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Articles 1 - 4 of 4
Full-Text Articles in Controls and Control Theory
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Improving The Flexibility And Robustness Of Machine Tending Mobile Robots, Richard Ethan Hollingsworth
Theses and Dissertations
While traditional manufacturing production cells consist of a fixed base robot repetitively performing tasks, the Industry 5.0 flexible manufacturing cell (FMC) aims to bring Autonomous Industrial Mobile Manipulators (AIMMs) to the factory floor. Composed of a wheeled base and a robot arm, these collaborative robots (cobots) operate alongside people while autonomously performing tasks at different workstations. AIMMs have been tested in real production systems, but the development of the control algorithms necessary for automating a robot that is a combination of two cobots remains an open challenge before the large scale adoption of this technology occurs in industry. Currently popular …
Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel
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 …
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
A General Framework For Characterizing And Evaluating Attacker Models For Cps Security Assessment, Christopher S. Deloglos, Christopher Deloglos
Theses and Dissertations
Characterizing the attacker’s perspective is essential to assessing the security posture and resilience of cyber-physical systems. The attacker’s perspective is most often achieved by cyber-security experts (e.g., red teams) who critically challenge and analyze the system from an adversarial stance. Unfortunately, the knowledge and experience of cyber-security experts can be inconsistent leading to situations where there are gaps in the security assessment of a given system. Structured security review processes (such as TAM, Mission Aware, STPA-SEC, and STPA-SafeSec) attempt to standardize the review processes to impart consistency across an organization or application domain. However, with most security review processes, the …
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli
Theses and Dissertations
Omni-directional (O-D) infrared (IR) vision is an effective capability for mobile systems in robotics, due to its advantages: illumination invariance, wide field-of-view, ease of identifying heat-emitting objects, and long term tracking without interruption. Unfortunately, O-D IR sensors have low resolution, low frame rates, high cost, sensor noise, and an increase in tracking time. In order to overcome these disadvantages, we propose an autonomous system application in indoor scenarios including 1) Dynamic 3D Reconstruction (D3DR) of the target view in real time images, 2) Human Behavior-based Target Tracking from O-D thermal images, 3) Thermal Multisensor Fusion (TMF), and 4) Visual Perception …