesis]. Linköping UniversityLinköping University; 2011. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-72768

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

6. Nous, C.W.M. (author). Performance Evaluation in Obstacle Avoidance.

Degree: 2016, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb

►

No quantitative procedure currently exists to evaluate the obstacle avoidance capabilities of robotic applications. Such an evaluation method is needed for comparing different methods, but… (more)

Subjects/Keywords: Obstacle Avoidance; Evaluation Framework; Complexity Metrics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Nous, C. W. M. (. (2016). Performance Evaluation in Obstacle Avoidance. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb

Chicago Manual of Style (16^th Edition):

Nous, C W M (author). “Performance Evaluation in Obstacle Avoidance.” 2016. Masters Thesis, Delft University of Technology. Accessed March 09, 2021. http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb.

MLA Handbook (7^th Edition):

Nous, C W M (author). “Performance Evaluation in Obstacle Avoidance.” 2016. Web. 09 Mar 2021.

Vancouver:

Nous CWM(. Performance Evaluation in Obstacle Avoidance. [Internet] [Masters thesis]. Delft University of Technology; 2016. [cited 2021 Mar 09]. Available from: http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb.

Council of Science Editors:

Nous CWM(. Performance Evaluation in Obstacle Avoidance. [Masters Thesis]. Delft University of Technology; 2016. Available from: http://resolver.tudelft.nl/uuid:9ad6db51-5d2b-4680-b250-72b03ccc5fbb

University of New South Wales

7. Wang, Chao. Collision free autonomous navigation and formation building for non-holonomic ground robots.

Degree: Electrical Engineering & Telecommunications, 2014, University of New South Wales

URL: http://handle.unsw.edu.au/1959.4/53076 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11762/SOURCE01?view=true

► The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision… (more)

▼ The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the key factors to ensure safe navigation tasks in dynamic environments. The basic requirement for an appropriate obstacle avoidance strategy is to sense or detect obstacles and make proper decisions when the obstacles are nearby. By fulfilling the basic requirement, the more advanced obstacle algorithms should have other additional features. In this thesis, three different obstacle avoidance strategies for safe navigation in dynamic environments have been presented. All of them are applicable in the non-holonomic systems by which motions of many objects can be described. The biologically-inspired navigation algorithm (BINA) is efficient in terms of avoidance time, it is also simple and easy to compute. The equidistant based navigation algorithm (ENA) is able to achieve navigation task with in uncertain dynamic environments, and it is suitable for a variety of situations due to its flexibility. The navigation algorithm algorithm based on an integrated environment representation (NAIER) allows the object to seek a safe path through obstacles in unknown dynamic environment in a human-like fashion and it is very efficient in numerous particular scenarios where other algorithm are found inefficient or even impossible to solve. The performances and features of the proposed navigation algorithms are confirmed by extensive simulation results and experiments with a real non-holonomic mobile robot. Furthermore, the performance of these algorithms are compared with each other in various aspects.The algorithms have been implemented on two real control systems: intelligent wheelchair and robotic hospital bed. The performance of the proposed algorithms with SAM and Flexbed demonstrate their capabilities to achieve navigation tasks in complicated real time scenarios. The proposed algorithms are easy to be implemented in real time and costly efficient.An extra study on networked multi-robots formation building algorithm is presented in this paper. A constructive and easy-to-implement decentralised control is proposed for a formation building of a group of random positioned objects. Furthermore, the problem of formation building with anonymous objects is addressed. This randomised decentralised navigation algorithm achieves the convergence to a desired configuration with probability 1. Advisors/Committee Members: Andrey, Savkin, Electrical Engineering & Telecommunications, Faculty of Engineering, UNSW.

Subjects/Keywords: Navigation; Obstacle avoidance; Non-holonomic systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Wang, C. (2014). Collision free autonomous navigation and formation building for non-holonomic ground robots. (Doctoral Dissertation). University of New South Wales. Retrieved from http://handle.unsw.edu.au/1959.4/53076 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11762/SOURCE01?view=true

Chicago Manual of Style (16^th Edition):

Wang, Chao. “Collision free autonomous navigation and formation building for non-holonomic ground robots.” 2014. Doctoral Dissertation, University of New South Wales. Accessed March 09, 2021. http://handle.unsw.edu.au/1959.4/53076 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11762/SOURCE01?view=true.

MLA Handbook (7^th Edition):

Wang, Chao. “Collision free autonomous navigation and formation building for non-holonomic ground robots.” 2014. Web. 09 Mar 2021.

Vancouver:

Wang C. Collision free autonomous navigation and formation building for non-holonomic ground robots. [Internet] [Doctoral dissertation]. University of New South Wales; 2014. [cited 2021 Mar 09]. Available from: http://handle.unsw.edu.au/1959.4/53076 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11762/SOURCE01?view=true.

Council of Science Editors:

Wang C. Collision free autonomous navigation and formation building for non-holonomic ground robots. [Doctoral Dissertation]. University of New South Wales; 2014. Available from: http://handle.unsw.edu.au/1959.4/53076 ; https://unsworks.unsw.edu.au/fapi/datastream/unsworks:11762/SOURCE01?view=true

Delft University of Technology

8. Piessens, Tom (author). UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:d8f030a5-1579-42de-9777-5d87d5db4fb7

►

Teleoperation is by nature a deprivation of the senses, which can pose a handicap when operating in an unknown and even dynamic en- vironment. Noticing… (more)

Subjects/Keywords: Haptics; HMI design; obstacle avoidance; Shared Control; UAV; Velocity Obstacle

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Piessens, T. (. (2019). UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:d8f030a5-1579-42de-9777-5d87d5db4fb7

Chicago Manual of Style (16^th Edition):

Piessens, Tom (author). “UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues.” 2019. Masters Thesis, Delft University of Technology. Accessed March 09, 2021. http://resolver.tudelft.nl/uuid:d8f030a5-1579-42de-9777-5d87d5db4fb7.

MLA Handbook (7^th Edition):

Piessens, Tom (author). “UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues.” 2019. Web. 09 Mar 2021.

Vancouver:

Piessens T(. UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 09]. Available from: http://resolver.tudelft.nl/uuid:d8f030a5-1579-42de-9777-5d87d5db4fb7.

Council of Science Editors:

Piessens T(. UAV Haptic Interface for Dynamic Obstacle Avoidance: Using the Velocity Obstacle method for haptic cues. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:d8f030a5-1579-42de-9777-5d87d5db4fb7

University of Bridgeport

9. Elmannai, Wafa. A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired .

Degree: 2018, University of Bridgeport

URL: https://scholarworks.bridgeport.edu/xmlui/handle/123456789/3931

► The world has approximately 285 million visually impaired (VI) people according to a report by the World Health Organization. Thirty-nine million people are estimated to… (more)

▼ The world has approximately 285 million visually impaired (VI) people according to a report by the World Health Organization. Thirty-nine million people are estimated to be blind, whereas 246 million people are estimated to have impaired vision. An important factor that motivated this research is the fact that 90% of VI people live in developing countries. Several systems have been designed to improve the quality of the life of VI people and support the mobility of VI people. Unfortunately, none of these systems provides a complete solution for VI people, and the systems are very expensive. Therefore, this work presents an intelligent framework that includes several types of sensors embedded in a wearable device to support the visually impaired (VI) community. The proposed work is based on an integration of sensor-based and computer vision-based techniques in order to introduce an efficient and economical visual device. The designed algorithm is divided to two components: obstacle detection and collision avoidance. The system has been implemented and tested in real-time scenarios. A video dataset of 30 videos and an average of 700 frames per video was fed to the system for the testing purpose. The achieved 96.53% accuracy rate of the proposed sequence of techniques that are used for real-time detection component is based on a wide detection view that used two camera modules and a detection range of approximately 9 meters. The 98% accuracy rate was obtained for a larger dataset. However, the main contribution in this work is the proposed novel collision avoidance approach that is based on the image depth and fuzzy control rules. Through the use of x-y coordinate system, we were able to map the input frames, whereas each frame was divided into three areas vertically and further 1/3 of the height of that frame horizontally in order to specify the urgency of any existing obstacles within that frame. In addition, we were able to provide precise information to help the VI user in avoiding front obstacles using the fuzzy logic. The strength of this proposed approach is that it aids the VI users in avoiding 100% of all detected objects. Once the device is initialized, the VI user can confidently enter unfamiliar surroundings. Therefore, this implemented device can be described as accurate, reliable, friendly, light, and economically accessible that facilitates the mobility of VI people and does not require any previous knowledge of the surrounding environment. Finally, our proposed approach was compared with most efficient introduced techniques and proved to outperform them.

Subjects/Keywords: Assistive wearable devices; Computer vision systems; Mobility limitation; Obstacle collision avoidance; Obstacle detection; Visual impairment

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APA (6^th Edition):

Elmannai, W. (2018). A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired . (Thesis). University of Bridgeport. Retrieved from https://scholarworks.bridgeport.edu/xmlui/handle/123456789/3931

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Elmannai, Wafa. “A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired .” 2018. Thesis, University of Bridgeport. Accessed March 09, 2021. https://scholarworks.bridgeport.edu/xmlui/handle/123456789/3931.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Elmannai, Wafa. “A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired .” 2018. Web. 09 Mar 2021.

Vancouver:

Elmannai W. A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired . [Internet] [Thesis]. University of Bridgeport; 2018. [cited 2021 Mar 09]. Available from: https://scholarworks.bridgeport.edu/xmlui/handle/123456789/3931.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Elmannai W. A Highly Accurate And Reliable Data Fusion Framework For Guiding The Visually Impaired . [Thesis]. University of Bridgeport; 2018. Available from: https://scholarworks.bridgeport.edu/xmlui/handle/123456789/3931

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Illinois – Urbana-Champaign

10. Burns, Chad R. Human and automatic control interaction with a remotely piloted vehicle.

Degree: PhD, 0133, 2011, University of Illinois – Urbana-Champaign

URL: http://hdl.handle.net/2142/26288

► In this dissertation, we present results from a study on the performance of humans and automatic controllers in a general remote navigation task. The remote… (more)

Subjects/Keywords: remote navigation; human obstacle avoidance; automatic obstacle avoidance; receding horizon control; learning human behavior; time delay

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APA (6^th Edition):

Burns, C. R. (2011). Human and automatic control interaction with a remotely piloted vehicle. (Doctoral Dissertation). University of Illinois – Urbana-Champaign. Retrieved from http://hdl.handle.net/2142/26288

Chicago Manual of Style (16^th Edition):

Burns, Chad R. “Human and automatic control interaction with a remotely piloted vehicle.” 2011. Doctoral Dissertation, University of Illinois – Urbana-Champaign. Accessed March 09, 2021. http://hdl.handle.net/2142/26288.

MLA Handbook (7^th Edition):

Burns, Chad R. “Human and automatic control interaction with a remotely piloted vehicle.” 2011. Web. 09 Mar 2021.

Vancouver:

Burns CR. Human and automatic control interaction with a remotely piloted vehicle. [Internet] [Doctoral dissertation]. University of Illinois – Urbana-Champaign; 2011. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/2142/26288.

Council of Science Editors:

Burns CR. Human and automatic control interaction with a remotely piloted vehicle. [Doctoral Dissertation]. University of Illinois – Urbana-Champaign; 2011. Available from: http://hdl.handle.net/2142/26288

NSYSU

11. Chen, Guan-Yan. Fuzzy-PSO based obstacle avoidance and path planning for mobile robot.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2012, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-133520

► In recent years, due to the international competition, soaring cost of land and personnel, aging population, low birth rateâ¦etc, resulting in the recession of the… (more)

Subjects/Keywords: remote monitoring; mobile robot; path planning; obstacle avoidance; PSO; Fuzzy control

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APA (6^th Edition):

Chen, G. (2012). Fuzzy-PSO based obstacle avoidance and path planning for mobile robot. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-133520

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chen, Guan-Yan. “Fuzzy-PSO based obstacle avoidance and path planning for mobile robot.” 2012. Thesis, NSYSU. Accessed March 09, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-133520.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chen, Guan-Yan. “Fuzzy-PSO based obstacle avoidance and path planning for mobile robot.” 2012. Web. 09 Mar 2021.

Vancouver:

Chen G. Fuzzy-PSO based obstacle avoidance and path planning for mobile robot. [Internet] [Thesis]. NSYSU; 2012. [cited 2021 Mar 09]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-133520.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chen G. Fuzzy-PSO based obstacle avoidance and path planning for mobile robot. [Thesis]. NSYSU; 2012. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-133520

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

NSYSU

12. Chuang, Cheng-Kang. People following and obstacle avoidance for intelligent vehicles based on image processing techniques.

Degree: Master, Mechanical and Electro-Mechanical Engineering, 2012, NSYSU

URL: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-121244

► In daily life, there are a lot of inconveniences for the vision disabled people, even thought there are few equipments for them to use. However,… (more)

Subjects/Keywords: obstacle avoidance; people following; pedestrian crossing; transportation robot

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APA (6^th Edition):

Chuang, C. (2012). People following and obstacle avoidance for intelligent vehicles based on image processing techniques. (Thesis). NSYSU. Retrieved from http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-121244

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Chuang, Cheng-Kang. “People following and obstacle avoidance for intelligent vehicles based on image processing techniques.” 2012. Thesis, NSYSU. Accessed March 09, 2021. http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-121244.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Chuang, Cheng-Kang. “People following and obstacle avoidance for intelligent vehicles based on image processing techniques.” 2012. Web. 09 Mar 2021.

Vancouver:

Chuang C. People following and obstacle avoidance for intelligent vehicles based on image processing techniques. [Internet] [Thesis]. NSYSU; 2012. [cited 2021 Mar 09]. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-121244.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Chuang C. People following and obstacle avoidance for intelligent vehicles based on image processing techniques. [Thesis]. NSYSU; 2012. Available from: http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0903112-121244

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Dalhousie University

13. Moslehi, Hamid Reza. DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR.

Degree: Master of Applied Science, Department of Electrical & Computer Engineering, 2011, Dalhousie University

URL: http://hdl.handle.net/10222/13565

► Independent mobility is critical to quality of life for people of all ages, and impaired mobility leaves one with both physical and mental disadvantages. Unfortunately,… (more)

Subjects/Keywords: Obstacle avoidance; fuzzy logic control; ultrasonic sensors; rehabilitation; smart wheelchair

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APA (6^th Edition):

Moslehi, H. R. (2011). DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR. (Masters Thesis). Dalhousie University. Retrieved from http://hdl.handle.net/10222/13565

Chicago Manual of Style (16^th Edition):

Moslehi, Hamid Reza. “DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR.” 2011. Masters Thesis, Dalhousie University. Accessed March 09, 2021. http://hdl.handle.net/10222/13565.

MLA Handbook (7^th Edition):

Moslehi, Hamid Reza. “DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR.” 2011. Web. 09 Mar 2021.

Vancouver:

Moslehi HR. DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR. [Internet] [Masters thesis]. Dalhousie University; 2011. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10222/13565.

Council of Science Editors:

Moslehi HR. DESIGN AND DEVELOPMENT OF FUZZY LOGIC OPERATED MICROCONTROLLER BASED SMART MOTORIZED WHEELCHAIR. [Masters Thesis]. Dalhousie University; 2011. Available from: http://hdl.handle.net/10222/13565

University of California – Berkeley

14. Tsai, Chi-Shen. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.

Degree: Mechanical Engineering, 2014, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/3x02b7x5

► Interest in robot manipulators interacting with dynamic environments has been continuously growing because of the increasing demand for industrial robot collaboration. Human-robot collaboration and robot-robot… (more)

▼ Interest in robot manipulators interacting with dynamic environments has been continuously growing because of the increasing demand for industrial robot collaboration. Human-robot collaboration and robot-robot collaboration are the two scenarios of robot collaboration that have generally been considered. The difficulties of such applications may be described from two perspectives: a good perception of environment and a proper algorithm to react to the dynamic environment for the robot manipulators. Online trajectory generation is one of the approaches for robot reaction. In the generation of the trajectory, the transformation between joint space and task space is necessary since the sensor measurement of the environment is in task space and the trajectory of the robot manipulator is in joint space. The transformation needs to be done online in a dynamic environment and hence easily results in an exponential increase of the computational load.This dissertation proposes a safety index and the associated robot safety system in order to assess and ensure the safety of the agent in the collaboration scenarios. The agent could be a human worker in human-robot collaboration or another robot in robot-robot collaboration. In the robot safety system, the online trajectory generation algorithm is formulated in the optimization-based trajectory planning framework. The safety index is evaluated using the ellipsoid coordinates attached to the robot links that represents the distance between the robot manipulator and the agent. To account for the inertial effect, the momentum of therobot links are projected onto the coordinates to generate additional measures of safety. The safety index is used as a constraint in the formulation of the optimization problem so that a collision-free trajectory within a finite time horizon is generated online iteratively for the robot to move toward the desired position. To reduce the computational load for real-time implementation, the formulated optimization problem is further approximated by a quadratic problem. Moreover, a heuristic strategy is proposed to select the active constraints for the next iteration so as to further reduce the computational load. The safety index andthe proposed online trajectory generation algorithm are simulated and validated in both a two-link planar robot and a seven-DOF robot in human-robot collaboration and robot-robot collaboration. Simulation results show that the proposed algorithm and robot safety system are capable of generating collision-free and smooth trajectories online.The proposed algorithm has been extended to consider measurement noise in the agent information. Two possible approaches have been proposed for handling zero-mean Gaussian noise in the agent information.

Subjects/Keywords: Mechanical engineering; obstacle avoidance; online trajectory generation; Optimization

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APA (6^th Edition):

Tsai, C. (2014). Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/3x02b7x5

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tsai, Chi-Shen. “Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.” 2014. Thesis, University of California – Berkeley. Accessed March 09, 2021. http://www.escholarship.org/uc/item/3x02b7x5.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tsai, Chi-Shen. “Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach.” 2014. Web. 09 Mar 2021.

Vancouver:

Tsai C. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. [Internet] [Thesis]. University of California – Berkeley; 2014. [cited 2021 Mar 09]. Available from: http://www.escholarship.org/uc/item/3x02b7x5.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tsai C. Online Trajectory Generation for Robot Manipulators in Dynamic Environment – An Optimization-based Approach. [Thesis]. University of California – Berkeley; 2014. Available from: http://www.escholarship.org/uc/item/3x02b7x5

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Michigan

15. Liu, Jiechao. High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles.

Degree: PhD, Mechanical Engineering, 2016, University of Michigan

URL: http://hdl.handle.net/2027.42/137003

► Enabling autonomy of passenger-size and larger vehicles is becoming increasingly important in both military and commercial applications. For large autonomous ground vehicles (AGVs), the vehicle… (more)

▼ Enabling autonomy of passenger-size and larger vehicles is becoming increasingly important in both military and commercial applications. For large autonomous ground vehicles (AGVs), the vehicle dynamics are critical to consider to ensure vehicle safety during obstacle avoidance maneuvers especially at high speeds. This research is concerned with large-size high-speed AGVs with high center of gravity that operate in unstructured environments. The term `unstructured' in this context denotes that there are no lanes or traffic rules to follow. No map of the environment is available a priori. The environment is perceived through a planar light detection and ranging sensor. The mission of the AGV is to move from its initial position to a given target position safely and as fast as possible. In this dissertation, a model predictive control (MPC)-based obstacle avoidance algorithm is developed to achieve the objectives through an iterative simultaneous optimization of the path and the corresponding control commands. MPC is chosen because it offers a rigorous and systematic approach for taking vehicle dynamics and safety constraints into account. Firstly, this thesis investigates the level of model fidelity needed for an MPC-based obstacle avoidance algorithm to be able to safely and quickly avoid obstacles even when the vehicle is close to its dynamic limits. Five different representations of vehicle dynamics models are considered. It is concluded that the two Degrees-of-Freedom (DoF) representation that accounts for tire nonlinearities and longitudinal load transfer is necessary for the MPC-based obstacle avoidance algorithm to operate the vehicle at its limits within an environment that includes large obstacles. Secondly, existing MPC formulations for passenger vehicles in structured environments do not readily apply to this context. Thus, a novel nonlinear MPC formulation is developed. First, a new cost function formulation is used that aims to find the shortest path to the target position. Second, a region partitioning approach is used in conjunction with a multi-phase optimal control formulation to accommodate the complicated forms of obstacle-free regions from an unstructured environment. Third, the no-wheel-lift-off condition is established offline using a fourteen DoF vehicle dynamics model and is included in the MPC formulation. The formulation can simultaneous optimize both steering angle and reference longitudinal speed commands. Simulation results show that the proposed algorithm is capable of safely exploiting the dynamic limits of the vehicle while navigating the vehicle through sensed obstacles of different size and number. Thirdly, in the algorithm, a model of the vehicle is used explicitly to predict and optimize future actions, but in practice, the model parameter values are not exactly known. It is demonstrated that using nominal parameter values in the algorithm leads to safety issues in about one fourth of the evaluated scenarios with the considered parametric uncertainty distributions. To improve… Advisors/Committee Members: Ersal, Tulga (committee member), Stein, Jeffrey L (committee member), Kolmanovsky, Ilya Vladimir (committee member), Jayakumar, Paramsothy (committee member), Rohde, Steve M (committee member), Tilbury, Dawn M (committee member).

Subjects/Keywords: Autonomous ground vehicle; Obstacle avoidance; Model predictive control; Mechanical Engineering; Engineering

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APA (6^th Edition):

Liu, J. (2016). High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles. (Doctoral Dissertation). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/137003

Chicago Manual of Style (16^th Edition):

Liu, Jiechao. “High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles.” 2016. Doctoral Dissertation, University of Michigan. Accessed March 09, 2021. http://hdl.handle.net/2027.42/137003.

MLA Handbook (7^th Edition):

Liu, Jiechao. “High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles.” 2016. Web. 09 Mar 2021.

Vancouver:

Liu J. High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles. [Internet] [Doctoral dissertation]. University of Michigan; 2016. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/2027.42/137003.

Council of Science Editors:

Liu J. High-Speed Obstacle Avoidance at the Dynamic Limits for Autonomous Ground Vehicles. [Doctoral Dissertation]. University of Michigan; 2016. Available from: http://hdl.handle.net/2027.42/137003

University of Wisconsin – Milwaukee

16. Benson, Lauren. Identifying Gait Deficits in Stroke Patients Using Inertial Sensors.

Degree: PhD, Health Sciences, 2016, University of Wisconsin – Milwaukee

URL: https://dc.uwm.edu/etd/1336

► Falls remain a significant problem for stroke patients. Tripping, the main cause of falls, occurs when there is insufficient clearance between the foot and… (more)

▼ Falls remain a significant problem for stroke patients. Tripping, the main cause of falls, occurs when there is insufficient clearance between the foot and ground. Based on an individual’s gait deficits, different joint angles and coordination patterns are necessary to achieve adequate foot clearance during walking. However, gait deficits are typically only quantified in a research or clinical setting, and it would be helpful to use wearable devices – such as accelerometers – to quantify gait disorders in real-world situations. Therefore, the objective of this project was to understand gait characteristics that influence the risk of tripping, and to detect these characteristics using accelerometers. Thirty-five participants with a range of walking abilities performed normal walking and attempted to avoid tripping on an unexpected object while gait characteristics were quantified using motion capture techniques and accelerometers. Multiple regression was used to identify the relationship between joint coordination and foot clearance, and multiple analysis of variance was used to determine characteristics of gait that differ between demographic groups, as well as those that enable obstacle avoidance. Machine learning techniques were employed to detect joint angles and the risk of tripping from patterns in accelerometer signals. Measures of foot clearance that represent toe height throughout swing instead of at a single time point are more sensitive to changes in joint coordination, with hip-knee coordination during midswing having the greatest effect. Participants with a history of falls or stroke perform worse than older non-fallers and young adults on many factors related to falls risk, however, there are no differences in the ability to avoid an unexpected obstacle between these groups. Individuals with an inability to avoid an obstacle have lower scores on functional evaluations, exhibit limited sagittal plane joint range of motion during swing, and adopt a conservative walking strategy. Machine learning processes can be used to predict knee range of motion and classify individuals at risk for tripping based on an ankle-worn accelerometer. This work is significant because a portable device that detects gait characteristics relevant to the risk of tripping without expensive motion capture technology may reduce the risk of falls for stroke patients. Advisors/Committee Members: Kristian M. O'Connor.

Subjects/Keywords: Accelerometers; Falls; Obstacle Avoidance; Trips; Walking; Wearable Devices; Biomechanics

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APA (6^th Edition):

Benson, L. (2016). Identifying Gait Deficits in Stroke Patients Using Inertial Sensors. (Doctoral Dissertation). University of Wisconsin – Milwaukee. Retrieved from https://dc.uwm.edu/etd/1336

Chicago Manual of Style (16^th Edition):

Benson, Lauren. “Identifying Gait Deficits in Stroke Patients Using Inertial Sensors.” 2016. Doctoral Dissertation, University of Wisconsin – Milwaukee. Accessed March 09, 2021. https://dc.uwm.edu/etd/1336.

MLA Handbook (7^th Edition):

Benson, Lauren. “Identifying Gait Deficits in Stroke Patients Using Inertial Sensors.” 2016. Web. 09 Mar 2021.

Vancouver:

Benson L. Identifying Gait Deficits in Stroke Patients Using Inertial Sensors. [Internet] [Doctoral dissertation]. University of Wisconsin – Milwaukee; 2016. [cited 2021 Mar 09]. Available from: https://dc.uwm.edu/etd/1336.

Council of Science Editors:

Benson L. Identifying Gait Deficits in Stroke Patients Using Inertial Sensors. [Doctoral Dissertation]. University of Wisconsin – Milwaukee; 2016. Available from: https://dc.uwm.edu/etd/1336

Wilfrid Laurier University

17. Baxter, Brittany A. ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING.

Degree: 2015, Wilfrid Laurier University

URL: https://scholars.wlu.ca/etd/1710

► On a daily basis modifications, based upon environmental demands and the capabilities of the individual, are made to the locomotor pattern to enable avoidance of… (more)

▼ On a daily basis modifications, based upon environmental demands and the capabilities of the individual, are made to the locomotor pattern to enable avoidance of undesirable landing areas (i.e. planar obstacles). Athletes and dancers have been suggested to have superior perception-action coupling compared to non-athletes, allowing them to perform various tasks at a greater speed without a loss of precision (Federici et al., 2005; Gerin-Lajoie et al. (2007). The current study assessed non-athletes, dancers, and field athletes to investigate whether training influences the maintenance of forward progression and stability in relation to alternate foot placement during planar obstacle avoidance. Eleven field athletes (22± 2.68 years) having recent/ current sport participation, 10 individuals (21.1± 1.1 years) with previous/current dance training, and 12 non-athletes (21.75± 1.54 years) with no participation in organized sport in >5 years were asked to walk to a goal (~13 m away) at a self-selected pace, avoiding any obstacle(s) when present (50% of trials; 15cm wide x 70cm long rectangles, projected ~8m from the start position). Obstacle conditions were: 1) Single obstacle appearance (SIN) where the obstacle (at N) appeared when the participant was 2 steps away from the first obstacle (N-2) ; 2) Double obstacle appearance was delayed (DDEL) until at N-2; and 3) Double obstacle appearance after participants reached steady state (i.e. ~3 steps from start)(DSS). All participants, regardless of training, stepped medially during SIN. Avoidance during double obstacle conditions was variable (i.e. medial-medial, medial-lateral, and lateral-medial). The variability of behaviour, computed as a coefficient of unalikeability (the proportion of possible comparisons which are unalike), had significant moderate positive correlations with the minimum Dynamic Stability Margin at N-1 for DSS and DDEL (r = 0.36; r = 0.44, respectively, p<0.001) and a significant weak positive relationship with ML COM variability (r = 0.28, p<0.05) during DDEL. To a degree, greater ML COM variability leads to avoidance behaviour that exploits forward progression more so than stability, as stepping medially perturbs the COM the least from its forward momentum but narrows the BOS creating instability that must be offset in the following step. Avoidance of planar obstacles at a comfortable walk lacked context specificity to dance or field sport training to elicit any behavioural differences.

Subjects/Keywords: obstacle; gait; avoidance; dance; athlete; stability; Motor Control

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APA (6^th Edition):

Baxter, B. A. (2015). ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING. (Thesis). Wilfrid Laurier University. Retrieved from https://scholars.wlu.ca/etd/1710

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Baxter, Brittany A. “ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING.” 2015. Thesis, Wilfrid Laurier University. Accessed March 09, 2021. https://scholars.wlu.ca/etd/1710.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Baxter, Brittany A. “ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING.” 2015. Web. 09 Mar 2021.

Vancouver:

Baxter BA. ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING. [Internet] [Thesis]. Wilfrid Laurier University; 2015. [cited 2021 Mar 09]. Available from: https://scholars.wlu.ca/etd/1710.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Baxter BA. ALTERNATE FOOT PLACEMENT: INVESTIGATING THE ROLE OF GAIT PARAMETERS, PLANAR OBSTACLE COMPLEXITY, AND ATHLETIC TRAINING. [Thesis]. Wilfrid Laurier University; 2015. Available from: https://scholars.wlu.ca/etd/1710

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

National University of Ireland – Galway

18. O Cualain, Diarmaid. Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment .

Degree: 2012, National University of Ireland – Galway

URL: http://hdl.handle.net/10379/3144

► Statistics show that worldwide motor vehicle collisions lead to significant death and disability as well as significant financial costs to both society and the individuals… (more)

▼ Statistics show that worldwide motor vehicle collisions lead to significant death and disability as well as significant financial costs to both society and the individuals involved. This thesis aims to address this issue by proposing a system for the detection of lane departures and obstacles, two of the leading causes of road fatalities by collisions. Awareness of the environment that surrounds a vehicle can make driving and manoeuvring of the vehicle much safer for all road users. The primary focus of this thesis is the development of an image processing system to detect lane departure using a single, forward facing visible spectrum camera. This system uses a novel lane marking segmentation algorithm in accordance with national standards for lane markings and identifies lane departure using guidelines issued by the International Organisation for Standardization. Issues with a single camera-based LDW system can arise when other road users occlude the field of view of the sensor, or by glare from oncoming headlamps and bright sunlight on the sensor. To address these problems, a lane departure warning system that utilises multiple cameras is also presented. This multi-camera system is more robust to errors caused by lane marking occlusions, sensor failure, and glare that a single camera-based system can suffer from. Object detection is a large area of research in the field of automotive technologies. By displaying the surroundings of the vehicle and the included objects to the driver in a useful and intuitive way, this aids the driver to safely manoeuvre the vehicle. Similarly, warning the driver of potential obstacles in the trajectory of the vehicle reduces the probability that the vehicle will be in a collision. An examination of the state of the art in object detection and distance determination technologies is presented and from analysis of the limitations in existing systems, a number of novel obstacle detection/distance determination systems are also proposed in this thesis. Overall, this research aims to reduce the number of vehicle collisions and contribute to a safer driving environment. Advisors/Committee Members: Jones, Edward (advisor).

Subjects/Keywords: lane departure; Collision avoidance; Automotive; Obstacle detection; Electronic Engineering

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APA (6^th Edition):

O Cualain, D. (2012). Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment . (Thesis). National University of Ireland – Galway. Retrieved from http://hdl.handle.net/10379/3144

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

O Cualain, Diarmaid. “Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment .” 2012. Thesis, National University of Ireland – Galway. Accessed March 09, 2021. http://hdl.handle.net/10379/3144.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

O Cualain, Diarmaid. “Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment .” 2012. Web. 09 Mar 2021.

Vancouver:

O Cualain D. Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment . [Internet] [Thesis]. National University of Ireland – Galway; 2012. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10379/3144.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

O Cualain D. Collision Avoidance using Lane Departure Warning and Obstacle Determination in the Automotive Environment . [Thesis]. National University of Ireland – Galway; 2012. Available from: http://hdl.handle.net/10379/3144

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Högskolan i Halmstad

19. Stenström, Jakob Carlsén. Obstacle avoidance and altitude control for autonomous UAV.

Degree: 2018, Högskolan i Halmstad

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37458

► Drones or UAVs are quickly becoming a bigger part of today's society. Delivery servicesand transportation are elds were big development is being done. For… (more)

Subjects/Keywords: uav; drone; obstacle avoidance; cps; Robotics; Robotteknik och automation

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APA (6^th Edition):

Stenström, J. C. (2018). Obstacle avoidance and altitude control for autonomous UAV. (Thesis). Högskolan i Halmstad. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37458

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Stenström, Jakob Carlsén. “Obstacle avoidance and altitude control for autonomous UAV.” 2018. Thesis, Högskolan i Halmstad. Accessed March 09, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37458.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Stenström, Jakob Carlsén. “Obstacle avoidance and altitude control for autonomous UAV.” 2018. Web. 09 Mar 2021.

Vancouver:

Stenström JC. Obstacle avoidance and altitude control for autonomous UAV. [Internet] [Thesis]. Högskolan i Halmstad; 2018. [cited 2021 Mar 09]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37458.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Stenström JC. Obstacle avoidance and altitude control for autonomous UAV. [Thesis]. Högskolan i Halmstad; 2018. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37458

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

20. Gonzalez Martinez, Javier Andres (author). Velocity modulated decision making in a reaching task.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:cb0c9f01-09f5-4906-abc5-b6685204c5d7

►

Humans can compensate rapidly to unforeseen errors and circumstances while performing motor tasks. These tasks are exposed to sensory and motor noise and delays originated… (more)

Subjects/Keywords: Upper-limb; motor control; co-contraction; obstacle avoidance; decision making

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APA (6^th Edition):

Gonzalez Martinez, J. A. (. (2017). Velocity modulated decision making in a reaching task. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:cb0c9f01-09f5-4906-abc5-b6685204c5d7

Chicago Manual of Style (16^th Edition):

Gonzalez Martinez, Javier Andres (author). “Velocity modulated decision making in a reaching task.” 2017. Masters Thesis, Delft University of Technology. Accessed March 09, 2021. http://resolver.tudelft.nl/uuid:cb0c9f01-09f5-4906-abc5-b6685204c5d7.

MLA Handbook (7^th Edition):

Gonzalez Martinez, Javier Andres (author). “Velocity modulated decision making in a reaching task.” 2017. Web. 09 Mar 2021.

Vancouver:

Gonzalez Martinez JA(. Velocity modulated decision making in a reaching task. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Mar 09]. Available from: http://resolver.tudelft.nl/uuid:cb0c9f01-09f5-4906-abc5-b6685204c5d7.

Council of Science Editors:

Gonzalez Martinez JA(. Velocity modulated decision making in a reaching task. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:cb0c9f01-09f5-4906-abc5-b6685204c5d7

Delft University of Technology

21. Lin, Jiahao (author). Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:91f200f7-4966-4504-bc83-5a87e5550a91

►

Safe navigation in unknown environments is a challenging task for autonomous Micro Aerial Vehicle (MAV) systems. Previous works generally avoid obstacles by assuming that the… (more)

Subjects/Keywords: Autonomous Navigation; Micro Aerial Vehicle; Obstacle Avoidance; Model Predictive Contrl

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APA (6^th Edition):

Lin, J. (. (2019). Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:91f200f7-4966-4504-bc83-5a87e5550a91

Chicago Manual of Style (16^th Edition):

Lin, Jiahao (author). “Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments.” 2019. Masters Thesis, Delft University of Technology. Accessed March 09, 2021. http://resolver.tudelft.nl/uuid:91f200f7-4966-4504-bc83-5a87e5550a91.

MLA Handbook (7^th Edition):

Lin, Jiahao (author). “Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments.” 2019. Web. 09 Mar 2021.

Vancouver:

Lin J(. Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 09]. Available from: http://resolver.tudelft.nl/uuid:91f200f7-4966-4504-bc83-5a87e5550a91.

Council of Science Editors:

Lin J(. Real-time Vision-based Autonomous Navigation of MAV in Dynamic Environments. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:91f200f7-4966-4504-bc83-5a87e5550a91

University of Western Ontario

22. Wong, Carmen. Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion.

Degree: 2018, University of Western Ontario

URL: https://ir.lib.uwo.ca/etd/5716

► While walking in complex environments, the ability to acquire information about objects in our surroundings is essential for successful obstacle negotiation. Furthermore, the ease with… (more)

▼ While walking in complex environments, the ability to acquire information about objects in our surroundings is essential for successful obstacle negotiation. Furthermore, the ease with which most animals can traverse cluttered terrain while grazing, exploring, or hunting is facilitated by the capacity to store obstacle information in working memory (WM). However, the underlying neural substrates supporting such complex behaviours are poorly understood. Therefore, the goal of this thesis is to examine the neural underpinnings of WM-guided obstacle negotiation in the walking cat. Obstacle locomotion was studied in two main paradigms, characterized by whether obstacle presence was detected via vision or touch. In both paradigms, walking was delayed following foreleg obstacle clearance. When walking resumed, elevated hindleg stepping demonstrated that animals successfully remembered the obstacle beneath them. The tactile paradigm was first examined to assess the ability of animals to remember an unexpected obstacle over which the forelegs had tripped. Such tactile input to the forelegs was capable of producing a robust, long-lasting WM of the obstacle, similar to what has been previously described using the visual paradigm. Next, to assess whether regions of the brain associated with spatial representation and movement planning contribute to these behaviours, parietal area 5 was reversibly deactivated as visual or tactile obstacle WM was tested. Such deactivations resulted in substantial WM deficits precluding successful avoidance in both paradigms. To further characterize this cortical contribution, neural activity was then recorded with multi-electrode arrays implanted in area 5. While diverse patterns of task-related modulation were observed, only a small proportion of neurons demonstrated WM-related activity. These neurons exhibited the hallmark property of sustained delay period activity associated with WM maintenance, and were able to reliably discern whether or not the animal had stepped over an obstacle prior to the delay. Therefore, only a specialized subset of area 5 neurons is capable of maintaining stable representations of obstacle information in WM. Altogether, this work extends our understanding of WM-guided obstacle locomotion in the cat. Additionally, these findings provide insight into the neural circuitry within the posterior parietal cortex, which likely supports a variety of WM-guided behaviours.

Subjects/Keywords: Walking; Obstacle Avoidance; Working Memory; Cat; Cortical Cooling; Electrophysiology; Systems Neuroscience

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APA (6^th Edition):

Wong, C. (2018). Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion. (Thesis). University of Western Ontario. Retrieved from https://ir.lib.uwo.ca/etd/5716

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Wong, Carmen. “Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion.” 2018. Thesis, University of Western Ontario. Accessed March 09, 2021. https://ir.lib.uwo.ca/etd/5716.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Wong, Carmen. “Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion.” 2018. Web. 09 Mar 2021.

Vancouver:

Wong C. Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion. [Internet] [Thesis]. University of Western Ontario; 2018. [cited 2021 Mar 09]. Available from: https://ir.lib.uwo.ca/etd/5716.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Wong C. Characterizing the Cortical Contributions to Working Memory-Guided Obstacle Locomotion. [Thesis]. University of Western Ontario; 2018. Available from: https://ir.lib.uwo.ca/etd/5716

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Virginia Tech

23. Whitehead, John Gardner. An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings.

Degree: PhD, Biological Sciences, 2020, Virginia Tech

URL: http://hdl.handle.net/10919/99383

► Control of landing is an important ability for any flying animal. However, with the exception of perch landing, we know very little about how birds… (more)

Subjects/Keywords: Mallards; kinematics; flight; landing; Tau Theory; obstacle avoidance

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APA (6^th Edition):

Whitehead, J. G. (2020). An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/99383

Chicago Manual of Style (16^th Edition):

Whitehead, John Gardner. “An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings.” 2020. Doctoral Dissertation, Virginia Tech. Accessed March 09, 2021. http://hdl.handle.net/10919/99383.

MLA Handbook (7^th Edition):

Whitehead, John Gardner. “An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings.” 2020. Web. 09 Mar 2021.

Vancouver:

Whitehead JG. An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings. [Internet] [Doctoral dissertation]. Virginia Tech; 2020. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10919/99383.

Council of Science Editors:

Whitehead JG. An examination of the kinematics and behavior of mallards (Anas platyrhynchos) during water landings. [Doctoral Dissertation]. Virginia Tech; 2020. Available from: http://hdl.handle.net/10919/99383

Michigan Technological University

24. Moridian, Barzin. AUTONOMOUS POWER DISTRIBUTION SYSTEMS.

Degree: MS, Department of Mechanical Engineering-Engineering Mechanics, 2014, Michigan Technological University

URL: https://digitalcommons.mtu.edu/etds/875

► Using robotic systems for many missions that require power distribution can decrease the need for human intervention in such missions significantly. For accomplishing this… (more)

Subjects/Keywords: Autonomous Ground Vehicles; Microgrid; Obstacle Avoidance; Path Planning; Engineering; Robotics

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APA (6^th Edition):

Moridian, B. (2014). AUTONOMOUS POWER DISTRIBUTION SYSTEMS. (Masters Thesis). Michigan Technological University. Retrieved from https://digitalcommons.mtu.edu/etds/875

Chicago Manual of Style (16^th Edition):

Moridian, Barzin. “AUTONOMOUS POWER DISTRIBUTION SYSTEMS.” 2014. Masters Thesis, Michigan Technological University. Accessed March 09, 2021. https://digitalcommons.mtu.edu/etds/875.

MLA Handbook (7^th Edition):

Moridian, Barzin. “AUTONOMOUS POWER DISTRIBUTION SYSTEMS.” 2014. Web. 09 Mar 2021.

Vancouver:

Moridian B. AUTONOMOUS POWER DISTRIBUTION SYSTEMS. [Internet] [Masters thesis]. Michigan Technological University; 2014. [cited 2021 Mar 09]. Available from: https://digitalcommons.mtu.edu/etds/875.

Council of Science Editors:

Moridian B. AUTONOMOUS POWER DISTRIBUTION SYSTEMS. [Masters Thesis]. Michigan Technological University; 2014. Available from: https://digitalcommons.mtu.edu/etds/875

25. Reed, Samuel John. Providing Nautical Chart Awareness to Autonomous Surface Vehicles.

Degree: MS, 2018, University of New Hampshire

URL: https://scholars.unh.edu/thesis/1256

► Autonomous surface vessels (ASVs) have many applications in both military and civilian domains including mine countermeasure, seafloor mapping, and physical oceanography. However, to act as… (more)

▼ Autonomous surface vessels (ASVs) have many applications in both military and civilian domains including mine countermeasure, seafloor mapping, and physical oceanography. However, to act as effective tools, ASVs require high levels of autonomy. Currently, many commercially available ASVs have static mission plans with minimal awareness of their environment, which results in a labor intensive approach that does not scale to management of multiple vehicles. In this research, ASV autonomy was increased through the development of an intelligent mission planner and a real-time obstacle avoidance system utilizing Electronic Nautical Charts (ENCs), which describe known hazards in the marine environment without suffering from the challenges of real-time sensor processing. A new algorithm called Depth-Based A* was developed as the mission planner, where the nominal A* search algorithm was expanded by utilizing a novel cost function that balances driving in the channel with taking the most direct route on an ENC-derived cost map. Although charted obstacles can typically be avoided through mission planners, there is still an advantage in having the code do this. However, since it enables even higher levels of autonomy (e.g., “go in this area, but avoid all known obstacles”) they must still be accounted for in real time as other behaviors (i.e., avoiding uncharted obstacles or vessels) might cause the ASV to deviate from the planned path. The reactive obstacle avoidance system developed in this research reorganizes the ENC into a quick-search database where ENC-based obstacles in the ASV’s proximity are determined and avoided. These algorithms were tested with both a Seafloor System EchoBoat and ASV Global C-Worker 4 in simulation and in the field using an EchoBoat, where they avoided both concave and convex polygons. The algorithms developed in this research provide the ASV with a higher level of autonomy, potentially allowing for the same number of human operators to manage more ASVs. Advisors/Committee Members: Brian Calder, Val Schmidt, Kent Chamberlin.

Subjects/Keywords: A*; ASVs; ENCs; Nautical Charts; Obstacle Avoidance; Robotics

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APA (6^th Edition):

Reed, S. J. (2018). Providing Nautical Chart Awareness to Autonomous Surface Vehicles. (Thesis). University of New Hampshire. Retrieved from https://scholars.unh.edu/thesis/1256

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Reed, Samuel John. “Providing Nautical Chart Awareness to Autonomous Surface Vehicles.” 2018. Thesis, University of New Hampshire. Accessed March 09, 2021. https://scholars.unh.edu/thesis/1256.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Reed, Samuel John. “Providing Nautical Chart Awareness to Autonomous Surface Vehicles.” 2018. Web. 09 Mar 2021.

Vancouver:

Reed SJ. Providing Nautical Chart Awareness to Autonomous Surface Vehicles. [Internet] [Thesis]. University of New Hampshire; 2018. [cited 2021 Mar 09]. Available from: https://scholars.unh.edu/thesis/1256.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Reed SJ. Providing Nautical Chart Awareness to Autonomous Surface Vehicles. [Thesis]. University of New Hampshire; 2018. Available from: https://scholars.unh.edu/thesis/1256

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Ontario Institute of Technology

26. Mohamed, Amr. Design and development of advanced control techniques for an unmanned ground vehicle.

Degree: 2018, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/991

► Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles… (more)

▼ Recent years have seen considerable progress towards the goal of autonomous and unmanned ground vehicles which became essential for conducting military operations. These autonomous vehicles have the capability to operate and react to their environments without external control. Autonomous multi-wheeled combat vehicles are crucial for military applications which offer numerous leverages on modern battlefields. Applying autonomy features to such vehicles significantly increases its combat capabilities and expands its applications to work-day and night for risky missions compared with traditional manned ground vehicles. However, it is associated with some challenges because of their large dimension, heavy weight, and complex geometry. Therefore, the development of autonomous combat vehicles has become a cutting-edge research topic in robotics and automotive engineering. This thesis focuses on the control issues related to applying autonomous features for the multi-wheeled combat vehicles due to their significant influence especially when navigating in the presence of obstacles. The primary concern of path planning is to compute collision-free paths. Another equally important issue is to compute a realizable path and, if possible, achieving an optimal path bringing the vehicle to the final position. For these purposes, the developed methodology considers the combination between the optimal control theory using Pontryagin's Minimum Principle (PMP) and Artificial Potential Filed (APF). In addition, a four-axle bicycle model of the actual multi-wheeled combat vehicle considering the vehicle body lateral and yaw dynamics is developed. To generate the vehicle optimal path in real time, an Artificial Neural Network (ANN) model is proposed. The introduced ANN model allows the vehicle to carry out an autonomous navigation in real time with maintaining the path optimality by considering the vehicle parameters in terms of yaw rate, lateral velocity, heading angle and steering angle. Subsequently, a comparative study and performance analysis of the developed optimal path algorithm using PMP with Dynamic Programming (DP) method was carried out in order to guarantee the global optimum solution. Determining the accurate vehicle position offers sufficient capabilities which increase the autonomy and safety features, especially in case of off-road locomotion. In this regard, a hybrid framework for positioning technique based on the integration of GPS/INS for combat vehicles is developed. The developed algorithm is able to provide an accurate and reliable vehicle positioning information, even if the number of visible satellites is less than four, due to the harsh vehicle operation environments. In this work, a scaled multi-wheeled combat vehicle model was developed using system identification methodology. Different system identification methods are considered and applied to solve and identify this problem. An advanced control system in terms of fuzzy logic, robust, and PID control systems are designed. In addition, the… Advisors/Committee Members: Ren, Jing, El-Gindy, Moustafa.

Subjects/Keywords: Multi-wheeled combat vehicle; Path planning; Obstacle avoidance; Robust control

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APA (6^th Edition):

Mohamed, A. (2018). Design and development of advanced control techniques for an unmanned ground vehicle. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/991

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mohamed, Amr. “Design and development of advanced control techniques for an unmanned ground vehicle.” 2018. Thesis, University of Ontario Institute of Technology. Accessed March 09, 2021. http://hdl.handle.net/10155/991.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mohamed, Amr. “Design and development of advanced control techniques for an unmanned ground vehicle.” 2018. Web. 09 Mar 2021.

Vancouver:

Mohamed A. Design and development of advanced control techniques for an unmanned ground vehicle. [Internet] [Thesis]. University of Ontario Institute of Technology; 2018. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10155/991.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mohamed A. Design and development of advanced control techniques for an unmanned ground vehicle. [Thesis]. University of Ontario Institute of Technology; 2018. Available from: http://hdl.handle.net/10155/991

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Ontario Institute of Technology

27. Tan, Aaron Hao. Design and development of an autonomous scaled electric combat vehicle.

Degree: 2019, University of Ontario Institute of Technology

URL: http://hdl.handle.net/10155/1043

► Current literature pertaining to multi-steerable mobile robots and the progression of military vehicles in the past few decades suggest a lack of effort in pursuing… (more)

Subjects/Keywords: Autonomous; Combat vehicle; Obstacle avoidance; Path planning; ROS

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APA (6^th Edition):

Tan, A. H. (2019). Design and development of an autonomous scaled electric combat vehicle. (Thesis). University of Ontario Institute of Technology. Retrieved from http://hdl.handle.net/10155/1043

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Tan, Aaron Hao. “Design and development of an autonomous scaled electric combat vehicle.” 2019. Thesis, University of Ontario Institute of Technology. Accessed March 09, 2021. http://hdl.handle.net/10155/1043.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Tan, Aaron Hao. “Design and development of an autonomous scaled electric combat vehicle.” 2019. Web. 09 Mar 2021.

Vancouver:

Tan AH. Design and development of an autonomous scaled electric combat vehicle. [Internet] [Thesis]. University of Ontario Institute of Technology; 2019. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/10155/1043.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Tan AH. Design and development of an autonomous scaled electric combat vehicle. [Thesis]. University of Ontario Institute of Technology; 2019. Available from: http://hdl.handle.net/10155/1043

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Clemson University

28. Long, Lindsay. Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance.

Degree: MS, Applied Psychology, 2011, Clemson University

URL: https://tigerprints.clemson.edu/all_theses/1079

► While unmanned ground vehicle (UGV) teleoperation is advantageous in terms of adaptability and safety, it introduces challenges resulting from the operator's poor perception of the… (more)

Subjects/Keywords: Obstacle Avoidance; Teleoperation; Torso Display; UGV; Usability; Vibrotactile; Psychology

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APA (6^th Edition):

Long, L. (2011). Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance. (Masters Thesis). Clemson University. Retrieved from https://tigerprints.clemson.edu/all_theses/1079

Chicago Manual of Style (16^th Edition):

Long, Lindsay. “Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance.” 2011. Masters Thesis, Clemson University. Accessed March 09, 2021. https://tigerprints.clemson.edu/all_theses/1079.

MLA Handbook (7^th Edition):

Long, Lindsay. “Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance.” 2011. Web. 09 Mar 2021.

Vancouver:

Long L. Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance. [Internet] [Masters thesis]. Clemson University; 2011. [cited 2021 Mar 09]. Available from: https://tigerprints.clemson.edu/all_theses/1079.

Council of Science Editors:

Long L. Investigating the Usability of a Vibrotactile Torso Display for Improving Simulated Teleoperation Obstacle Avoidance. [Masters Thesis]. Clemson University; 2011. Available from: https://tigerprints.clemson.edu/all_theses/1079

University of Maryland

29. Ranganathan, Badri Narayanan. Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing.

Degree: Aerospace Engineering, 2017, University of Maryland

URL: http://hdl.handle.net/1903/19337

► The lateral line sense organ in fish detects fluid flow around its body, and is used to perform a wide variety of behaviors such as… (more)

▼ The lateral line sense organ in fish detects fluid flow around its body, and is used to perform a wide variety of behaviors such as rheotaxis, wall-following, prey detection, and obstacle and predator avoidance. Currently there are no equivalent engineering analogues that can sense fluid flow perturbation to determine location of obstacles and demonstrate closed loop obstacle avoidance. In this dissertation we examine the potential and limitations of this sensor system with respect to obstacle detection, avoidance and rheotaxis. This dissertation presents the development of a novel bioinspired flow-based perception scheme for small and wide-field objects, design and development of a strain sensor system and a robust controller for closed loop demonstration of rheotaxis and small and wide field object detection and avoidance. Potential flow based models are developed for the above mentioned problems of interest. As the modeling technique is approximate, the uncertainties due to modeling and effect of rotation rate are accounted for and used in the synthesis of a robust H_∞ control system. The perturbation signals are spatially decomposed using wide and small-field integration techniques to arrive at information regarding objects in the environment. A high-fidelity, computational fluid dynamic closed-loop simulation is carried out by interfacing control codes with an off-the-shelf software to demonstrate behaviors of rheotaxis, wall-following, tunnel centering and unstructured wide-field obstacle avoidance. A bio-inspired hair array sensor and its corresponding signal conditioning electronics were developed for detecting flow perturbations related to the behaviors of interest. The sensors that were manufactured were strain based and involved the use of micro and macro fabrication approaches. An instrumentation amplifier-based system was developed for signal conditioning. The hair array sensors along with the signal conditioning electronics weighed about 10 gms, which allows it to be easily carried on small scale fish robots. These sensors were integrated onto an airfoil-shaped robot and perturbation signals due to the motion of the robot near a wall and cylindrical objects were obtained and analyzed. The signals that have been measured by the sensor array help in quantifying the magnitude and structure of perturbation that is observed due to interaction with objects, and establishes requirements for sensor design for deployment on autonomous underwater vehicles. Closed loop behavior of rheotaxis was demonstrated in a flow tank. Advisors/Committee Members: Humbert, Sean (advisor).

Subjects/Keywords: Aerospace engineering; Bioinspired sensing; Flow sensing; Obstacle avoidance; Perception; Rheotaxis

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Ranganathan, B. N. (2017). Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing. (Thesis). University of Maryland. Retrieved from http://hdl.handle.net/1903/19337

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Ranganathan, Badri Narayanan. “Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing.” 2017. Thesis, University of Maryland. Accessed March 09, 2021. http://hdl.handle.net/1903/19337.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Ranganathan, Badri Narayanan. “Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing.” 2017. Web. 09 Mar 2021.

Vancouver:

Ranganathan BN. Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing. [Internet] [Thesis]. University of Maryland; 2017. [cited 2021 Mar 09]. Available from: http://hdl.handle.net/1903/19337.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Ranganathan BN. Bioinspired Robust Underwater Behaviors Using Fluid Flow Sensing. [Thesis]. University of Maryland; 2017. Available from: http://hdl.handle.net/1903/19337

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Canterbury

30. Tang, Robert. A Semi-autonomous Wheelchair Navigation System.

Degree: M. Eng., Mechanical Engineering, 2012, University of Canterbury

URL: http://dx.doi.org/10.26021/1467

► Many mobility impaired users are unable to operate a powered wheelchair safely, without causing harm to themselves, others, and the environment. Smart wheelchairs that assist… (more)

Subjects/Keywords: Smart wheelchair; SLAM; obstacle avoidance; path planning; navigation; robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Tang, R. (2012). A Semi-autonomous Wheelchair Navigation System. (Masters Thesis). University of Canterbury. Retrieved from http://dx.doi.org/10.26021/1467

Chicago Manual of Style (16^th Edition):

Tang, Robert. “A Semi-autonomous Wheelchair Navigation System.” 2012. Masters Thesis, University of Canterbury. Accessed March 09, 2021. http://dx.doi.org/10.26021/1467.

MLA Handbook (7^th Edition):

Tang, Robert. “A Semi-autonomous Wheelchair Navigation System.” 2012. Web. 09 Mar 2021.

Vancouver:

Tang R. A Semi-autonomous Wheelchair Navigation System. [Internet] [Masters thesis]. University of Canterbury; 2012. [cited 2021 Mar 09]. Available from: http://dx.doi.org/10.26021/1467.

Council of Science Editors:

Tang R. A Semi-autonomous Wheelchair Navigation System. [Masters Thesis]. University of Canterbury; 2012. Available from: http://dx.doi.org/10.26021/1467

Open Access Theses and Dissertations