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Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Top-Down & Bottom-Up Approaches To Robot Design, Dylan Michael Covell
Top-Down & Bottom-Up Approaches To Robot Design, Dylan Michael Covell
Graduate Theses, Dissertations, and Problem Reports
This thesis presents a study of different engineering design methodologies and demonstrates their effectiveness and limitations in actual robot designs. Some of these methods were blended together with focus on providing an easily interpreted project design flow while implementing more bottom-up, or feedback, elements into the design methodology. Typically design methods are learned through experience, and design taught in academia aims to shape and formalize previous experience. Usually, inexperienced engineers are taught approaches resembling the Verein Deutscher Ingenieure (VDI) 2221 process. This method presented by the Association of German Engineers in 2006 is regarded as the general system design process. …
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Route Planning For Long-Term Robotics Missions, Christopher Alexander Arend Tatsch
Graduate Theses, Dissertations, and Problem Reports
Many future robotic applications such as the operation in large uncertain environment depend on a more autonomous robot. The robotics long term autonomy presents challenges on how to plan and schedule goal locations across multiple days of mission duration. This is an NP-hard problem that is infeasible to solve for an optimal solution due to the large number of vertices to visit. In some cases the robot hardware constraints also adds the requirement to return to a charging station multiple times in a long term mission. The uncertainties in the robot model and environment require the robot planner to account …