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Full-Text Articles in Computer Engineering
Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase
Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase
Wayne State University Dissertations
The objective of this research is to compare barycenter offset based designs of spherical robots to control moment gyroscope (CMG) based designs in order to determine which approach is most effective. The first objective was to develop a list of current state of the art designs in order to gain an overall understanding of what the obstacles in this area of research were. The investigation showed that barycenter offset designs can produce a low, continuous output torque, whereas CMG based designs can usually only produce a high, momentary output torque. The second objective was to develop a CMG based design …
Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt
Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt
Wayne State University Dissertations
The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust …