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- Adaptive multiple notch filters (1)
- Agricultural Robotics (1)
- Attitude control (1)
- Attitude estimation (1)
- Expert-in-the-loop motor skills development (1)
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- Frequency identification (1)
- Haptics-enabled motor learning (1)
- Hybrid systems (1)
- Instantaneous Fourier decomposition (1)
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- Robotics-assisted mirror rehabilitation therapy (1)
- Robotics-assisted surgical training (1)
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- Supervised telerobotics (1)
- Synergistic hybrid feedback (1)
- Underactuated Mechanism Design (1)
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Articles 1 - 5 of 5
Full-Text Articles in Controls and Control Theory
Robotic Manipulation Of Environmentally Constrained Objects Using Underactuated Hands, Mahyar Abdeetedal
Robotic Manipulation Of Environmentally Constrained Objects Using Underactuated Hands, Mahyar Abdeetedal
Electronic Thesis and Dissertation Repository
Robotics for agriculture represents the ultimate application of one of our society's latest and most advanced innovations to its most ancient and vital industry. Over the course of history, mechanization and automation have increased crop output several orders of magnitude, enabling a geometric growth in population and an increase in quality of life across the globe. As a challenging step, manipulating objects in harvesting automation is still under investigation in literature. Harvesting or the process of gathering ripe crops can be described as breaking environmentally constrained objects into two or more pieces at the desired locations. In this thesis, the …
Hybrid Attitude Control And Estimation On So(3), Soulaimane Berkane
Hybrid Attitude Control And Estimation On So(3), Soulaimane Berkane
Electronic Thesis and Dissertation Repository
This thesis presents a general framework for hybrid attitude control and estimation design on the Special Orthogonal group SO(3). First, the attitude stabilization problem on SO(3) is considered. It is shown that, using a min-switch hybrid control strategy designed from a family of potential functions on SO(3), global exponential stabilization on SO(3) can be achieved when this family of potential functions satisfies certain properties. Then, a systematic methodology to construct these potential functions is developed. The proposed hybrid control technique is applied to the attitude tracking problem for rigid body systems. A smoothing mechanism is proposed to filter out the …
Realtime Implementation Of An Internal-Model-Principle Signal Identifier, Edris Saleh Mohsen
Realtime Implementation Of An Internal-Model-Principle Signal Identifier, Edris Saleh Mohsen
Electronic Thesis and Dissertation Repository
This thesis presents a new means approach of tuning an adaptive internal model principle based signal identification algorithm whose computational costs are low enough to allow a realtime implementation. The algorithm allows an instantaneous Fourier decomposition of nonstationary signals that have a strongly predictable component. The algorithm is implemented as a feedback loop resulting in a closed loop system with a frequency response of a bandpass filter with notches at the frequencies of the Fourier decomposition. This is achieved through real time selection of the coefficients of the transfer functions in the feedback loop. Previous work showed how the dynamics …
Design And Implementation Of Smart Sensors With Capabilities Of Process Fault Detection And Variable Prediction, An He
Electronic Thesis and Dissertation Repository
A typical sensor consists of a sensing element and a transmitter. The major functions of a transmitter are limited to data acquisition and communication. The recently developed transmitters with ‘smart’ functions have been focused on easy setup/maintenance of the transmitter itself such as self-calibration and self-configuration. Recognizing the growing computational capabilities of microcontroller units (MCUs) used in these transmitters and underutilized computational resources, this thesis investigates the feasibility of adding additional functionalities to a transmitter to make it ‘smart’ without modifying its foot-print, nor adding supplementary hardware. Hence, a smart sensor is defined as sensing elements combined with a smart …
Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi
Expert-In-The-Loop Multilateral Telerobotics For Haptics-Enabled Motor Function And Skills Development, Mahya Shahbazi
Electronic Thesis and Dissertation Repository
Among medical robotics applications are Robotics-Assisted Mirror Rehabilitation Therapy (RAMRT) and Minimally-Invasive Surgical Training (RAMIST) that extensively rely on motor function development. Haptics-enabled expert-in-the-loop motor function development for such applications is made possible through multilateral telerobotic frameworks. While several studies have validated the benefits of haptic interaction with an expert in motor learning, contradictory results have also been reported. This emphasizes the need for further in-depth studies on the nature of human motor learning through haptic guidance and interaction. The objective of this study was to design and evaluate expert-in-the-loop multilateral telerobotic frameworks with stable and human-safe control loops that …