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Articles 1 - 8 of 8
Full-Text Articles in Robotics
Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Theses and Dissertations
The newly acquired 6-DOF Motion Test Apparatus (MTA) was installed to perform dynamic wind tunnel testing in the AFIT Low Speed Wind Tunnel. Several complex motions revealed that the overall performance of the test rig needed improvement especially during small motions. The motions exposed that further enhancements would need to be performed individually for each joint. This research effort focused on the improvement of the MTA wrist roll motor and controller using a pitch oscillation. The controller software was improved using position feedback because the MTA wrist roll motor and controller exhibited reduced signal bias and amplitude attenuation. The enhanced …
Intelligent Behavioral Action Aiding For Improved Autonomous Image Navigation, Kwee Guan Eng
Intelligent Behavioral Action Aiding For Improved Autonomous Image Navigation, Kwee Guan Eng
Theses and Dissertations
In egomotion image navigation, errors are common especially when traversing areas with few landmarks. Since image navigation is often used as a passive navigation technique in Global Positioning System (GPS) denied environments; egomotion accuracy is important for precise navigation in these challenging environments. One of the causes of egomotion errors is inaccurate landmark distance measurements, e.g., sensor noise. This research determines a landmark location egomotion error model that quantifies the effects of landmark locations on egomotion value uncertainty and errors. The error model accounts for increases in landmark uncertainty due to landmark distance and image centrality. A robot then uses …
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Theses and Dissertations
As the concept of war has evolved, navigation in urban environments where GPS may be degraded is increasingly becoming more important. Two existing solutions are vision-aided navigation and vision-based Simultaneous Localization and Mapping (SLAM). The problem, however, is that vision-based navigation techniques can require excessive amounts of memory and increased computational complexity resulting in a decrease in speed. This research focuses on techniques to improve such issues by speeding up and optimizing the data association process in vision-based SLAM. Specifically, this work studies the current methods that algorithms use to associate a current robot pose to that of one previously …
Developing An Effective And Efficient Real Time Strategy Agent For Use As A Computer Generated Force, Kurt Weissgerber
Developing An Effective And Efficient Real Time Strategy Agent For Use As A Computer Generated Force, Kurt Weissgerber
Theses and Dissertations
Computer Generated Forces (CGF) are used to represent units or individuals in military training and constructive simulation. The use of CGF significantly reduces the time and money required for effective training. For CGF to be effective, they must behave as a human would in the same environment. Real Time Strategy (RTS) games place players in control of a large force whose goal is to defeat the opponent. The military setting of RTS games makes them an excellent platform for the development and testing of CGF. While there has been significant research in RTS agent development, most of the developed agents …
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Electronic Image Stabilization For Mobile Robotic Vision Systems, Michael John Smith
Theses and Dissertations
When a camera is affixed on a dynamic mobile robot, image stabilization is the first step towards more complex analysis on the video feed. This thesis presents a novel electronic image stabilization (EIS) algorithm for small inexpensive highly dynamic mobile robotic platforms with onboard camera systems. The algorithm combines optical flow motion parameter estimation with angular rate data provided by a strapdown inertial measurement unit (IMU). A discrete Kalman filter in feedforward configuration is used for optimal fusion of the two data sources. Performance evaluations are conducted by a simulated video truth model (capturing the effects of image translation, rotation, …
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Unified Behavior Framework In An Embedded Robot Controller, Stephen S. Lin
Theses and Dissertations
Robots of varying autonomy have been used to take the place of humans in dangerous tasks. While robots are considered more expendable than human beings, they are complex to develop and expensive to replace if lost. Recent technological advances produce small, inexpensive hardware platforms that are powerful enough to match robots from just a few years ago. There are many types of autonomous control architecture that can be used to control these hardware platforms. One in particular, the Unified Behavior Framework, is a flexible, responsive control architecture that is designed to simplify the control system’s design process through behavior module …
Power-Scavenging Mems Robots, Daniel J. Denninghoff
Power-Scavenging Mems Robots, Daniel J. Denninghoff
Theses and Dissertations
This thesis includes the design, modeling, and testing of novel, power-scavenging, biologically inspired MEMS microrobots. Over one hundred 500-μm and 990-μm microrobots with two, four, and eight wings were designed, fabricated, characterized. These microrobots constitute the smallest documented attempt at powered flight. Each microrobot wing is comprised of downward-deflecting, laser-powered thermal actuators made of gold and polysilicon; the microrobots were fabricated in PolyMUMPs® (Polysilicon Multi-User MEMS Processes). Characterization results of the microrobots illustrate how wing-tip deflection can be maximized by optimizing the gold-topolysilicon ratio as well as the dimensions of the actuator-wings. From these results, an optimum actuator-wing configuration was …
Self-Assembly Of Microstructures, Paul E. Kladitis
Self-Assembly Of Microstructures, Paul E. Kladitis
Theses and Dissertations
Four areas are investigated in this research: erecting microstructures normal to the substrate plane without direct human intervention (self-assembled), providing low resistance electrical connections to the erected microstructure, realizing circular motion normal to the substrate plane, and implementing a micro-robot. The designs in this research concentrate on erecting and providing power to a leg designed for use with the micro-robot. The leg and the attached low resistance electrical connectors were not self-assembled because the accompanying actuators were not powerful enough. However, the novel connectors provide the most practical, versatile, and lowest possible resistance connections for the MUMPs fabrication process. The …