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Filtering by: Degree Field Robotics Remove constraint Degree Field: Robotics Decade 2010-2019 Remove constraint Decade: 2010-2019

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  • Augmented Deep Learning Techniques for Robotic State Estimation

    Creator:
    Nicolai, Austin L.
    Abstract:
    While robotic systems may have once been relegated to structured environments and automation style tasks, in recent years these boundaries have begun to erode. As robots begin to operate in largely unstructured environments, it becomes more difficult for them to effectively interpret their surroundings. As sensor technology improves, the amount...
    Resource Type:
    Dissertation
    Full Text:
    Deep Learning Techniques for Robotic State Estimation Abstract approved: Geoffrey A. Hollinger While

  • The Design Freedoms of a Novel Cable-Driven Manipulator

    Creator:
    Layng, Brian M.
    Abstract:
    Legged locomotion in robotics benefits from engineered hardware dynamics such as configuration-dependent, nonlinear transmissions and compliance. This thesis introduces a novel cable driven leg that allows the design of configuration-dependent transmission ratios while also permitting the addition of compliance in line with the cables to achieve compliant legged locomotion. The...
    Resource Type:
    Masters Thesis
    Full Text:
    demonstrating the design of a balanced compliance in a robotic leg. c©Copyright by Brian M. Layng June 10

  • Deep learning for robotic exploration

    Creator:
    Caley, Jeffrey A.
    Abstract:
    Emerging applications for robotic data collection include ocean monitoring, emergency response and urban search and rescue. At the core of these applications is a robot's ability to make informed decisions on incomplete data. This dissertation addresses this problem by developing novel techniques for modeling and estimating structured environments using deep...
    Resource Type:
    Dissertation
    Full Text:
    degree of Doctor of Philosophy in Robotics presented on June 4, 2019. Title: Deep Learning For Robotic

  • Tackling Credit Assignment Using Memory and Multilevel Optimization for Multiagent Reinforcement Learning

    Creator:
    Khadka, Shauharda
    Abstract:
    There is growing commercial interest in the use of multiagent systems in real world applications. Some examples include inventory management in warehouses, smart homes, planetary exploration, search and rescue, air-traffic management and autonomous transportation systems. However, multiagent coordination is an extremely challenging problem. First, information relevant for coordination is often...
    Resource Type:
    Dissertation

  • Why Use Ankles? An Optimization Approach to Discover Energetic Benefits of Ankles in Steady Locomotion

    Creator:
    Hector, Michael J.
    Abstract:
    Design and control of legged robots is a popular field in the pursuit of building robots that can be as mobile as humans. While much effort is put into understanding how to control the dynamics of these legs, less effort is focused on designing and controlling robot ankles. Ankles on...
    Resource Type:
    Masters Thesis

  • Patient Compliance Effects on Simulated Ebola Medical Care Delivery with a Telepresence Robot

    Creator:
    Brian, Makenzie M.
    Abstract:
    When treating highly infectious diseases, patient compliance with caregiver recommendations is crucial. Many patients who contract Ebola Virus Disease have symptoms including vomiting and severe diarrhea and die from the resulting dehydration if they do not drink enough fluids. Telepresence robots are useful in the context of Ebola treatment for...
    Resource Type:
    Masters Thesis
    Full Text:
    was an association between the individual’s experience level with robots and compliance with robotic

  • Initial Designs for Improving Conversations for People Using Speech Synthesizers

    Creator:
    Nguyen, Duy M.
    Abstract:
    This thesis aims to determine the impact that Augmentative and Alternative Communication (AAC) devices have on social interactions, and then improves the AAC user experience through a user focus design process. AAC devices enable people who cannot speak to communicate with others. Unfortunately, they are tedious to use and make...
    Resource Type:
    Masters Thesis

  • Privacy-Sensitive Robotics

    Creator:
    Rueben, Matthew R.
    Abstract:
    This dissertation focuses on personal privacy in human-robot interaction, which we call "privacy-sensitive robotics." Our understanding of "privacy" is very broad, including not just information privacy but also physical, psychological, and social privacy. We begin by surveying the scholarly literature on privacy and talking about why it applies to interactions...
    Resource Type:
    Dissertation

  • Ballistic rebounds for wrapping a target with a casting manipulator

    Creator:
    Hill, Lucas P.
    Abstract:
    Casting manipulation in robotics is the act of launching a tethered projectile and using it to interact with the environment. One such interaction is wrapping a target. In this work, we identify throwing and tether control parameters for successfully wrapping a target with an end-weighted cable, evolving through a set...
    Resource Type:
    Masters Thesis
    Full Text:
    robotic arm. While similar to our work, their approach in- volved extreme instrumentation, placing dozens

  • Improving Understanding of Geometric Swimmer Locomotion

    Creator:
    Remaley, Jacquelin L.
    Abstract:
    This work seeks to improve the knowledge surrounding geometric snake swimmers through both theoretical and practical means. To begin, manufacturing techniques for a silicon-based pneumatic actuator were validated through experimentation. When inflated, the actuators exhibited an unanticipated elongation. In an attempt to confirm theoretical displacement predictions, a more accurate dynamic...
    Resource Type:
    Masters Thesis
    Full Text:
    efficient methods to intuitively predict the dynamic behavior of robotic systems. Many of these systems