subject:(space robotics)

Rutgers University

1. Misra, Gaurav, 1989-. Convex optimization based planning and control methods for space-robotic systems.

Degree: PhD, Mechanical and Aerospace Engineering, 2019, Rutgers University

URL: https://rucore.libraries.rutgers.edu/rutgers-lib/61814/

► Space-robotic systems are arguably the most promising technologies available currently for on-orbit satellite operations including docking, berthing, and repair, which have been demonstrated in typically… (more)

▼ Space-robotic systems are arguably the most promising technologies available currently for on-orbit satellite operations including docking, berthing, and repair, which have been demonstrated in typically manned and semi-autonomous missions. Another important application of space-robotic systems is space debris mitigation. Space debris are uncooperative space objects (i.e. without any internal actuation) including defunct satellites and spent rocket stages, all of which pose tremendous risk to current operational space assets. Autonomous robotic capture, control, and stabilization of such objects are becoming critical. However, space-robotic operations in proximity of such uncooperative object is challenging with large uncertainties. As a result, optimality, robustness, and tractability constitute some of the desirable properties for any planning and control algorithm used for spacecraft guidance, control, and robotic operations. Through the development of fast interior point methods for solving convex optimization problems with globally optimality, convex programming methods have been proposed and experimentally validated for real-time guidance and control of space systems. However, most current developments have explored solving locally optimal solutions to highly non-linear and constrained optimal control problems in real-time. The issues of robustness, tractability, and global optimality are still open problems. To this end, this thesis investigates robust and optimal planning and control schemes for space-robotics that leverage convex programming. Primarily, four theoretical advances have been made: 1.) Exact reformulation for control of deterministic, nonlinear robotic systems as a convex program; 2.) Sequential, emph{iteratively feasible} convex relaxations leading to locally optimal solutions using difference of convex functions programming; 3.) Hierarchy of convex relaxations of systems formulated exactly or approximated with polynomial dynamics with global optimality certificates and guaranteed convergence; and 4.) Robust controller synthesis for nonlinear polynomial systems using polynomial optimization in the framework of nonlinear disturbance observers for both matched and mismatched uncertainties. For applications, the thesis solves four challenging problems for trajectory planning and control during spacecraft proximity operation. First, quadratic programming based trajectory planning methods are formulated for free-floating space robots. Leveraging tools in analytical mechanics and differential geometry, a novel quadratic programming based trajectory planning scheme is developed for task-constrained end-effector motion which minimizes the base attitude disturbance, in addition to obstacle avoidance for both the unactuated base and manipulator. Second, the orbital station-keeping of spacecraft in the framework of the circular restricted three-body problem is solved using polynomial optimization in a receding horizon setting. Third, robust stabilization and tracking of spacecraft attitude motion… Advisors/Committee Members: Bai, Xiaoli (chair), Benaroya, Haym (internal member), Zou, Qingze (internal member), Lu, Ping (outside member), School of Graduate Studies.

Subjects/Keywords: Space robotics; Convex programming

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APA (6^th Edition):

Misra, Gaurav, 1. (2019). Convex optimization based planning and control methods for space-robotic systems. (Doctoral Dissertation). Rutgers University. Retrieved from https://rucore.libraries.rutgers.edu/rutgers-lib/61814/

Chicago Manual of Style (16^th Edition):

Misra, Gaurav, 1989-. “Convex optimization based planning and control methods for space-robotic systems.” 2019. Doctoral Dissertation, Rutgers University. Accessed March 06, 2021. https://rucore.libraries.rutgers.edu/rutgers-lib/61814/.

MLA Handbook (7^th Edition):

Misra, Gaurav, 1989-. “Convex optimization based planning and control methods for space-robotic systems.” 2019. Web. 06 Mar 2021.

Vancouver:

Misra, Gaurav 1. Convex optimization based planning and control methods for space-robotic systems. [Internet] [Doctoral dissertation]. Rutgers University; 2019. [cited 2021 Mar 06]. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/61814/.

Council of Science Editors:

Misra, Gaurav 1. Convex optimization based planning and control methods for space-robotic systems. [Doctoral Dissertation]. Rutgers University; 2019. Available from: https://rucore.libraries.rutgers.edu/rutgers-lib/61814/

University of Miami

2. Arluck, Chloe. Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot.

Degree: MS, Computer Science (Arts and Sciences), 2019, University of Miami

URL: https://scholarlyrepository.miami.edu/oa_theses/783

► We present an algorithm for constructing an inner approximation of the free space for a polyhedral robot with four degrees of freedom. The robot… (more)

Subjects/Keywords: free space; clearance; motion planning; robotics

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APA (6^th Edition):

Arluck, C. (2019). Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot. (Thesis). University of Miami. Retrieved from https://scholarlyrepository.miami.edu/oa_theses/783

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):

Arluck, Chloe. “Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot.” 2019. Thesis, University of Miami. Accessed March 06, 2021. https://scholarlyrepository.miami.edu/oa_theses/783.

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

MLA Handbook (7^th Edition):

Arluck, Chloe. “Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot.” 2019. Web. 06 Mar 2021.

Vancouver:

Arluck C. Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot. [Internet] [Thesis]. University of Miami; 2019. [cited 2021 Mar 06]. Available from: https://scholarlyrepository.miami.edu/oa_theses/783.

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

Council of Science Editors:

Arluck C. Approximate Free Space Construction and Maximum Clearance Path Planning for a Four Degree of Freedom Robot. [Thesis]. University of Miami; 2019. Available from: https://scholarlyrepository.miami.edu/oa_theses/783

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

Delft University of Technology

3. Van der Hulst, F.P.J. (author). The Development of an Efficient Grasp Master for Space Robotics Teleoperation.

Degree: 2012, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:fb70f967-223f-4208-b64d-a0f180b1d2b7

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This thesis reports on the development of an efficient grasp master for space robotics teleoperation that will complement the haptic human arm master X-Arm-2 (Schiele… (more)

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This thesis reports on the development of an efficient grasp master for space robotics teleoperation that will complement the haptic human arm master X-Arm-2 (Schiele 2011). It should provide the hand and fingers of various operators with sensing and feedback functions, enabling bilateral teleoperation of various types of robotic end-effectors in different control architectures to perform a wide range of tasks. Analysis of the state of the art of reported grasp masters reveals issues that limit their use in combination with arm master devices. Two important factors involved are device placement w.r.t. the operator (e.g. arm coverage by actuators and arm workspace limitation by external transmissions) and structural complexity (bulky designs leading to uncomfortable operation and mechanical losses). Because of these issues, the device efficiency, defined as the user- and device performance achieved with respect to the resources expended, appears to be generally too low. It is the goal of this work to present on the development of an efficiency grasp master device that can be used by various operators in space robotics teleoperation without requiring device adjustments. By following a human-centric design approach, considering relevant space operation tasks, required operator grasp types, and psychophysical effects in human grasping, a reduction of the required number of DOFs of a possible master device was achieved. In combination with the separation of control and feedback channels this can constitute an efficient device concept and was elaborated into a detailed prototype design in this work. As a tool in the design of device geometry and workspace verification, an adaptable kinematic human hand model was constructed and partially verified. This model is based on human functional anatomy and is easily adaptable to various real human hand sizes by the use of body proportions. Verification of the grasp master workspace showed robustness against hand size variation from the 5th female- till 95th male percentile. Verification by analysis and simulation showed that key human factors- and performance requirements can be met. Verification using device efficiency indicators, proposed for the purpose, indicates that the grasp master design is relatively efficient w.r.t. other compared devices based on slave controllability, slave observability, and the quality of the reflected force. The proposed prototype design will be manufactured to enable further verification by testing and validation of real user interaction.

BMD

Biome

Mechanical, Maritime and Materials Engineering

Advisors/Committee Members: Van der Helm, F.C.T. (mentor), Schiele, A. (mentor).

Subjects/Keywords: Space Robotics Teleoperation; Haptic Hand Grasp Master

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APA (6^th Edition):

Van der Hulst, F. P. J. (. (2012). The Development of an Efficient Grasp Master for Space Robotics Teleoperation. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:fb70f967-223f-4208-b64d-a0f180b1d2b7

Chicago Manual of Style (16^th Edition):

Van der Hulst, F P J (author). “The Development of an Efficient Grasp Master for Space Robotics Teleoperation.” 2012. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:fb70f967-223f-4208-b64d-a0f180b1d2b7.

MLA Handbook (7^th Edition):

Van der Hulst, F P J (author). “The Development of an Efficient Grasp Master for Space Robotics Teleoperation.” 2012. Web. 06 Mar 2021.

Vancouver:

Van der Hulst FPJ(. The Development of an Efficient Grasp Master for Space Robotics Teleoperation. [Internet] [Masters thesis]. Delft University of Technology; 2012. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:fb70f967-223f-4208-b64d-a0f180b1d2b7.

Council of Science Editors:

Van der Hulst FPJ(. The Development of an Efficient Grasp Master for Space Robotics Teleoperation. [Masters Thesis]. Delft University of Technology; 2012. Available from: http://resolver.tudelft.nl/uuid:fb70f967-223f-4208-b64d-a0f180b1d2b7

Arizona State University

4. Thoesen, Andrew Lawrence. Helically-Driven Dynamics in Granular Media.

Degree: Mechanical Engineering, 2019, Arizona State University

URL: http://repository.asu.edu/items/55553

► Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized… (more)

▼ Vehicles traverse granular media through complex reactions with large numbers of small particles. Many approaches rely on empirical trends derived from wheeled vehicles in well-characterized media. However, the environments of numerous bodies such as Mars or the moon are primarily composed of fines called regolith which require different design considerations. This dissertation discusses research aimed at understanding the role and function of empirical, computational, and theoretical granular physics approaches as they apply to helical geometries, their envelope of applicability, and the development of new laws. First, a static Archimedes screw submerged in granular material (glass beads) is analyzed using two methods: Granular Resistive Force Theory (RFT), an empirically derived set of equations based on fluid dynamic superposition principles, and Discrete element method (DEM) simulations, a particle modeling software. Dynamic experiments further confirm the computational method with multi-body dynamics (MBD)-DEM co-simulations. Granular Scaling Laws (GSL), a set of physics relationships based on non-dimensional analysis, are utilized for the gravity-modified environments. A testing chamber to contain a lunar analogue, BP-1, is developed and built. An investigation of straight and helical grousered wheels in both silica sand and BP-1 is performed to examine general GSL applicability for lunar purposes. Mechanical power draw and velocity prediction by GSL show non-trivial but predictable deviation. BP-1 properties are characterized and applied to an MBD-DEM environment for the first time. MBD-DEM simulation results between Earth gravity and lunar gravity show good agreement with theoretical predictions for both power and velocity. The experimental deviation is further investigated and found to have a mass-dependant component driven by granular sinkage and engagement. Finally, a robust set of helical granular scaling laws (HGSL) are derived. The granular dynamics scaling of three-dimensional screw-driven mobility is reduced to a similar theory as wheeled scaling laws, provided the screw is radially continuous. The new laws are validated in BP-1 with results showing very close agreement to predictions. A gravity-variant version of these laws is validated with MBD-DEM simulations. The results of the dissertation suggest GSL, HGSL, and MBD-DEM give reasonable approximations for use in lunar environments to predict rover mobility given adequate granular engagement.

Subjects/Keywords: Engineering; Robotics; Geophysics; Granular Media; Lunar; Robotics; Simulation; Space; Terramechanics

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

APA (6^th Edition):

Thoesen, A. L. (2019). Helically-Driven Dynamics in Granular Media. (Doctoral Dissertation). Arizona State University. Retrieved from http://repository.asu.edu/items/55553

Chicago Manual of Style (16^th Edition):

Thoesen, Andrew Lawrence. “Helically-Driven Dynamics in Granular Media.” 2019. Doctoral Dissertation, Arizona State University. Accessed March 06, 2021. http://repository.asu.edu/items/55553.

MLA Handbook (7^th Edition):

Thoesen, Andrew Lawrence. “Helically-Driven Dynamics in Granular Media.” 2019. Web. 06 Mar 2021.

Vancouver:

Thoesen AL. Helically-Driven Dynamics in Granular Media. [Internet] [Doctoral dissertation]. Arizona State University; 2019. [cited 2021 Mar 06]. Available from: http://repository.asu.edu/items/55553.

Council of Science Editors:

Thoesen AL. Helically-Driven Dynamics in Granular Media. [Doctoral Dissertation]. Arizona State University; 2019. Available from: http://repository.asu.edu/items/55553

University of Pennsylvania

5. Watterson, Michael Fiore. Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems.

Degree: 2018, University of Pennsylvania

URL: https://repository.upenn.edu/edissertations/3199

► Autonomous aerial robots navigating in uncertain environments have a wide variety of applications, including inspection, search and rescue, inventory localization, sports photography, entertainment, package delivery,… (more)

Subjects/Keywords: Computational Geometry; Differential Geometry; Quadrotors; Space Robotics; Trajectory Optimization; Robotics

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

APA (6^th Edition):

Watterson, M. F. (2018). Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems. (Thesis). University of Pennsylvania. Retrieved from https://repository.upenn.edu/edissertations/3199

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):

Watterson, Michael Fiore. “Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems.” 2018. Thesis, University of Pennsylvania. Accessed March 06, 2021. https://repository.upenn.edu/edissertations/3199.

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

MLA Handbook (7^th Edition):

Watterson, Michael Fiore. “Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems.” 2018. Web. 06 Mar 2021.

Vancouver:

Watterson MF. Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems. [Internet] [Thesis]. University of Pennsylvania; 2018. [cited 2021 Mar 06]. Available from: https://repository.upenn.edu/edissertations/3199.

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

Council of Science Editors:

Watterson MF. Geometric Methods For The Planning, Control, And Estimation Of Free-Flying Autonomous Systems. [Thesis]. University of Pennsylvania; 2018. Available from: https://repository.upenn.edu/edissertations/3199

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

Delft University of Technology

6. Ripoll Sanchez, Andrés (author). Guidance and Control of a Spacecraft Swarm with Limited Knowledge.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:ebce23c1-7b05-4346-b552-0f962d07dfcf

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There is no doubt that the smallest spacecraft platforms (CubeSats, NanoSats and microsats) are revolutionizing the market. The possibilities of developing spacecraft through standard platforms,… (more)

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There is no doubt that the smallest spacecraft platforms (CubeSats, NanoSats and microsats) are revolutionizing the market. The possibilities of developing spacecraft through standard platforms, commercial of the shelf components and then reduced the costs of development has allowed new organizations to enter the space section. On top of that, traditional businesses have been benefited by these type of new spacecraft, as more technology demonstrations and riskier missions have been able to be developed through this technology. Nevertheless, these spacecraft systems cannot compete with their larger counterparts due to their size limitations. The extra space will allow for larger spacecraft to accommodate more complex and precise instruments and payloads. Therefore, an individual CubeSat will never be able to compete with a larger system. Nevertheless, in the last two decades, the concept of using the combined power of these simple and cheap systems to perform a task only possible with larger spacecraft has been proposed. One of the most interesting possibilities among the use of these distributed space systems is the use of swarming. Swarming is a technique which consists of the combination of a large number of simple elements to allow for the emergence of properties that allow the whole system to act as more than just its parts. The benefits of spacecraft swarming are undeniable, as inherently swarming brings robustness, flexibility, and scalability to the system, all three properties extremely valued in space missions.\ For the moment spacecraft swarming has been mostly based on generating formation patterns with a large degree of autonomy. Still, only a handful of techniques have been explored. This work aims to further advance the knowledge of spacecraft swarming techniques. To do so, the implementation of a swarming algorithm never tested in space will be studied The advantage of this algorithm is double. First, as all swarming techniques, it presents a certain degree of artificial intelligence that will allow the swarm to cope with unexpected situations. Second, by design, this algorithm requires really little knowledge of the swarm environment. This translates in less need for information processing between spacecraft and within each spacecraft. Since the application is focused on already spacecraft with limited capabilities, this is certainly advantageous. To fully understand the work here presented, it is recommended that the reader possesses graduate-level knowledge on orbital dynamics and control, as well as some undergraduate notions of computer programming and artificial intelligence techniques. If the reader lacks knowledge on any of the mentioned areas, it is recommended to read the associated literature study referenced in the bibliography.

Aerospace Engineering

Advisors/Committee Members: Guo, Jian (mentor), Delft University of Technology (degree granting institution).

Subjects/Keywords: Spacecraft Swarms; GNC; Artificial Intelligence; Space Engineering; Control; Space Robotics

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

APA (6^th Edition):

Ripoll Sanchez, A. (. (2019). Guidance and Control of a Spacecraft Swarm with Limited Knowledge. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:ebce23c1-7b05-4346-b552-0f962d07dfcf

Chicago Manual of Style (16^th Edition):

Ripoll Sanchez, Andrés (author). “Guidance and Control of a Spacecraft Swarm with Limited Knowledge.” 2019. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:ebce23c1-7b05-4346-b552-0f962d07dfcf.

MLA Handbook (7^th Edition):

Ripoll Sanchez, Andrés (author). “Guidance and Control of a Spacecraft Swarm with Limited Knowledge.” 2019. Web. 06 Mar 2021.

Vancouver:

Ripoll Sanchez A(. Guidance and Control of a Spacecraft Swarm with Limited Knowledge. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:ebce23c1-7b05-4346-b552-0f962d07dfcf.

Council of Science Editors:

Ripoll Sanchez A(. Guidance and Control of a Spacecraft Swarm with Limited Knowledge. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:ebce23c1-7b05-4346-b552-0f962d07dfcf

Virginia Tech

7. StClair, Jessica Lindsey. Geometry of Spaces of Planar Quadrilaterals.

Degree: PhD, Mathematics, 2011, Virginia Tech

URL: http://hdl.handle.net/10919/26887

► The purpose of this dissertation is to investigate the geometry of spaces of planar quadrilaterals. The topology of moduli spaces of planar quadrilaterals (the set… (more)

Subjects/Keywords: Holonomy; Robotics; Riemannian Metric; Moduli Space; Pre-Moduli Space; Differential Geometry

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

APA (6^th Edition):

StClair, J. L. (2011). Geometry of Spaces of Planar Quadrilaterals. (Doctoral Dissertation). Virginia Tech. Retrieved from http://hdl.handle.net/10919/26887

Chicago Manual of Style (16^th Edition):

StClair, Jessica Lindsey. “Geometry of Spaces of Planar Quadrilaterals.” 2011. Doctoral Dissertation, Virginia Tech. Accessed March 06, 2021. http://hdl.handle.net/10919/26887.

MLA Handbook (7^th Edition):

StClair, Jessica Lindsey. “Geometry of Spaces of Planar Quadrilaterals.” 2011. Web. 06 Mar 2021.

Vancouver:

StClair JL. Geometry of Spaces of Planar Quadrilaterals. [Internet] [Doctoral dissertation]. Virginia Tech; 2011. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10919/26887.

Council of Science Editors:

StClair JL. Geometry of Spaces of Planar Quadrilaterals. [Doctoral Dissertation]. Virginia Tech; 2011. Available from: http://hdl.handle.net/10919/26887

University of Vermont

8. Bernatskiy, Anton. Improving Scalability of Evolutionary Robotics with Reformulation.

Degree: PhD, Computer Science, 2018, University of Vermont

URL: https://scholarworks.uvm.edu/graddis/957

► Creating systems that can operate autonomously in complex environments is a challenge for contemporary engineering techniques. Automatic design methods offer a promising alternative, but… (more)

Subjects/Keywords: evolutionary robotics; global optimization; metaoptimization; modularity; reformulation; space robotics; Computer Sciences; Evolution

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

APA (6^th Edition):

Bernatskiy, A. (2018). Improving Scalability of Evolutionary Robotics with Reformulation. (Doctoral Dissertation). University of Vermont. Retrieved from https://scholarworks.uvm.edu/graddis/957

Chicago Manual of Style (16^th Edition):

Bernatskiy, Anton. “Improving Scalability of Evolutionary Robotics with Reformulation.” 2018. Doctoral Dissertation, University of Vermont. Accessed March 06, 2021. https://scholarworks.uvm.edu/graddis/957.

MLA Handbook (7^th Edition):

Bernatskiy, Anton. “Improving Scalability of Evolutionary Robotics with Reformulation.” 2018. Web. 06 Mar 2021.

Vancouver:

Bernatskiy A. Improving Scalability of Evolutionary Robotics with Reformulation. [Internet] [Doctoral dissertation]. University of Vermont; 2018. [cited 2021 Mar 06]. Available from: https://scholarworks.uvm.edu/graddis/957.

Council of Science Editors:

Bernatskiy A. Improving Scalability of Evolutionary Robotics with Reformulation. [Doctoral Dissertation]. University of Vermont; 2018. Available from: https://scholarworks.uvm.edu/graddis/957

University of Cincinnati

9. Verbryke, Matthew R. Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot.

Degree: MS, Engineering and Applied Science: Aerospace Engineering, 2018, University of Cincinnati

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

► Dual-arm robots have several unique capabilities that make them very attractive for many applications, such as task flexibility, and the ability to perform “two-handed” object… (more)

Subjects/Keywords: Robots; Dual Arm Manipulation; Robotics; Intelligent Systems; Space Robotics; Control Architecture; Open-Source

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APA (6^th Edition):

Verbryke, M. R. (2018). Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot. (Masters Thesis). University of Cincinnati. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

Chicago Manual of Style (16^th Edition):

Verbryke, Matthew R. “Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot.” 2018. Masters Thesis, University of Cincinnati. Accessed March 06, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.

MLA Handbook (7^th Edition):

Verbryke, Matthew R. “Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot.” 2018. Web. 06 Mar 2021.

Vancouver:

Verbryke MR. Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot. [Internet] [Masters thesis]. University of Cincinnati; 2018. [cited 2021 Mar 06]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697.

Council of Science Editors:

Verbryke MR. Preliminary Implementation of a Modular Control System for Dual-Arm Manipulation with a Humanoid Robot. [Masters Thesis]. University of Cincinnati; 2018. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1543838768677697

York University

10. Santaguida, Lucas Francesco. Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform.

Degree: MASc - Master of Applied Science, Mechanical Engineering, 2020, York University

URL: http://hdl.handle.net/10315/37778

► This thesis developed a 3-DOF satellite simulator with an attached 3-DOF manipulator to capture and detumble a target satellite simulator. Existing systems are heavily dependent… (more)

Subjects/Keywords: Robotics; On-Orbit Servicing; Air-bearing testbed; Planning; Space Vehicles; Autonomous; Free-Flying Space Robotic; Orbital Robotics

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

APA (6^th Edition):

Santaguida, L. F. (2020). Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform. (Masters Thesis). York University. Retrieved from http://hdl.handle.net/10315/37778

Chicago Manual of Style (16^th Edition):

Santaguida, Lucas Francesco. “Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform.” 2020. Masters Thesis, York University. Accessed March 06, 2021. http://hdl.handle.net/10315/37778.

MLA Handbook (7^th Edition):

Santaguida, Lucas Francesco. “Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform.” 2020. Web. 06 Mar 2021.

Vancouver:

Santaguida LF. Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform. [Internet] [Masters thesis]. York University; 2020. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10315/37778.

Council of Science Editors:

Santaguida LF. Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform. [Masters Thesis]. York University; 2020. Available from: http://hdl.handle.net/10315/37778

University of Plymouth

11. Ramírez Contla, Salomón. Peripersonal space in the humanoid robot iCub.

Degree: PhD, 2014, University of Plymouth

URL: http://hdl.handle.net/10026.1/3050

► Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to… (more)

▼ Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.

Subjects/Keywords: 006.3; peripersonal space; development; space representation; perception and action; embodiment; epigenetic robotics; icub robot

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APA (6^th Edition):

Ramírez Contla, S. (2014). Peripersonal space in the humanoid robot iCub. (Doctoral Dissertation). University of Plymouth. Retrieved from http://hdl.handle.net/10026.1/3050

Chicago Manual of Style (16^th Edition):

Ramírez Contla, Salomón. “Peripersonal space in the humanoid robot iCub.” 2014. Doctoral Dissertation, University of Plymouth. Accessed March 06, 2021. http://hdl.handle.net/10026.1/3050.

MLA Handbook (7^th Edition):

Ramírez Contla, Salomón. “Peripersonal space in the humanoid robot iCub.” 2014. Web. 06 Mar 2021.

Vancouver:

Ramírez Contla S. Peripersonal space in the humanoid robot iCub. [Internet] [Doctoral dissertation]. University of Plymouth; 2014. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10026.1/3050.

Council of Science Editors:

Ramírez Contla S. Peripersonal space in the humanoid robot iCub. [Doctoral Dissertation]. University of Plymouth; 2014. Available from: http://hdl.handle.net/10026.1/3050

Texas A&M University

12. Biswas, Aritra. Dynamics and Control of a Planar Tensegrity Robot Arm.

Degree: MS, Aerospace Engineering, 2017, Texas A&M University

URL: http://hdl.handle.net/1969.1/169646

► Tensegrity structures have been used in the field of engineering and architecture over the last half century to build static load-bearing structures. These structures are… (more)

Subjects/Keywords: tensegrity; dynamics; lagrange; optimal control; structures; equilibrium; optimization; space robotics

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APA (6^th Edition):

Biswas, A. (2017). Dynamics and Control of a Planar Tensegrity Robot Arm. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/169646

Chicago Manual of Style (16^th Edition):

Biswas, Aritra. “Dynamics and Control of a Planar Tensegrity Robot Arm.” 2017. Masters Thesis, Texas A&M University. Accessed March 06, 2021. http://hdl.handle.net/1969.1/169646.

MLA Handbook (7^th Edition):

Biswas, Aritra. “Dynamics and Control of a Planar Tensegrity Robot Arm.” 2017. Web. 06 Mar 2021.

Vancouver:

Biswas A. Dynamics and Control of a Planar Tensegrity Robot Arm. [Internet] [Masters thesis]. Texas A&M University; 2017. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1969.1/169646.

Council of Science Editors:

Biswas A. Dynamics and Control of a Planar Tensegrity Robot Arm. [Masters Thesis]. Texas A&M University; 2017. Available from: http://hdl.handle.net/1969.1/169646

Cal Poly

13. Lange, Connor. A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS.

Degree: MS, Computer Science, 2013, Cal Poly

URL: https://digitalcommons.calpoly.edu/theses/992 ; 10.15368/theses.2013.140

► With the rising popularity of small satellites, such as CubeSats, many smaller institutions previously incapable of developing and deploying a spacecraft have starting to… (more)

Subjects/Keywords: framework; CubeSat; PolySat; satellite; autonomous; Artificial Intelligence and Robotics; Space Vehicles

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APA (6^th Edition):

Lange, C. (2013). A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS. (Masters Thesis). Cal Poly. Retrieved from https://digitalcommons.calpoly.edu/theses/992 ; 10.15368/theses.2013.140

Chicago Manual of Style (16^th Edition):

Lange, Connor. “A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS.” 2013. Masters Thesis, Cal Poly. Accessed March 06, 2021. https://digitalcommons.calpoly.edu/theses/992 ; 10.15368/theses.2013.140.

MLA Handbook (7^th Edition):

Lange, Connor. “A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS.” 2013. Web. 06 Mar 2021.

Vancouver:

Lange C. A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS. [Internet] [Masters thesis]. Cal Poly; 2013. [cited 2021 Mar 06]. Available from: https://digitalcommons.calpoly.edu/theses/992 ; 10.15368/theses.2013.140.

Council of Science Editors:

Lange C. A GENERIC DECISION MAKING FRAMEWORK FOR AUTONOMOUS SYSTEMS. [Masters Thesis]. Cal Poly; 2013. Available from: https://digitalcommons.calpoly.edu/theses/992 ; 10.15368/theses.2013.140

University of Alberta

14. Lovi, David Israel. Incremental free-space carving for real-time 3D reconstruction.

Degree: MS, Department of Computing Science, 2011, University of Alberta

URL: https://era.library.ualberta.ca/files/5t34sm036

► This thesis addresses the problem of automatic real-time 3D reconstruction of general scenes from monocular video. Whereas many impressively accurate reconstruction techniques exist in the… (more)

Subjects/Keywords: Delaunay; visibility; tele-robotics; multi-view; incremental; predictive display; stereo; reconstruction; robotics; real-time; free space

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APA (6^th Edition):

Lovi, D. I. (2011). Incremental free-space carving for real-time 3D reconstruction. (Masters Thesis). University of Alberta. Retrieved from https://era.library.ualberta.ca/files/5t34sm036

Chicago Manual of Style (16^th Edition):

Lovi, David Israel. “Incremental free-space carving for real-time 3D reconstruction.” 2011. Masters Thesis, University of Alberta. Accessed March 06, 2021. https://era.library.ualberta.ca/files/5t34sm036.

MLA Handbook (7^th Edition):

Lovi, David Israel. “Incremental free-space carving for real-time 3D reconstruction.” 2011. Web. 06 Mar 2021.

Vancouver:

Lovi DI. Incremental free-space carving for real-time 3D reconstruction. [Internet] [Masters thesis]. University of Alberta; 2011. [cited 2021 Mar 06]. Available from: https://era.library.ualberta.ca/files/5t34sm036.

Council of Science Editors:

Lovi DI. Incremental free-space carving for real-time 3D reconstruction. [Masters Thesis]. University of Alberta; 2011. Available from: https://era.library.ualberta.ca/files/5t34sm036

University of Alabama

15. Leslie, Caleb Thomas. Electrical and computer architecture of an autonomous mars sample return rover prototype.

Degree: 2016, University of Alabama

URL: http://purl.lib.ua.edu/163941

► Space truly is the final frontier. As man looks to explore beyond the confines of our planet, we use the lessons learned from traveling to… (more)

Subjects/Keywords: Electronic Thesis or Dissertation; – thesis; Electrical engineering; Robotics; Computer engineering; Architecture; Autonomous Robotics; Embedded System; Modular; Sample Return; Space

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APA (6^th Edition):

Leslie, C. T. (2016). Electrical and computer architecture of an autonomous mars sample return rover prototype. (Thesis). University of Alabama. Retrieved from http://purl.lib.ua.edu/163941

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):

Leslie, Caleb Thomas. “Electrical and computer architecture of an autonomous mars sample return rover prototype.” 2016. Thesis, University of Alabama. Accessed March 06, 2021. http://purl.lib.ua.edu/163941.

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

MLA Handbook (7^th Edition):

Leslie, Caleb Thomas. “Electrical and computer architecture of an autonomous mars sample return rover prototype.” 2016. Web. 06 Mar 2021.

Vancouver:

Leslie CT. Electrical and computer architecture of an autonomous mars sample return rover prototype. [Internet] [Thesis]. University of Alabama; 2016. [cited 2021 Mar 06]. Available from: http://purl.lib.ua.edu/163941.

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

Council of Science Editors:

Leslie CT. Electrical and computer architecture of an autonomous mars sample return rover prototype. [Thesis]. University of Alabama; 2016. Available from: http://purl.lib.ua.edu/163941

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

University of Toronto

16. Carle, Patrick J. F. Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps.

Degree: 2009, University of Toronto

URL: http://hdl.handle.net/1807/17497

►

Current planetary rover localization techniques are lacking in autonomy and accuracy. An autonomous method of globally localizing a rover is proposed by matching features extractedvfrom… (more)

Subjects/Keywords: localization; mobile robotics; autonomy; space robotics; 0538

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APA (6^th Edition):

Carle, P. J. F. (2009). Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/17497

Chicago Manual of Style (16^th Edition):

Carle, Patrick J F. “Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps.” 2009. Masters Thesis, University of Toronto. Accessed March 06, 2021. http://hdl.handle.net/1807/17497.

MLA Handbook (7^th Edition):

Carle, Patrick J F. “Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps.” 2009. Web. 06 Mar 2021.

Vancouver:

Carle PJF. Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps. [Internet] [Masters thesis]. University of Toronto; 2009. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1807/17497.

Council of Science Editors:

Carle PJF. Long-range Rover Localization by Matching Lidar Scans to Orbital Elevation Maps. [Masters Thesis]. University of Toronto; 2009. Available from: http://hdl.handle.net/1807/17497

Delft University of Technology

17. Syriani, T. (author). Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics.

Degree: 2020, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:c150438a-9ad1-4e95-a2a5-e24697104d38

►

In a quest to breathe new life into public spaces and engage with its today’s increasingly (inter-)connected users, robotic architectural components seem to open up… (more)

▼

In a quest to breathe new life into public spaces and engage with its today’s increasingly (inter-)connected users, robotic architectural components seem to open up possibilities to give agency to building component. A new field of research has been involving multi-agent robotic systems in the architectural design and/or fabrication process. They require a new understand the built environment as an “adaptive ecology” composed of autonomous agents that interact with each other and their nearby environment (users and context). I am proposing the examination of a multi-agent system composed of unmanned aerial vehicles (UAVs, or drones) that can collaborate together to self-assemble into structures that are user-interactive and responsive to the local climate conditions. These structures are composed of a many of these ‘drone-bricks’ that form shelters that can grow and morph to accommodate users’ changing positions and movements through time. They are able to modulate environmental conditions such as wind and rain shelters, daylight penetration and the acoustic resonance of the space. This architecture is directly informed by the users’ activities, environmental conditions, and other information flows. It relies on principles of emergence, indeterminacy and generative design. This architecture has no blueprint but is self-organising; it is processual, indeterminate and continuously in formation, as opposed to the dominance of static, predetermined forms and functions in the organisation of the environment today. How to translate these architectural intents (performative and qualitative metrics) to a swarm of UAVs in an attempt to create a robotic architectural ‘species’ where autonomous agents collaborate to form temporary shelters that respond to local environmental conditions and human interactions? The research, simulation and prototyping rely on a behavioural and praxiological approach to architectural design that establishes a feedback loop between the algorithmically-encoded robotic capacities (behaviours), the material properties (morphogenetic processes) and sensing capabilities (neurological processes) of the agents and the emergent interactions and their self-organization in the environment in real-time. This project attempts to look at the ways these behaviours are digitally coded and physically expressed, as well as evaluate the overall agency granted to the system through the implementation of these behaviours with the overarching aim of developing new relationships between space and users through multi-agent robotic systems.

Architecture, Urbanism and Building Sciences | Robotic Building | Hyperbody

Advisors/Committee Members: Bier, H.H. (mentor), Adema, F. (graduation committee), Hidding, A.J. (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Swarm Robotics; Drone; Autonomous Agent; Soft Robotics; Inflatable; Generative Algorithms; User Interaction; Responsive Space; Aggregate Structures

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APA (6^th Edition):

Syriani, T. (. (2020). Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:c150438a-9ad1-4e95-a2a5-e24697104d38

Chicago Manual of Style (16^th Edition):

Syriani, T (author). “Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics.” 2020. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:c150438a-9ad1-4e95-a2a5-e24697104d38.

MLA Handbook (7^th Edition):

Syriani, T (author). “Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics.” 2020. Web. 06 Mar 2021.

Vancouver:

Syriani T(. Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics. [Internet] [Masters thesis]. Delft University of Technology; 2020. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:c150438a-9ad1-4e95-a2a5-e24697104d38.

Council of Science Editors:

Syriani T(. Towards a Robotic Architectural Species: Aggregate Structures and Swarm Robotics. [Masters Thesis]. Delft University of Technology; 2020. Available from: http://resolver.tudelft.nl/uuid:c150438a-9ad1-4e95-a2a5-e24697104d38

University of Colorado

18. Komendera, Erik. Precise Assembly of Truss Structures by Distributed Robots.

Degree: PhD, Computer Science, 2014, University of Colorado

URL: https://scholar.colorado.edu/csci_gradetds/91

► Assembly robots have been in operation in industry for decades, predictably repeating the same precise motions in closed workspaces to assemble products cheaply and… (more)

▼ Assembly robots have been in operation in industry for decades, predictably repeating the same precise motions in closed workspaces to assemble products cheaply and in mass quantities. However, in the field, robotic assembly has seen only spurts of progress, and no short-term feasible applications. NASA and the space industry desire robotic construction methods to remove the upper limit on size. Space telescopes are highly desired, but require structural precision on the order of microns. Previous approaches were ruled out because the precisely machined components were expensive, heavy, and prone to failure. The recent advent of cheap robotic swarms has revived interest in academia, but most research requires self-correcting, interlocking components, instead of commodity materials. In this thesis, I describe the Intelligent Precision Jigging paradigm, a solution to the problem of practical robotic assembly, with application to precision truss assembly. Intelligent Precision Jigging Robots (IPJRs) are robots that work in groups of three to incrementally assemble a structure. They set and hold distances with high precision, enabling coarse external manipulators to weld the commodity parts together and perform other tasks. To maximize the utility of the IPJR paradigm to the fullest extent, I present algorithms for finding near-optimal assembly sequences and for implementing Simultaneous Localization and Mapping (SLAM) to maintain an estimate of the assembly process through the accumulation of local strut length measurements. I define a model of truss assembly probability and a minimizing metric based on the covariance trace. I show that structure error grows cubically with node count. I present a three-step approach for generating near-optimal assembly sequences; commencing assembly on a central location of the structure, greedily assembling to minimize the covariance trace, and performing a local search on the space of sequences to swap steps until a local minimum is found. I show that this method consistently generates more precise sequences than any process alone. I then simulate the SLAM method with four different estimators commonly used in for SLAM; a least linear squares approach, the Extended Kalman Filter, the Unscented Kalman Filter, and the Maximum Likelihood Estimator. I show that when nonlinearity in the assembly process is dominant, the Maximum Likelihood Estimator is better than the other estimators, but for space telescopes with precision requirements, all four are functionally equivalent. I also show that when SLAM is used, the difference in covariance trace between sequences is reduced, reducing the need for finding globally optimal sequences. SLAM also mitigates the growth of structure error. Finally, I present the results of physical assembly trials on a telescope truss made of aluminum tubes, assembled by three IPJRs using two methods: an open loop approach, and an MLE-SLAM approach. I show that the MLE-SLAM assembly algorithm works even when the physical… Advisors/Committee Members: Nikolaus Correll, Sriram Sankaranarayanan, Tom Yeh, Eric Frew, Daniel Scheeres.

Subjects/Keywords: distributed robots; optimization; robotic assembly; simultaneous localization and mapping; space telescopes; truss structures; Artificial Intelligence and Robotics; Industrial Engineering; Robotics

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

APA (6^th Edition):

Komendera, E. (2014). Precise Assembly of Truss Structures by Distributed Robots. (Doctoral Dissertation). University of Colorado. Retrieved from https://scholar.colorado.edu/csci_gradetds/91

Chicago Manual of Style (16^th Edition):

Komendera, Erik. “Precise Assembly of Truss Structures by Distributed Robots.” 2014. Doctoral Dissertation, University of Colorado. Accessed March 06, 2021. https://scholar.colorado.edu/csci_gradetds/91.

MLA Handbook (7^th Edition):

Komendera, Erik. “Precise Assembly of Truss Structures by Distributed Robots.” 2014. Web. 06 Mar 2021.

Vancouver:

Komendera E. Precise Assembly of Truss Structures by Distributed Robots. [Internet] [Doctoral dissertation]. University of Colorado; 2014. [cited 2021 Mar 06]. Available from: https://scholar.colorado.edu/csci_gradetds/91.

Council of Science Editors:

Komendera E. Precise Assembly of Truss Structures by Distributed Robots. [Doctoral Dissertation]. University of Colorado; 2014. Available from: https://scholar.colorado.edu/csci_gradetds/91

Delft University of Technology

19. Crepy-Marglais, Jean-Daniel (author). Development of a Robust and Combined Controller for On-Orbit Servicing Missions.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:f163745c-e9d9-4b22-9e5b-1f4d3790ebf6

►

Nowadays, a satellite is considered as out of range forever once it is launched. This may soon no longer hold thanks to on-orbit servicing. However,… (more)

Subjects/Keywords: space robotics; on-orbit servicing; Control; H-infinity control; Attitude control; Robotics; loop shaping; combined control; robust control

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

APA (6^th Edition):

Crepy-Marglais, J. (. (2018). Development of a Robust and Combined Controller for On-Orbit Servicing Missions. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:f163745c-e9d9-4b22-9e5b-1f4d3790ebf6

Chicago Manual of Style (16^th Edition):

Crepy-Marglais, Jean-Daniel (author). “Development of a Robust and Combined Controller for On-Orbit Servicing Missions.” 2018. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:f163745c-e9d9-4b22-9e5b-1f4d3790ebf6.

MLA Handbook (7^th Edition):

Crepy-Marglais, Jean-Daniel (author). “Development of a Robust and Combined Controller for On-Orbit Servicing Missions.” 2018. Web. 06 Mar 2021.

Vancouver:

Crepy-Marglais J(. Development of a Robust and Combined Controller for On-Orbit Servicing Missions. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:f163745c-e9d9-4b22-9e5b-1f4d3790ebf6.

Council of Science Editors:

Crepy-Marglais J(. Development of a Robust and Combined Controller for On-Orbit Servicing Missions. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:f163745c-e9d9-4b22-9e5b-1f4d3790ebf6

Delft University of Technology

20. Vyas, Shubham (author). Uncertainty Estimation in Vision-Aided Robot Teleoperation System.

Degree: 2018, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c

► Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force… (more)

▼ Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra information about the environment to the user in order to make decisions and to perform the tasks. These sensors come with inherent errors and uncertainties which propagate through the teleoperation system. The absence of knowledge of these errors has been shown to cause deterioration in the task performance. These errors can further cause the application of forces on the environment by the robot without the knowledge of the user while using haptic guidance. Thereby, the strategies being used to increase task performance can have some adverse hidden effects. Thus, it crucial to have an understanding of the behaviour of the errors and uncertainties in the system. It is considered critical for making decisions about how the robot system can be controlled and used to manipulate objects remotely. In this thesis, a novel framework for estimating the uncertainties in a vision-aided teleoperation system in real-time is introduced. The uncertainty estimate can then be used by the control system or communicated to the user. Methods to use the uncertainty estimate for haptic guidance and for user display are proposed. Furthermore, the thesis analyzes the behaviour of the uncertainties in the system and the sensitivity of the system to individual component errors. It evaluates the uncertainties in individual components of the system and implements an uncertainty model for each of them. It then provides a method to propagate these uncertainty models through the system. This results in a final uncertainty estimate in the frame of reference of interest for the task. Experiments were performed to validate the component uncertainty models, the propagation method, and the system as a whole. Additionally, an inverse of the propagation method is also conceived so as to obtain the component accuracy specification from system uncertainty requirements. This can be used in the design of future teleoperation systems. Advisors/Committee Members: Verhoeven, Chris (mentor), Krueger, Thomas (mentor), Schiele, André (mentor), Gill, Eberhard (graduation committee), de Croon, Guido (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: space robotics; Teleoperation; uncertainty; estimation; computer vision; Robotics; 3d vision; stereo camera; motion capture system; Framework

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

APA (6^th Edition):

Vyas, S. (. (2018). Uncertainty Estimation in Vision-Aided Robot Teleoperation System. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c

Chicago Manual of Style (16^th Edition):

Vyas, Shubham (author). “Uncertainty Estimation in Vision-Aided Robot Teleoperation System.” 2018. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c.

MLA Handbook (7^th Edition):

Vyas, Shubham (author). “Uncertainty Estimation in Vision-Aided Robot Teleoperation System.” 2018. Web. 06 Mar 2021.

Vancouver:

Vyas S(. Uncertainty Estimation in Vision-Aided Robot Teleoperation System. [Internet] [Masters thesis]. Delft University of Technology; 2018. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c.

Council of Science Editors:

Vyas S(. Uncertainty Estimation in Vision-Aided Robot Teleoperation System. [Masters Thesis]. Delft University of Technology; 2018. Available from: http://resolver.tudelft.nl/uuid:4a03785d-8822-4548-a24a-7b23b1a4232c

21. Boukas, Evangelos. Methods to refine the self - localization of planetary rovers using orbital imaging.

Degree: 2016, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ)

URL: http://hdl.handle.net/10442/hedi/39135

► One of the most common solutions for the exploration of remote and harsh environments such as volcanic or deep see areas is the employment of… (more)

▼ One of the most common solutions for the exploration of remote and harsh environments such as volcanic or deep see areas is the employment of a robotic system. In the case of space exploration and specifically to areas which are further away from the orbit of Earth, the robotic exploration is the norm, considering that the human species has not yet been proven to be able to survive out of Earth's atmosphere -or a man made construction, such as the ISS- for extended time periods. Thus, the exploration of Mars has been performed -so far- exclusively by robots. Notwithstanding the good performance of contemporary space rovers, on autonomous or semi-autonomous operations, several issues must be assessed to allow more complex missions. The accurate localization and route estimation of space exploration rovers, without relying on a ``human in the loop", constitutes one of the most severe hindrances towards the success of large scale space exploration missions such as the construction of a habitat for humans. The contemporary rovers of the National Space Administration of USA (NASA) which currently explore Mars (namely the MER-A and MER-B of the mission Mars Exploration Rovers-MER and the Curiosity of the mission Mars Science Laboratory-MSL) navigate relatively to an arbitrary frame of reference (e.g. their landing point), ignoring the planet-specific coordinate frame.The motivation behind this PhD dissertation has been the prospect to utilize the new and high quality sensors orbiting Mars such as the High Resolution Imaging Science Experiment (HiRISE), in order to extract landmarks and eventually employ them to localize a rover autonomously on an absolute frame of reference. But, autonomy requires the researchers to follow an interdisciplinary approach. In the context of this research several algorithms have been developed -each on a different field- which where all connected in the end to produce a system capable of delivering the absolute position on Mars.This dissertation is articulated into six chapters, each of which tackles a separate subject. Let us begin with chapter one which includes all the basic understanding and motivation required to follow this work as well as a literature survey that presents all the previous works on the subject. Concerning the literature survey, a clear taxonomy of the approaches has been performed based on the type of sensory each of the methods follows as well as based on the approach employed. Following the conclusions of chapter one, chapter two elaborates on the crucial subject of the employment of proper and realistic datasets. The first dataset utilized, is the one that was produced by ESA in the context of an activity where a robot was employed to navigate in the Desert of Attacama. Indifferently to the alikeness of the Atacama desert to a typical Martian area, we decided to replicate -in terms of boulder distribution- an actual area on Mars, namely the Gale Crater. With a view to provide proper data we constructed a robot (Heavy Duty Planetary Rover) the vision system of which is…

Subjects/Keywords: Ρομποτική; Ρομποτική όραση; Μηχανική μάθηση; Διαστημική ρομποτική; Μηχανική εκμάθηση με χρήση εικόνων; Μηχανική όραση; Μηχανοτρονική; Robotics; Robotics; Machine learning; Space robotics; Vision based machine learning; Computer vision and image processing

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

APA (6^th Edition):

Boukas, E. (2016). Methods to refine the self - localization of planetary rovers using orbital imaging. (Thesis). Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Retrieved from http://hdl.handle.net/10442/hedi/39135

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):

Boukas, Evangelos. “Methods to refine the self - localization of planetary rovers using orbital imaging.” 2016. Thesis, Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ). Accessed March 06, 2021. http://hdl.handle.net/10442/hedi/39135.

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

MLA Handbook (7^th Edition):

Boukas, Evangelos. “Methods to refine the self - localization of planetary rovers using orbital imaging.” 2016. Web. 06 Mar 2021.

Vancouver:

Boukas E. Methods to refine the self - localization of planetary rovers using orbital imaging. [Internet] [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2016. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10442/hedi/39135.

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

Council of Science Editors:

Boukas E. Methods to refine the self - localization of planetary rovers using orbital imaging. [Thesis]. Democritus University of Thrace (DUTH); Δημοκρίτειο Πανεπιστήμιο Θράκης (ΔΠΘ); 2016. Available from: http://hdl.handle.net/10442/hedi/39135

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

Brigham Young University

22. Merriam, Ezekiel G. Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications.

Degree: MS, 2013, Brigham Young University

URL: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4563&context=etd

► Robotics and space applications represent areas where compliant mechanisms can continue to make a significant impact by reducing costs and weight while improving performance. Because… (more)

▼ Robotics and space applications represent areas where compliant mechanisms can continue to make a significant impact by reducing costs and weight while improving performance. Because of the nature of these applications, a common need is for bearing replacement mechanisms, or mechanisms that perform the function of a bearing without the complexity and failure modes associated with bearings. Static balancing is a design strategy that attempts to reduce the actuation effort of a mechanism, and has been applied to compliant mechanisms in some applications. Monolithic construction, especially by means of 3D printing technology, is a strategy whereby the mechanism links and joints are built as a single "chunk" of material. This eliminates assembly and failure modes associated with wear and friction in traditional joints. In this work we examine these design strategies in the context of robotics and space applications. Matlab and Ansys batch files can be found in Appendix A. A fully compliant zero-torque, statically balanced mechanism is described that can undergo greater than 100 of motion. Because compliant mechanisms achieve their motion from the deflection of their constituent members, there is some strain energy associated with actuated positions. By introducing an appropriate pre-load, strain energy can be held constant. This can reduce or nearly eliminate the input force required from the actuating device. This paper describes the statically balanced rotary joint concept, and demonstrates its optimization, testing, and implementation for a haptic pantograph mechanism. The statically balanced properties of the constituent joints result in a mechanism with two balanced degrees of freedom. Matlab and Ansys batch files can be found in Appendix B. The conception, modeling, and development of a fully compliant two-degree-of-freedom pointing mechanism for application in spacecraft thruster, antenna, or solar array systems is described. The design objectives and the advantages of a compliant solution are briefly discussed. A single design concept is selected for final development from a field of generated concepts. Analytical and numerical models are accompanied by prototype testing and measurements in several iterations. A final design is described in detail, a fully compliant prototype is fabricated in titanium, and its performance is measured.

Subjects/Keywords: compliant mechanisms; static balancing; monolithic; space mechanisms; pointing; mechanism; robotics; Mechanical Engineering

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

APA (6^th Edition):

Merriam, E. G. (2013). Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications. (Masters Thesis). Brigham Young University. Retrieved from https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4563&context=etd

Chicago Manual of Style (16^th Edition):

Merriam, Ezekiel G. “Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications.” 2013. Masters Thesis, Brigham Young University. Accessed March 06, 2021. https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4563&context=etd.

MLA Handbook (7^th Edition):

Merriam, Ezekiel G. “Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications.” 2013. Web. 06 Mar 2021.

Vancouver:

Merriam EG. Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications. [Internet] [Masters thesis]. Brigham Young University; 2013. [cited 2021 Mar 06]. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4563&context=etd.

Council of Science Editors:

Merriam EG. Fully Compliant Mechanisms for Bearing Subtraction in Robotics and Space Applications. [Masters Thesis]. Brigham Young University; 2013. Available from: https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=4563&context=etd

23. Hameeteman, D.M.J. (author). Conveying information through non-verbal communication in robotics.

Degree: 2016, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:b6e101a0-9c61-4e75-8a64-dae3759f4216

► Robots are becoming more and more involved in our daily life. In order to increase the acceptance of modern robotics in society even further, quite… (more)

▼ Robots are becoming more and more involved in our daily life. In order to increase the acceptance of modern robotics in society even further, quite some improvements in human-robot interaction have to be made. Non-verbal communication is one such way of conveying information between robots and humans. In spite of its great potential, the current state of research is fairly limited. The goal of this research is to create a control framework that could generate movements with the flexibility to convey information by adapting the movement trajectories. Other studies have mainly researched non-verbal interaction using an optimized feedforward controller. Humans are however able to move without learning all movement sequences in advance, which is the motivation to solely focus on feedback controlled motions in current research. Considering the motion metrics traveled path, electrical power, gravitational torque and end-effector jerk, the proportional-derivative controller in the workspace proves to be best capable of producing the most human-like motions. The control framework for communicating non-verbally consists of an Operational Space Control hierarchy, combining the aforementioned controller and a novel method minimizing the gravitational torque during movement. Furthermore, human-likeness is even further increased by imposing joint limits based on the human extremes. These limits cause potential local minima, which prevent the controller from reaching the desired final position. Introducing an extra, unusual coordinate helps overcoming these minima taking into consideration the angle between current and final position. With these components included, the framework is able to reach any desired location taking into consideration human-likeness and maximum joint angle constraints. The Labanotation is used to describe the different motions to be conducted, the same way as is done with human dancing motions. Combining this representation with the Laban Time, Space and Weight Effort, it is now possible to conduct different movements. Professional dancers were asked to participate in an experiment, resulting in the relation between the end-effector trajectories and the Laban Basic Efforts: dab, flick, float and glide. These trajectories were used to optimize the gains within the control framework. The procedure was run for different initial and final desired positions, resulting in four sets of control gains corresponding to each of the four Efforts. Different motions are obtained using the four different control sets. Simulation shows that direct and flexible motions (Space Effort) are distinguishable by the shortest trajectories opposed to longer traveling distances respectively. High gravitational torque gains and low spring and damping gains result in more flexible motions. Furthermore, sustained and sudden motions (Time Effort) differ by the time the end-effector needs to reach the desired position. Sudden motions show to have higher spring-damping ratios with respect to sustained motions. In summary, the general… Advisors/Committee Members: Lopes, G.A.D. (mentor).

Subjects/Keywords: convey information; non-verbal communcation; Laban Efforts; Operational Space Control; human-likeness; gravitational torque; robotics

12 more images…

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APA (6^th Edition):

Hameeteman, D. M. J. (. (2016). Conveying information through non-verbal communication in robotics. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:b6e101a0-9c61-4e75-8a64-dae3759f4216

Chicago Manual of Style (16^th Edition):

Hameeteman, D M J (author). “Conveying information through non-verbal communication in robotics.” 2016. Masters Thesis, Delft University of Technology. Accessed March 06, 2021. http://resolver.tudelft.nl/uuid:b6e101a0-9c61-4e75-8a64-dae3759f4216.

MLA Handbook (7^th Edition):

Hameeteman, D M J (author). “Conveying information through non-verbal communication in robotics.” 2016. Web. 06 Mar 2021.

Vancouver:

Hameeteman DMJ(. Conveying information through non-verbal communication in robotics. [Internet] [Masters thesis]. Delft University of Technology; 2016. [cited 2021 Mar 06]. Available from: http://resolver.tudelft.nl/uuid:b6e101a0-9c61-4e75-8a64-dae3759f4216.

Council of Science Editors:

Hameeteman DMJ(. Conveying information through non-verbal communication in robotics. [Masters Thesis]. Delft University of Technology; 2016. Available from: http://resolver.tudelft.nl/uuid:b6e101a0-9c61-4e75-8a64-dae3759f4216

University of Melbourne

24. Eden, Jonathan Paul. Modelling, analysis and control of multi-link cable-driven manipulators.

Degree: 2018, University of Melbourne

URL: http://hdl.handle.net/11343/212230

► Cable-driven parallel robots (CDPRs) form a class of robotic manipulator in which the actuation is transmitted through cables. Due to the unique characteristics and advantages… (more)

▼ Cable-driven parallel robots (CDPRs) form a class of robotic manipulator in which the actuation is transmitted through cables. Due to the unique characteristics and advantages of cable transmission, CDPRs have become increasingly studied in recent years. In this thesis, the study of operational space motion generation of CDPRs is investigated. The operational space corresponds to the space in which a task to be executed by an end effector is defined. The generation of operational space motions on CDPRs allows the specification of tasks to be intuitive to human users, in addition to enabling the application of CDPRs to tasks exploiting their human-like configurations. The study of CDPR operational space motion generation has been limited due to several reasons. Firstly, cable transmission results in both redundant and constrained actuation. This means that it is possible for a motion to be either infeasible or for there to be an infinite number of different actuation profiles which can produce the same desired motion. Secondly, in the case of multi-link CDPRs (MCDRs) the generalised coordinates differ from that of the end effector. This means that there may be infinite different joint space motions which achieve the same operational space behaviour. The study of MCDR operational space motion generation therefore must consider both a means of ensuring that a feasible solution exists and a means of selecting a particular joint space solution from the possibly infinite set. Finally, in the implementation and evaluation of different CDPR motion generation schemes there is currently no software which can consider all possible CDPR models and hardware interfaces. These issues are investigated within this thesis and presented as two separate parts. The first part develops a generalised framework for the operational space motion generation of CDPRs. To understand the requirements of CDPR motion generation, this part firstly considers quantifications of CDPR motion generation capability, in which new metrics are proposed to indicate the capability of a CDPR to produce additional acceleration and to identify the magnitude of cable force necessary to produce an arbitrary joint space wrench. An expansive search tree inspired formulation is then presented with which to solve MCDR operational space motion planning problems while ensuring solution feasibility. The effectiveness and robustness of this method is demonstrated through a set of different operational space motion tracking problems solved on two different MCDRs. The second part of the thesis addresses the development of a generalised CDPR simulation and hardware interfacing software tool. The cable-robot analysis and simulation platform for research (CASPR) is presented and shown to provide a modular and extendible software framework in which new CDPRs can be easily added through simple XML specifications. The proposed framework is open source and allows for common kinematic and dynamic CDPR problems to be solved using a range of different algorithms. To allow for…

Subjects/Keywords: operational space control; robotics; parallel mechanisms; kinematics and dynamics; cable driven parallel robots

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

APA (6^th Edition):

Eden, J. P. (2018). Modelling, analysis and control of multi-link cable-driven manipulators. (Doctoral Dissertation). University of Melbourne. Retrieved from http://hdl.handle.net/11343/212230

Chicago Manual of Style (16^th Edition):

Eden, Jonathan Paul. “Modelling, analysis and control of multi-link cable-driven manipulators.” 2018. Doctoral Dissertation, University of Melbourne. Accessed March 06, 2021. http://hdl.handle.net/11343/212230.

MLA Handbook (7^th Edition):

Eden, Jonathan Paul. “Modelling, analysis and control of multi-link cable-driven manipulators.” 2018. Web. 06 Mar 2021.

Vancouver:

Eden JP. Modelling, analysis and control of multi-link cable-driven manipulators. [Internet] [Doctoral dissertation]. University of Melbourne; 2018. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/11343/212230.

Council of Science Editors:

Eden JP. Modelling, analysis and control of multi-link cable-driven manipulators. [Doctoral Dissertation]. University of Melbourne; 2018. Available from: http://hdl.handle.net/11343/212230

University of Western Ontario

25. Phelps, Nathan. Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation.

Degree: 2020, University of Western Ontario

URL: https://ir.lib.uwo.ca/etd/7108

► Reinforcement learning (RL) has helped improve decision-making in several applications. However, applying traditional RL is challenging in some applications, such as rehabilitation of people with… (more)

Subjects/Keywords: Clustering; Large Action Space; Physiotherapy; Prior Knowledge; Representation Learning; Word Embedding; Artificial Intelligence and Robotics

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APA (6^th Edition):

Phelps, N. (2020). Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation. (Thesis). University of Western Ontario. Retrieved from https://ir.lib.uwo.ca/etd/7108

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):

Phelps, Nathan. “Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation.” 2020. Thesis, University of Western Ontario. Accessed March 06, 2021. https://ir.lib.uwo.ca/etd/7108.

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

MLA Handbook (7^th Edition):

Phelps, Nathan. “Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation.” 2020. Web. 06 Mar 2021.

Vancouver:

Phelps N. Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation. [Internet] [Thesis]. University of Western Ontario; 2020. [cited 2021 Mar 06]. Available from: https://ir.lib.uwo.ca/etd/7108.

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

Council of Science Editors:

Phelps N. Reinforcement learning in large, structured action spaces: A simulation study of decision support for spinal cord injury rehabilitation. [Thesis]. University of Western Ontario; 2020. Available from: https://ir.lib.uwo.ca/etd/7108

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

University of Arizona

26. Nallapu, Ravi teja. Automated Swarm Design Architectures for Reconnaissance of Small Bodies .

Degree: 2020, University of Arizona

URL: http://hdl.handle.net/10150/656752

► Small body surface exploration has potential benefits to planetary science, space security, and economy. Exploring small-bodies is a challenge due to the low-gravity fields and… (more)

▼ Small body surface exploration has potential benefits to planetary science, space security, and economy. Exploring small-bodies is a challenge due to the low-gravity fields and uncertainty in the gravitational environment. Attempting surface missions with inadequate gravity field information is prone to high-risk of failure. Additionally, gravity environments around these bodies constrain the radius of orbiter missions for reconnaissance. This leaves spacecraft flybys as an alternate strategy for reconnaissance. Flybys may be the only viable approach when it becomes difficult to orbit or land on a small body. The challenge with flybys is that they are time-limited, thus providing only a limited glimpse of the target. These disadvantages can be overcome using a swarm approach where a complex task is delegated to multiple-low cost agents to achieve synergistic performance. While swarms are an important tool for small body exploration, designing their mission concepts is a complex task, and importantly there is no end-to-end tool to design swarm mission concepts. This thesis develops an automated software solution to design small body reconnaissance missions using spacecraft swarm flybys. The developed software is called the Integrated Design Engineering and Automation of Swarms (IDEAS). IDEAS automates the spacecraft, swarm, and trajectory design processes in a swarm mission. The key focus of this thesis is on the development of the Automated Swarm Designer module of IDEAS, which designs minimum sized swarm missions for space-limited and time-limited reconnaissance missions using Evolutionary Algorithms. In this thesis, the mission concept design process inside the IDEAS framework is demonstrated through multiple case studies of small body reconnaissance missions. First, the design of global surface mapping mission concepts to planetary moons using hyperbolic flybys of the central planet is presented using the IDEAS framework. The design process is then demonstrated using a global surface mapping mission concept to the Martian moon Phobos. The second case study explores the design of co-orbiting missions where the spacecraft enter into resonant co-orbits around the central planet for moon exploration. The design of these co-orbits to space and time-limited visual reconnaissance missions are then explored using the IDEAS framework. Specifically, the design of global surface mapping and region of interest observation mission concepts are presented using the Martian moon Deimos as the case study target. These principles are then extended to design reconnaissance missions to tumbling asteroids using mother-daughter swarm architectures. The design of such a swarms mission, using IDEAS, is demonstrated by designing a global surface mapping mission to the asteroid 4179 Toutatis. These case studies indicate that IDEAS is capable of generating small body reconnaissance missions concepts that overcome the spatial and temporal coverage limitations of flybys. Additionally, the sensitivity of the spatial and temporal coverages of… Advisors/Committee Members: Thanga, Jekan (advisor), Asphaug, Erik (committeemember), Butcher, Eric (committeemember), Reddy, Vishnu (committeemember), Furfaro, Roberto (committeemember).

Subjects/Keywords: Astrodynamics; Evolutionary Algorithms; Mission Concept Design; Small Body Exploration; Space Robotics; Spacecraft Swarms

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APA (6^th Edition):

Nallapu, R. t. (2020). Automated Swarm Design Architectures for Reconnaissance of Small Bodies . (Doctoral Dissertation). University of Arizona. Retrieved from http://hdl.handle.net/10150/656752

Chicago Manual of Style (16^th Edition):

Nallapu, Ravi teja. “Automated Swarm Design Architectures for Reconnaissance of Small Bodies .” 2020. Doctoral Dissertation, University of Arizona. Accessed March 06, 2021. http://hdl.handle.net/10150/656752.

MLA Handbook (7^th Edition):

Nallapu, Ravi teja. “Automated Swarm Design Architectures for Reconnaissance of Small Bodies .” 2020. Web. 06 Mar 2021.

Vancouver:

Nallapu Rt. Automated Swarm Design Architectures for Reconnaissance of Small Bodies . [Internet] [Doctoral dissertation]. University of Arizona; 2020. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/10150/656752.

Council of Science Editors:

Nallapu Rt. Automated Swarm Design Architectures for Reconnaissance of Small Bodies . [Doctoral Dissertation]. University of Arizona; 2020. Available from: http://hdl.handle.net/10150/656752

University of Toronto

27. Frenzel, Francis. Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization.

Degree: 2010, University of Toronto

URL: http://hdl.handle.net/1807/25584

►

This dissertation details the design and development of a mobile autonomous platform from which to conduct a 3D ground-penetrating radar survey. The system uses a… (more)

Subjects/Keywords: space robotics; rovers; Ground penetrating radar; GPR; In-Situ Resource Utilization; ISRU; Lunar outpost; lunar rovers; multiagent team; autonomous robotics; 0538; 0771

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

APA (6^th Edition):

Frenzel, F. (2010). Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization. (Masters Thesis). University of Toronto. Retrieved from http://hdl.handle.net/1807/25584

Chicago Manual of Style (16^th Edition):

Frenzel, Francis. “Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization.” 2010. Masters Thesis, University of Toronto. Accessed March 06, 2021. http://hdl.handle.net/1807/25584.

MLA Handbook (7^th Edition):

Frenzel, Francis. “Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization.” 2010. Web. 06 Mar 2021.

Vancouver:

Frenzel F. Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization. [Internet] [Masters thesis]. University of Toronto; 2010. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1807/25584.

Council of Science Editors:

Frenzel F. Acquisition Of 3D Ground-Penetrating Radar Data by an Autonomous Multiagent Team in Support of In-situ Resource Utilization. [Masters Thesis]. University of Toronto; 2010. Available from: http://hdl.handle.net/1807/25584

University of California – Berkeley

28. Kim, Kyunam. On the Locomotion of Spherical Tensegrity Robots.

Degree: Mechanical Engineering, 2016, University of California – Berkeley

URL: http://www.escholarship.org/uc/item/7p36z1x5

► This dissertation studies novel robotic systems based on tensegrity structures, with an emphasis on their locomotion capabilities. Naturally compliant tensegrity structures have several unique properties… (more)

▼ This dissertation studies novel robotic systems based on tensegrity structures, with an emphasis on their locomotion capabilities. Naturally compliant tensegrity structures have several unique properties that are advantageous for co-robotic or soft robotic platforms; they are lightweight, deployable, robust, and safe. By leveraging these distinctive features of tensegrity structures, tensegrity robots are expected to overcome the barriers for today's robots. In this regard, tensegrity robots have been envisioned for a wide range of new applications that have not been explored before, including assistive and rehabilitative healthcare, search and rescue, and planetary space exploration, to name a few. In order to be actually deployed for these applications, tensegrity robots should have mobility in the rst place. For this reason, two modes of locomotion are examined for spherical tensegrity robots in this research: rolling and hopping.This research begins by presenting four hardware prototypes of spherical tensegrity robots that have been constructed at the Berkeley Emergent Space Tensegrities laboratory. Three of them (named TT-1, TT-2, and TT-3) are based on a six-rod tensegrity structure, and the last one (named T12-R) is based on a twelve-rod tensegrity structure. A six-rod tensegrity structure is the simplest three-dimensional tensegrity structure that has an outer shape similar to a sphere, and for this reason, the structure is chosen as a basis for the rst three robots. However, the rolling speed of the TT-series robots is limited because their outer surfaces consist only of triangles, which forces them to move in a zig-zag way and lose their momentum as they do so. This motivated the development of T12-R whose outer surface consists of mostly rectangles. This geometry enables the robot to move in a straight line, and thus prevents the loss of momentum. The hardware designs of all four prototypes are described in details. A spherical tensegrity robot rolls by deforming its shape and by shifting its center of mass. The study of tensegrity deformation, however, is not trivial and poses a unique problem because kinematics and statics of tensegrity structures are tightly coupled and need to be considered concurrently. This work develops two systematic ways of obtaining desirable deformations of spherical tensegrity robots for rolling. As a first step to both approaches, a condition on the center of mass of a spherical tensegrity robot that must be satised for the desirable deformations is stated. The first approach relies on a greedy search algorithm, and it quickly finds one deformation satisfying the condition. This algorithm was implemented in the NASA Tensegrity Robotics Toolkit simulator and the outcome of the simulation was tested on TT-1 and TT-2. Our hardware experiments show that the robots can realize a piecewise continuous rolling motion with the deformations found in the simulation. However, it was also observed that the robots occasionally fail to roll because the algorithm did not take reliability of…

Subjects/Keywords: Mechanical engineering; Computer science; Robotics; attitude stabilization; form-finding; monte carlo; robot locomotion; space exploration; tensegrity robots

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APA (6^th Edition):

Kim, K. (2016). On the Locomotion of Spherical Tensegrity Robots. (Thesis). University of California – Berkeley. Retrieved from http://www.escholarship.org/uc/item/7p36z1x5

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):

Kim, Kyunam. “On the Locomotion of Spherical Tensegrity Robots.” 2016. Thesis, University of California – Berkeley. Accessed March 06, 2021. http://www.escholarship.org/uc/item/7p36z1x5.

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

MLA Handbook (7^th Edition):

Kim, Kyunam. “On the Locomotion of Spherical Tensegrity Robots.” 2016. Web. 06 Mar 2021.

Vancouver:

Kim K. On the Locomotion of Spherical Tensegrity Robots. [Internet] [Thesis]. University of California – Berkeley; 2016. [cited 2021 Mar 06]. Available from: http://www.escholarship.org/uc/item/7p36z1x5.

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

Council of Science Editors:

Kim K. On the Locomotion of Spherical Tensegrity Robots. [Thesis]. University of California – Berkeley; 2016. Available from: http://www.escholarship.org/uc/item/7p36z1x5

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

29. Pazelli, Tatiana de Figueiredo Pereira Alves Taveira. Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante.

Degree: PhD, Sistemas Dinâmicos, 2012, University of São Paulo

URL: http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/ ;

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Robôs manipuladores espaciais serão aplicados, em um futuro próximo, em serviços de resgate e manutenção de naves e satélites em órbita. O estudo e o… (more)

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Robôs manipuladores espaciais serão aplicados, em um futuro próximo, em serviços de resgate e manutenção de naves e satélites em órbita. O estudo e o desenvolvimento de controladores para esse tipo de sistema é fundamental para que essas aplicações se tornem realidade. Nesta tese, uma plataforma experimental é construída para possibilitar a avaliação comportamental desse tipo de sistema. Baseada em um módulo de flutuação por colchões de ar, é composta por uma base livre, elos conectados por juntas e efetuadores. Duas possibilidades de flutuação foram definidas para tornar a estrutura mais versátil, a primeira utiliza uma câmara de ar na mesa de apoio e a segunda utiliza câmaras de ar na base e em cada junta do robô. Sua estrutura mecânica modular permite diversas configurações, com um ou dois braços compostos por elos rígidos ou flexíveis. Toda a eletrônica de comando e a alimentação dos componentes do robô são alocadas em sua base flutuante, baseando a comunicação do sistema com o computador remoto em um padrão de comunicação sem fio. O software de controle, desenvolvido em Matlab e residente no computador remoto, apresenta uma interface amigável e intuitiva, possibilitando a utilização tanto do UARM como do robô de base livre flutuante para testes simulados e experimentais de sistemas de controle. A principal característica dos manipuladores espaciais é o acoplamento dinâmico entre a base e o braço robótico. A fim de evitar as complicações envolvidas no mapeamento cinemático desses sistemas, o problema de acompanhamento de trajetória é formulado diretamente no espaço da tarefa. Assim as posições do efetuador do manipulador são diretamente controladas. O equacionamento dinâmico do manipulador de base livre flutuante é descrito a partir do conceito do Manipulador Dinamicamente Equivalente. Propõe-se uma solução de controle adaptativo robusto baseado no critério H Infinito para lidar com o problema de acompanhamento de trajetória sujeito a incertezas no modelo e distúrbios externos. A adaptabilidade das redes neurais é aliada à robustez definida por um controlador H Infinito não linear, compondo diferentes técnicas desenvolvidas de acordo com o conhecimento e a disponibilidade do modelo do robô para o controlador. A análise de resultados de simulação e de experimentos realizados no UARM mostraram a aplicabilidade dos métodos, assim como sua capacidade de robustez. Gráficos ilustraram o procedimento do acompanhamento de trajetória realizado pelo efetuador do manipulador espacial identificando a ação das leis de controle propostas. Uma comparação numérica entre as estratégias foi estabelecida por índices de desempenho relacionados ao consumo de energia e ao erro de acompanhamento

Space manipulators robots will be applied, in a near future, in rescue services and maintenance of spacecraft and satellites in orbit. The study and development of controllers for this type of system is crucial to ensure that those applications become reality. At this thesis, an experimental platform is built to enable behavioral assessment…

Advisors/Committee Members: Terra, Marco Henrique.

Subjects/Keywords: Controle H Infinito não linear; Manipuladores espaciais; Neural networks.; Nonlinear H Infinito control; Redes neurais; Robótica; Robotics; Space manipulators

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

APA (6^th Edition):

Pazelli, T. d. F. P. A. T. (2012). Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante. (Doctoral Dissertation). University of São Paulo. Retrieved from http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/ ;

Chicago Manual of Style (16^th Edition):

Pazelli, Tatiana de Figueiredo Pereira Alves Taveira. “Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante.” 2012. Doctoral Dissertation, University of São Paulo. Accessed March 06, 2021. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/ ;.

MLA Handbook (7^th Edition):

Pazelli, Tatiana de Figueiredo Pereira Alves Taveira. “Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante.” 2012. Web. 06 Mar 2021.

Vancouver:

Pazelli TdFPAT. Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante. [Internet] [Doctoral dissertation]. University of São Paulo; 2012. [cited 2021 Mar 06]. Available from: http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/ ;.

Council of Science Editors:

Pazelli TdFPAT. Montagem e controle H Infinito não linear de manipuladores espaciais com base flutuante. [Doctoral Dissertation]. University of São Paulo; 2012. Available from: http://www.teses.usp.br/teses/disponiveis/18/18153/tde-14022012-101404/ ;

30. Aures-Cavalieri, Kurt Dale. Implementing Feedback Control on a Novel Proximity Operations Simulation Platform.

Degree: MS, Aerospace Engineering, 2012, Texas A&M University

URL: http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9406

► Recently, The Land, Air and Space Robotics (LASR) Laboratory has demonstrated a state-of-the-art proximity operations test bed that will revolutionize the concept of portable space… (more)

Subjects/Keywords: feedback control; simulation; space systems; robotics

…Page 1 HOMER with a 10:1 Scale Hubble Space Telescope [1] . . . . . . . . 4 2… …simulation platforms for the development and verification of advanced space systems and their… …involves emulating key aspects of the space environment and using the actual hardware and… …actual space-based micro satellite in a ground-based testbed [3]. Relative motion of… …The Naval Research Laboratory’s Proximity Operations Testbed at the Naval Center for Space…

10 more images…

Record Details Similar Records Cite « Share

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

APA (6^th Edition):

Aures-Cavalieri, K. D. (2012). Implementing Feedback Control on a Novel Proximity Operations Simulation Platform. (Masters Thesis). Texas A&M University. Retrieved from http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9406

Chicago Manual of Style (16^th Edition):

Aures-Cavalieri, Kurt Dale. “Implementing Feedback Control on a Novel Proximity Operations Simulation Platform.” 2012. Masters Thesis, Texas A&M University. Accessed March 06, 2021. http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9406.

MLA Handbook (7^th Edition):

Aures-Cavalieri, Kurt Dale. “Implementing Feedback Control on a Novel Proximity Operations Simulation Platform.” 2012. Web. 06 Mar 2021.

Vancouver:

Aures-Cavalieri KD. Implementing Feedback Control on a Novel Proximity Operations Simulation Platform. [Internet] [Masters thesis]. Texas A&M University; 2012. [cited 2021 Mar 06]. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9406.

Council of Science Editors:

Aures-Cavalieri KD. Implementing Feedback Control on a Novel Proximity Operations Simulation Platform. [Masters Thesis]. Texas A&M University; 2012. Available from: http://hdl.handle.net/1969.1/ETD-TAMU-2011-05-9406

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