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  • Robotic Actuation and Control with Programmable, Field-Activated Material Systems

    Creator:
    Bira, Nicholas P.
    Abstract:
    This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
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    and actuation methods, par- ticularly in the sub-fields of soft robotics and robotic grasping

  • 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...
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    Dissertation
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    of privacy-sensitive robotics research: 1. We begin by presenting the current state of the art in

  • Topologically-Guided Robotic Information Gathering

    Creator:
    McCammon, Seth
    Abstract:
    Information gathering tasks, such as terrestrial search and rescue, aerial inspection, and marine monitoring, require robotic unmanned systems to make decisions on how to travel within an environment to maximize or minimize a path-dependent information objective function. The distribution of information throughout the environment is the result of various processes,...
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    Dissertation
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    principles of topology in the context of robotic informa- tion gathering tasks. Many field robotics

  • 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...
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    Dissertation
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    degree of Doctor of Philosophy in Robotics presented on June 4, 2019. Title: Deep Learning For Robotic

  • Multiagent learning for locomotion and coordination in tensegrity robotics

    Creator:
    Iscen, Atil
    Abstract:
    Tensegrity structures are composed of pure compressional elements that are connected via a network of pure tensional elements. The concept of tensegrity promises numerous advantages to the field of robotics. Tensegrity robots are, however, notoriously difficult to control due to their oscillatory nature and nonlinear interaction between the components. Multiagent...
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    played a big role in my research by introducing me to the topic of tensegrity robotics and the SUPERBall

  • Boundaries of research : civilian leadership, military funding, and the international network surrounding the development of numerical weather prediction in the United States

    Creator:
    Harper, Kristine C.
    Abstract:
    American meteorology was synonymous with subjective weather forecasting in the early twentieth century. Controlled by the Weather Bureau and with no academic programs of its own, the few hundred extant meteorologists had no standing in the scientific community. Until the American Meteorological Society was founded in 1919, meteorologists had no...
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    Dissertation
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    Research: Civilian Leadership, Military Funding, and the International Network Surrounding the Development

  • Robust controller design for robotic manipulators with saturation

    Creator:
    Liang, Zuyang
    Abstract:
    The development of modern industries calls for the robotic manipulators with high speed and accurate tracking performance. Many authors have paid attention to robust control of robotic manipulators; however, only few authors have also considered the control problem of manipulators with power limitation. In this dissertation, the robotic manipulator is...
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    stabilizing controllers for uncertain systems, especially in robotics. In much of this research, the

  • Understanding how Vietnamese make career decisions in the United States

    Creator:
    Do, Vinh The
    Abstract:
    This research explores the lived experiences and career decision making styles of three Vietnamese refugees in the United states. Since this study involves the lived experience of the participants pertaining to their everyday activities (i.e. living, making decision, and working in the United States), the phenomenological approach (Van Manen, 1990;...
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    .................................................... 49 Conceptual Framework of the Model (Phenomenological Research) 52 Methodology

  • Functional Materials and Techniques for Additive Manufacturing in Soft Robotics

    Creator:
    Walker, Stephanie
    Abstract:
    This thesis outlines the development of new elastomeric materials and manufacturing processes for soft robotics. Specifically, this work describes the development of custom material formulations for use in additive manufacturing, additive manufacturing processing techniques for silicone elastomers, and multi-component additive manufacturing techniques. Material synthesis and processing is a gap in...
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    Dissertation
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    , there are many development steps needed in between the current state of soft robotics research and

  • Realizable Path Planning and Execution for Robotic Systems

    Creator:
    Jones, Dylan A.
    Abstract:
    Performing autonomous robotic tasks in the field, such as ocean monitoring and aerial surveillance, requires planning and executing paths in dynamic environments. In these uncertain and changing environments, it is not uncommon to see a large difference between the path planned by the robotic vehicle and the path that the...
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    the degree of Doctor of Philosophy in Robotics presented on August 25, 2020. Title: Realizable Path