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  • The application of human motor control principles to a collective robotic arm

    Creator:
    Harty, Tyson Harold
    Abstract:
    Current robots are no match for biological organisms when adapting to real-world, dynamic environments. Collective control strategies, such as those used by synergistic biological systems composed of large numbers of identical parts like the human nervous system, provide a novel and alternative approach for the design of fault-tolerant, adaptable robotic...
    Resource Type:
    Masters Thesis
    Full Text:
    , adaptable robotic systems that have traditionally relied on centralized control. In this research, a

  • Utilization of Robot Ankle Torque to Account for Foot Placement Error

    Creator:
    Bernards, Mitchell F.
    Abstract:
    Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...
    Resource Type:
    Honors College Thesis
    Full Text:
    . “Omnidirectional static walking of a quadruped robot.” In: IEEE Transactions on Robotics 21.2 (2005), pp. 152–161

  • Robotic deburring

    Creator:
    James, Francis
    Abstract:
    Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain...
    Resource Type:
    Masters Thesis
    Full Text:
    Master of Science in Robotics presented on June 13, 2017. Title: Robotic Deburring Abstract approved

  • An overview of MODIS capabilities for ocean science observations

    Creator:
    Esaias, Wayne E., Abbott, Mark R., Barton, Ian, Brown, Otis B., Campbell, Janet W., Carder, Kendall L., Clark, Dennis K., Evans, Robert H., Hoge, Frank E., Gordon, Howard R., Balch, William M., Letelier, Richard, and Minnett, Peter J.
    Abstract:
    The Moderate Resolution Imaging Spectroradiometer (MODIS) will add a significant new capability for investigating the 70% of the Earth's surface that is covered by oceans, in addition to contributing to the continuation of a decadal scale time series necessary for climate change assessment in the oceans. Sensor capabilities of particular...
    Resource Type:
    Article
    Full Text:
    Observations - Geoscience and Remote Sensing, IEEE Transactions on ©1998 IEEE

  • Ocean wavenumber estimation from wave-resolving time series imagery

    Creator:
    Plant, Nathaniel G., Holland, K. Todd, and Haller, Merrick C.
    Abstract:
    We review several approaches that have been used to estimate ocean surface gravity wavenumbers from wave-resolving remotely sensed image sequences. Two fundamentally different approaches that utilize these data exist. A power spectral density approach identifies wavenumbers where image intensity variance is maximized. Alternatively, a cross-spectral correlation approach identifies wavenumbers where...
    Resource Type:
    Article
    Full Text:
    2644 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 46

  • Ring Amplifiers for Switched Capacitor Circuits

    Creator:
    Hershberg, Benjamin, Weaver, Skyler, Sobue, Kazuki, Takeuchi, Seiji, Hamashita, Koichi, and Moon, Un-Ku
    Abstract:
    In this paper the fundamental concept of ring amplification is introduced and explored. Ring amplifiers enable efficient amplification in scaled environments, and possess the benefits of efficient slew-based charging, rapid stabilization, compression-immunity (inherent rail-to-rail output swing), and performance that scales with process technology. A basic operational theory is established, and...
    Resource Type:
    Article
    Full Text:
    observations are also a reflection of the net effect of opamp scaling challenges on system-level performance

  • 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...
    Resource Type:
    Dissertation
    Full Text:
    Bira for the degree of Doctor of Philosophy in Robotics presented on September 12, 2022. Title

  • 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
    Full Text:
    degree of Doctor of Philosophy in Robotics presented on November 20, 2018. Title: Privacy-Sensitive

  • D₊₊ : Structural Credit Assignment in Tightly Coupled Multiagent Domains

    Creator:
    Rahmattalabi, Aida
    Abstract:
    Autonomous multiagent teams can be used in complex exploration tasks to both expedite the exploration and improve the efficiency. However, use of multiagent systems presents additional challenges. Specifically, in domains where the agents' actions are tightly coupled, coordinating multiple agents to achieve cooperative behavior at the group level is difficult....
    Resource Type:
    Masters Thesis
    Full Text:
    degree of Master of Science in Robotics presented on August 2, 2016. Title: D++: Structural Credit

  • 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,...
    Resource Type:
    Dissertation
    Full Text:
    the degree of Doctor of Philosophy in Robotics presented on December 15, 2020. Title: Topologically