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Controls and Control Theory Commons

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Full-Text Articles in Controls and Control Theory

Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel Jan 2022

Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel

Theses and Dissertations

This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …


Smart City Management Using Machine Learning Techniques, Mostafa Zaman Jan 2022

Smart City Management Using Machine Learning Techniques, Mostafa Zaman

Theses and Dissertations

In response to the growing urban population, "smart cities" are designed to improve people's quality of life by implementing cutting-edge technologies. The concept of a "smart city" refers to an effort to enhance a city's residents' economic and environmental well-being via implementing a centralized management system. With the use of sensors and actuators, smart cities can collect massive amounts of data, which can improve people's quality of life and design cities' services. Although smart cities contain vast amounts of data, only a percentage is used due to the noise and variety of the data sources. Information and communication technology (ICT) …


Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho Dec 1996

Development Of Object-Based Teleoperator Control For Unstructured Applications, Hyunki Cho

Theses and Dissertations

For multi-fingered end effectors in unstructured applications, the main issues are control in the presence of uncertainties and providing grasp stability and object manipulability. The suggested concept in this thesis is object based teleoperator control which provides an intuitive way to control the robot in terms of the grasped object and reduces the operator's conceptual constraints. The general control law is developed using a hierarchical control structure, i.e., human interface I gross motion control level in teleoperation control and fine motion control/object grasp stability in autonomous control. The gross motion control is required to provide the position/orientation of the Super …