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Articles 1 - 4 of 4
Full-Text Articles in Computer Engineering
Interactive Perception For Cluttered Environments, Robert Willimon
Interactive Perception For Cluttered Environments, Robert Willimon
All Theses
Robotics research tends to focus upon either non-contact sensing or machine manipulation, but not both. This paper explores the benefits of combining the two by addressing the problem of extracting and classifying unknown objects within a cluttered environment, such as found in recycling and service robot applications. In the proposed approach, a pile of objects lies on a flat background, and the goal of the robot is to sift through the pile and classify each object so that it can be studied further. One object should be removed at a time with minimal disturbance to the other objects. We propose …
Analysis Of Distributed Denial Of Service Attacks And Countermeasures, Sampada Karandikar
Analysis Of Distributed Denial Of Service Attacks And Countermeasures, Sampada Karandikar
All Theses
Network technology has experienced explosive growth in the past two decades. The vast connectivity of networks all over the world poses monumental risks. The generally accepted philosophy in the security world is that no system or network is completely secure [1] which makes network security a critical concern. The work done in this thesis focuses on Distributed Denial of Service Attacks (DDoS) where legitimate users are prevented from accessing network services. Although a lot of research has been done in this field, these attacks remain one of the most common threats affecting network performance.
One defense against DDoS attacks is …
Lyapunov-Based Coordinated Control Of An Underactuated Unmanned Aerial Vehicle And Robot Manipulator, Dongbin Lee
Lyapunov-Based Coordinated Control Of An Underactuated Unmanned Aerial Vehicle And Robot Manipulator, Dongbin Lee
All Dissertations
This Ph.D. dissertation describes nonlinear tracking control results for a quadrotor helicopter unmanned aerial vehicle (UAV) towards the ultimate goal of controlling a combined UAV plus robot manipulator system (UAVRM). The quadrotor UAV is a helicopter that has four independent rotors that provide vertical lift: these four independent forces are managed in order to directly provide lift, pitch, roll, and yaw of the vehicle. Horizontal translations result from pitch and roll actions, the system is underactuated in the sense that there are only four control inputs to move the six degree-of-freedom aircraft. There are exising dynamic models of the quadrotor …
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
All Theses
This thesis introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable body elements with wheel/leg elements (Whegs). This combination offers performance not possible with conventional 'monolithic' wheeled or tracked mobile robots, or with current robot snakes. The thesis covers four design iterations of the concept, concentrating on describing the overall design process and results from field tests. Additionally a kinematic analysis of the fourth prototype and implications for future designs is presented.