Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Engineering
Human-Aware Information-Theoretic Control Of Robotic Swarms, Rafal David Krzysiak
Human-Aware Information-Theoretic Control Of Robotic Swarms, Rafal David Krzysiak
Graduate Research Theses & Dissertations
Robotic swarms provide a scalable and robust solution for monitoring large environments. In this context, the inclusion of a human has the potential advantage of incorporating prior knowledge about the target location or dynamics, thus increasing the overall efficiency of the task at hand. This is especially critical when dealing with time-intensive missions such as search and rescue. In this thesis we develop a general information-theoretic framework to control multiple autonomous robots in search and rescue missions that include a human teleoperator. Human prior knowledge is modeled to capture target location and dynamics, and a mutual information based control is …
Imu-Based Estimation Of Body Posture In Commercial Fishing, Umme Kawsar Alam
Imu-Based Estimation Of Body Posture In Commercial Fishing, Umme Kawsar Alam
Graduate Research Theses & Dissertations
According to the U.S. Bureau of Labor Statistics (BLS), work-related musculoskeletaldisorders (WMSDs) account for 33% of all occupational injuries and illnesses in the U.S. In addition, one of the most strenuous occupations in which musculoskeletal disorders are common is known to be commercial fishing. The first step to address this issue is to precisely measure the working postures of workers so that the relation between WMSDs and nonneutral working postures can be systematically investigated. Although the inertial measurement unit (IMU) has recently gained attention in posture measurement due to its portability, it is highly limited to the use as an …