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Full-Text Articles in Computer Engineering
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
Electronic Thesis and Dissertation Repository
This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …
Sundown: Model-Driven Per-Panel Solar Anomaly Detection For Residential Arrays, Menghong Feng
Sundown: Model-Driven Per-Panel Solar Anomaly Detection For Residential Arrays, Menghong Feng
Masters Theses
There has been significant growth in both utility-scale and residential-scale solar installa- tions in recent years, driven by rapid technology improvements and falling prices. Unlike utility-scale solar farms that are professionally managed and maintained, smaller residential- scale installations often lack sensing and instrumentation for performance monitoring and fault detection. As a result, faults may go undetected for long periods of time, resulting in generation and revenue losses for the homeowner. In this thesis, we present SunDown, a sensorless approach designed to detect per-panel faults in residential solar arrays. SunDown does not require any new sensors for its fault detection and …
Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar
Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar
USF Tampa Graduate Theses and Dissertations
In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over …