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Full-Text Articles in Physical Sciences and Mathematics
Towards Scalable Autonomous Underwater Construction With Free-Floating Robots, Samuel Eric Lensgraf
Towards Scalable Autonomous Underwater Construction With Free-Floating Robots, Samuel Eric Lensgraf
Dartmouth College Ph.D Dissertations
This thesis presents the first free-floating autonomous underwater construction system. Our system built structures weighing up to 100Kg (75Kg in water). Our robot builds structures made of standard cinder blocks and custom designed interlocking cement blocks. It is the first construction robot that uses active buoyancy compensation to efficiently transport building materials. It is also the first construction robot that can reconfigure visual fiducial markers on a foundation during the construction process to expand its working area.
Underwater construction is a challenging problem for free-floating robots. Currents can buffet the robot, and visibility conditions can change. We focus on achieving …
3-D Reconstruction For Underwater Robots With A Monocular Camera And Lights, Monika Roznere
3-D Reconstruction For Underwater Robots With A Monocular Camera And Lights, Monika Roznere
Dartmouth College Ph.D Dissertations
Before a robot can act, it must perceive its environment. Though, this is not a simple task when considering the challenges in underwater domains -- poor visibility conditions, limited sensor configurations, and lack of readily accessible localization. Underwater robots have, nevertheless, improved dramatically with more extensive sensor and navigation equipment. Robot and sensor use have enabled us to explore all reaches of our oceans. On the other hand, these same robots are not easily accessible or transferable to many practical tasks, including fishery management, infrastructure maintenance, disaster response, site conservation, and ecological surveys. There is a growing need for robots …
Energy-Aware Path Planning For Fixed-Wing Seaplane Uavs, Benjamin Atkinson Wolsieffer
Energy-Aware Path Planning For Fixed-Wing Seaplane Uavs, Benjamin Atkinson Wolsieffer
Dartmouth College Master’s Theses
Fixed-wing unmanned aerial vehicles (UAVs) are commonly used for remote sensing applications over water bodies, such as monitoring water quality or tracking harmful algal blooms. However, there are some types of measurements that are difficult to accurately obtain from the air. In existing work, water samples have been collected in situ either by hand, with an unmanned surface vehicle (USV), or with a vertical takeoff and landing (VTOL) UAV such as a multirotor. We propose a path planner, landing control algorithm, and energy estimator that will allow a low-cost and energy efficient fixed-wing UAV to carry out a combined remote …
Data-Optimized Spatial Field Predictions For Robotic Adaptive Sampling: A Gaussian Process Approach, Zachary Nathan
Data-Optimized Spatial Field Predictions For Robotic Adaptive Sampling: A Gaussian Process Approach, Zachary Nathan
Computer Science Senior Theses
We introduce a framework that combines Gaussian Process models, robotic sensor measurements, and sampling data to predict spatial fields. In this context, a spatial field refers to the distribution of a variable throughout a specific area, such as temperature or pH variations over the surface of a lake. Whereas existing methods tend to analyze only the particular field(s) of interest, our approach optimizes predictions through the effective use of all available data. We validated our framework on several datasets, showing that errors can decline by up to two-thirds through the inclusion of additional colocated measurements. In support of adaptive sampling, …
Object Manipulation With Modular Planar Tensegrity Robots, Maxine Perroni-Scharf
Object Manipulation With Modular Planar Tensegrity Robots, Maxine Perroni-Scharf
Dartmouth College Undergraduate Theses
This thesis explores the creation of a novel two-dimensional tensegrity-based mod- ular system. When individual planar modules are linked together, they form a larger tensegrity robot that can be used to achieve non-prehensile manipulation. The first half of this dissertation focuses on the study of preexisting types of tensegrity mod- ules and proposes different possible structures and arrangements of modules. The second half describes the construction and actuation of a modular 2D robot com- posed of planar three-bar tensegrity structures. We conclude that tensegrity modules are suitably adapted to object manipulation and propose a future extension of the modular 2D …