Controls and Control Theory Commons^™

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Evaluating Driving Performance Of A Novel Behavior Planning Model On Connected Autonomous Vehicles, Keyur Shah

Honors Scholar Theses

Many current algorithms and approaches in autonomous driving attempt to solve the "trajectory generation" or "trajectory following” problems: given a target behavior (e.g. stay in the current lane at the speed limit or change lane), what trajectory should the vehicle follow, and what inputs should the driving agent apply to the throttle and brake to achieve this trajectory? In this work, we instead focus on the “behavior planning” problem—specifically, should an autonomous vehicle change lane or keep lane given the current state of the system?

In addition, current theory mainly focuses on single-vehicle systems, where vehicles do not communicate with …

A Comparative Analysis Of Reinforcement Learning Applied To Task-Space Reaching With A Robotic Manipulator With And Without Gravity Compensation, Jonathan Fugal

Theses and Dissertations--Electrical and Computer Engineering

Advances in computing power in recent years have facilitated developments in autonomous robotic systems. These robotic systems can be used in prosthetic limbs, wearhouse packaging and sorting, assembly line production, as well as many other applications. Designing these autonomous systems typically requires robotic system and world models (for classical control based strategies) or time consuming and computationally expensive training (for learning based strategies). Often these requirements are difficult to fulfill. There are ways to combine classical control and learning based strategies that can mitigate both requirements. One of these ways is to use a gravity compensated torque control with reinforcement …