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Full-Text Articles in Engineering
Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong
Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong
Master's Theses (2009 -)
Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial robotics applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This thesis analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. Simulations and real-world experiments are carried out to test the proposed method against a deterministic …
Data Fusion For Vision-Based Robotic Platform Navigation, Andrés F. Echeverri
Data Fusion For Vision-Based Robotic Platform Navigation, Andrés F. Echeverri
Master's Theses (2009 -)
Data fusion has become an active research topic in recent years. Growing computational performance has allowed the use of redundant sensors to measure a single phenomenon. While Bayesian fusion approaches are common in general applications, the computer vision community has largely relegated this approach. Most object following algorithms have gone towards pure machine learning fusion techniques that tend to lack flexibility. Consequently, a more general data fusion scheme is needed. The motivation for this work is to propose methods that allow for the development of simple and cost effective, yet robust visual following robots capable of tracking a general object …
Real-Time Topic And Sentiment Analysis In Human-Robot Conversation, Elise Russell
Real-Time Topic And Sentiment Analysis In Human-Robot Conversation, Elise Russell
Master's Theses (2009 -)
Socially interactive robots, especially those designed for entertainment and companionship, must be able to hold conversations with users that feel natural and engaging for humans. Two important components of such conversations include adherence to the topic of conversation and inclusion of affective expressions. Most previous approaches have concentrated on topic detection or sentiment analysis alone, and approaches that attempt to address both are limited by domain and by type of reply. This thesis presents a new approach, implemented on a humanoid robot interface, that detects the topic and sentiment of a user’s utterances from text-transcribed speech. It also generates domain-independent, …
Design Of A Transtibial Prosthesis Utilizing Active And Passive Components In Conjunction With A Four-Bar Mechanism, Bryan Bergelin
Design Of A Transtibial Prosthesis Utilizing Active And Passive Components In Conjunction With A Four-Bar Mechanism, Bryan Bergelin
Master's Theses (2009 -)
This thesis outlines the design and testing of a powered ankle prosthesis which utilizes a four-bar mechanism in conjunction with a spiral torsion spring and a servo motor that mimics non-amputee (normal) ankle moments during the stance phase of gait. Previous research has shown that this novel approach is feasible, but the proof-of-concept prototype was not designed to be able to be worn by an amputee due to size, strength and mobility limitations. The goal of this research was to redesign the transtibial prosthesis to fit the requirements of the targeted amputee population. A preliminary virtual prosthesis was designed using …