Magíster en artes mediales / El propósito de la presente investigación de Artes mediales, es establecer una reflexión Artística filosófica en torno al fenómeno de relaciones existentes entre hombres y dispositivos autómatas, tensionadas por su cada vez más difusa “Dialéctica de Interfaces y Conciencias”, donde se establece mi tesis sobre la “Trascendencia del alma desde la perspectiva del movimiento y su ilusión de vitalidad”. Para ello, los lineamientos de esta propuesta consiste en esbozar un conjunto de antecedentes y reflexiones, que permitan configurar y comprender los ejes fundamentales y límites establecidos entre la fascinación por las máquinas replicantes comúnmente conocidos como autómatas, su naturaleza de dimensión trascendente, y la configuración del concepto de Bestiario como un imaginario de criaturas o pseudo-especies, desde la perspectiva de la naturaleza bestial y la conformación de un “otro”.

The objective of the Small Robot Technology (SMART) initiative at the Naval Post Graduate School (NPS) is to develop robots for military uses. One of the goals of this program is to create a surf--zone reconnaissance robot to do beachhead surveillance and mine detection. To this end, a prototype robot was created to test the locomotion and navigation functions which will be used on the surf--zone robot. This work consisted of redesigning the steering mechanism, strengthen the structure, improving the electrical distribution and upgrading the communications hardware. Several tests were conducted on both grass and soft sand to evaluate the performance of the locomotion system and the navigation software. The results demonstrated that the robot functions best in soft sand as expected. However, several serious mechanical design flaws were noticed in the body construction and mechanical systems. These flaws, while not detrimental, did negatively impact the performance of the system. Finally, some suggestions for improving future prototypes are discussed. / US Navy (USN) author.

No description available.

The Japanese robotics industry stands out in both its scale and its diversity of innovations. No other country has put so much effort in research and development of humanoid robots. This phenomenon has been widely discussed in academic scholarship, and cultural, religious and socio-economic influences are widely cited as contributing factors to the shaping of robotics in Japan. This work is focused on a specific and relatively new product of this industry: the robot in human image, the android. The main feature that separates androids from humanoid robots is external appearance, a design aspect that has no operational function. This work attempt to offer a holistic theory for the existence of an entire field of study dedicated to creating robots that look just like humans. / Graduate / rita.livshits@gmail.com

Con el crecimiento exponencial de la tecnología en los últimos años se ha optado por aplicar soluciones robóticas a diferentes problemas que el mundo real presenta. Algunas de estas soluciones se ven reflejadas en robots dedicados a brindar ayuda o entretenimiento a las personas. Dichos robots deben cumplir con su tarea y además tener las características externas necesarias para tener la aceptación del público objetivo. Es decir como tienen una interacción directa con el usuario no deben solo cumplir con la parte de máquina funcional, sino también las características necesarias para obtener una buena interacción humano robot. En la actualidad, esta clase de robots se encuentran en laboratorios, centros comerciales, museos e incluso en fábricas, dispuestos a brindar información o dar servicio de guía. Sin embargo aún no se encuentran en una biblioteca y ahora con la construcción de bibliotecas más tecnológicas, que cuentan con nuevos servicios como áreas de videoconferencias, áreas de impresión 3D y de manufactura digital, estantes de libros abiertos o cubículos con recursos multimedia, se debe informar al público para que éste conozca las nuevas posibilidades a la hora de acudir a la biblioteca. Para brindar información en algunos lugares se ha optado por utilizar paneles led o pantallas táctiles, lo cual no es eficiente, puesto que con las primeras no se tiene una interacción, sólo brinda información de manera cíclica y por otro lado las segundas se deterioran con el uso constante, en especial cuando no las usan de manera adecuada. Esto se podría mejorar con la utilización de un robot, puesto que la información la puede brindar de manera no sólo táctil sino también acústica. Además esta clase de robots motiva la curiosidad de las personas, logrando captar mejor su atención y atrayendo más usuarios a un área donde podrán adquirir conocimientos. Por tales motivos, en la presente tesis se desarrollará un diseño mecatrónico de un robot para guía de biblioteca que pueda brindar la información necesaria para dar a conocer los servicios con los que cuenta una biblioteca de una manera amena y agradable al usuario. Asimismo es una forma más eficiente que las otras soluciones no tienen, pues interactúa con las personas y no se desgasta fácilmente con el tiempo. / Tesis

Hui Fong-fong. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 84-85). / Abstracts in English and Chinese. / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 1.1 --- Objective --- p.1 / Chapter 1.2 --- Background --- p.1 / Chapter 1.3 --- Mechanism and History of SMA --- p.3 / Chapter 1.4 --- Organization of the thesis --- p.4 / Chapter 2 --- LITERATURY SURVEY --- p.6 / Chapter 2.1 --- Previous achievements in micro robot --- p.6 / Chapter 2.1.1 --- Micro-robot with mechanical devices --- p.6 / Chapter 2.1.2 --- Micro-robot with smart materials --- p.7 / Chapter 2.1.3 --- Micro-robot with micro actuators --- p.8 / Chapter 2.2 --- Previous work in improving the SMA wire response --- p.10 / Chapter 2.2.1 --- Fixed external cooling System --- p.10 / Chapter 2.2.2 --- Dynamic external cooling system --- p.12 / Chapter 2.2.3 --- Physical Conversion --- p.13 / Chapter 2.3 --- Summary of literature survey --- p.14 / Chapter 3 --- 3-DOF SMA MICRO ROBOT~AN APPLICATION FOR SMA ACTUATORS --- p.15 / Chapter 3.1 --- Robot conceptual design --- p.15 / Chapter 3.2 --- Structural analysis for the propulsion of robot --- p.17 / Chapter 3.3 --- Two-way shape memory effect --- p.18 / Chapter 3.4 --- Material Selection --- p.19 / Chapter 3.4.1 --- Nickel-Titanium Alloys --- p.19 / Chapter 3.4.2 --- Copper-based Alloys --- p.20 / Chapter 3.4.3 --- Comparison of Ni-Ti and Copper-based alloys --- p.20 / Chapter 3.5 --- Fabrication process of micro robot --- p.21 / Chapter 3.5.1 --- Setting the shape of Nitinol wires --- p.22 / Chapter 3.5.2 --- Modifying the spring length --- p.23 / Chapter 3.5.3 --- Training for two-way memory --- p.24 / Chapter 3.5.3.1 --- Over deformation in Martensitic condition --- p.25 / Chapter 3.5.3.2 --- Trained by repeating Cycling --- p.25 / Chapter 3.5.3.3 --- Trained by Pseudoelastic Cycling --- p.26 / Chapter 3.5.3.4 --- Training by Constrained Temperature Cycling of Deformed Martensite --- p.26 / Chapter 3.5.4 --- Fabrication of Body part --- p.26 / Chapter 3.6 --- Locomotion methods --- p.28 / Chapter 3.7 --- Bending control --- p.29 / Chapter 4 --- HEAT TRANSFER ENHANCEMENT BY INCREASING CONVECTIVE SURFACE AREA --- p.31 / Chapter 4.1 --- Heat transfer --- p.31 / Chapter 4.2 --- Simplified Heat Transfer Analysis --- p.32 / Chapter 4.2.1 --- Analysis of Theoretical Results --- p.36 / Chapter 4.3 --- Verifying the reliability --- p.38 / Chapter 4.4 --- Mathematical Model to Match Experimental Conditions --- p.39 / Chapter 4.4.1 --- Mathematical modification by considering the connector --- p.39 / Chapter 4.4.2 --- Matching by introducing the correction factor --- p.40 / Chapter 4.5 --- Experimental model and modification of parameters --- p.41 / Chapter 5 --- LASER-MICROMACHINING --- p.44 / Chapter 5.1 --- Laser micro-fabrication of micro grooves on SMA wires --- p.44 / Chapter 5.2 --- Background on Laser-micromachining --- p.45 / Chapter 5.3 --- Basic Mechanisms in Lasers --- p.46 / Chapter 5.4 --- System Description --- p.47 / Chapter 5.5 --- Laser characteristic and groove fabrication --- p.48 / Chapter 5.5.1 --- Focal Spot Size --- p.48 / Chapter 5.5.2 --- Beam-focusing conditions --- p.49 / Chapter 5.6 --- Grooves measurement --- p.54 / Chapter 5.6.1 --- WYKO measurement --- p.54 / Chapter 5.6.2 --- SEM estimation --- p.57 / Chapter 6 --- EXPERIMENTAL RESULTS --- p.58 / Chapter 6.1 --- Experimental Setup for Temperature Measurement --- p.58 / Chapter 6.2 --- Experimental and Theoretical Comparison --- p.59 / Chapter 6.2.1 --- Improved Performance of lasered SMA wires --- p.59 / Chapter 6.2.2 --- Comparison of Experimental and Theoretical Results --- p.60 / Chapter 6.3 --- Effect of Micro-grooves on SMA Force Output --- p.63 / Chapter 6.3.1 --- Force Measurement Setup --- p.64 / Chapter 7 --- OPTIMUM PARAMETERS FOR HEAT TRANSFER --- p.66 / Chapter 7.1 --- Assumptions --- p.66 / Chapter 7.2 --- Mathematical Formulation --- p.66 / Chapter 7.2.1 --- Width of groove --- p.67 / Chapter 7.2.2 --- Depth of groove --- p.70 / Chapter 7.2.3 --- Number of groove --- p.72 / Chapter 7.3 --- Experimental Validation --- p.75 / Chapter 7.3.1 --- Repetition time and the depth of groove --- p.75 / Chapter 7.3.2 --- Validating the depth effect --- p.77 / Chapter 8 --- CONCLUSION --- p.80 / Chapter 9 --- FUTURE WORK --- p.81 / Chapter A. --- APPENDIX --- p.82 / Chapter A. 1 --- Procedures for quick WYKO surface profile measurements --- p.82 / BIBLIOGRAPHY --- p.84

Lau Ah Wai, Calvin. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2000. / Includes bibliographical references (leaves 108-111). / Abstracts in English and Chinese. / Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- An Overview --- p.4 / Chapter 1.1.1 --- Robot Self Location --- p.4 / Chapter 1.1.2 --- Robot Navigation --- p.10 / Chapter 1.2 --- Scope of Thesis --- p.12 / Chapter 2 --- Theory --- p.13 / Chapter 2.1 --- Coordinate Systems Transformations --- p.13 / Chapter 2.2 --- Problem Specification --- p.21 / Chapter 2.3 --- The Process of Stereo Vision --- p.22 / Chapter 2.3.1 --- Disparity and Depth --- p.22 / Chapter 2.3.2 --- Vertical Edge Detection and Extraction --- p.25 / Chapter 2.3.3 --- Line Matching Using Dynamic Programming --- p.27 / Chapter 3 --- Mobile Robot Self Location --- p.29 / Chapter 3.1 --- Physical Points by Stereo Reconstruction --- p.29 / Chapter 3.1.1 --- Physical Points Refinement --- p.32 / Chapter 3.2 --- Motion Uncertainties Modeling --- p.33 / Chapter 3.3 --- Improved Physical Point Estimations by EKF --- p.36 / Chapter 3.4 --- Matching Physical Points to Model by Geometric Hashing --- p.40 / Chapter 3.4.1 --- Similarity Invariant --- p.44 / Chapter 3.5 --- Initial Pose Estimation --- p.47 / Chapter 3.5.1 --- Initial Pose Refinement --- p.50 / Chapter 3.6 --- Self Location Using Other Camera Combinations --- p.50 / Chapter 4 --- Improvements to Self Location Using Bayesian Inference --- p.55 / Chapter 4.1 --- Statistical Characteristics of Edges --- p.57 / Chapter 4.2 --- Evidence at One Pixel --- p.60 / Chapter 4.3 --- Evidence Over All Pixels --- p.62 / Chapter 4.4 --- A Simplification Of Geometric Hashing --- p.62 / Chapter 4.4.1 --- Simplification of The Similarity Invariant --- p.63 / Chapter 4.4.2 --- Translation Invariant --- p.63 / Chapter 4.4.3 --- Simplification to The Hashing Table --- p.65 / Chapter 5 --- Robot Navigation --- p.67 / Chapter 5.1 --- Propagation of Motion Uncertainties to Estimated Pose --- p.68 / Chapter 5.2 --- Expectation Map Derived from the CAD Model --- p.70 / Chapter 6 --- Experimental Results --- p.74 / Chapter 6.1 --- Results Using Simulated Environment --- p.74 / Chapter 6.1.1 --- Results and Error Analysis --- p.75 / Chapter 6.2 --- Results Using Real Environment --- p.85 / Chapter 6.2.1 --- Camera Calibration Using Tsai's Algorithm --- p.85 / Chapter 6.2.2 --- Pose Estimation By Geometric Hashing --- p.88 / Chapter 6.2.3 --- Pose Estimation by Bayesian Inference and Geometric Hash- ing --- p.90 / Chapter 6.2.4 --- Comparison of Self Location Approaches --- p.92 / Chapter 6.2.5 --- Motion Tracking --- p.93 / Chapter 7 --- Conclusion and Discussion --- p.95 / Chapter 7.1 --- Conclusion and Discussion --- p.95 / Chapter 7.2 --- Contributions --- p.97 / Chapter 7.3 --- Subjects for Future Research --- p.98 / Chapter A --- Appendix --- p.100 / Chapter A.1 --- Extended Kalman Filter --- p.100 / Chapter A.2 --- Visualizing Uncertainty for 2D Points --- p.105

No description available.

En el presente trabajo de tesis se desarrolla la programación necesaria para manipular los cinco grados de libertad de un robot manipulador serial angular, creado por la Maestría de Ingeniería Mecatrónica de la Pontificia Universidad Católica del Perú. Dicha programación se encuentra parametrizada por el hardware heredado, el cual estará detallado en el trabajo de tesis titulado: "Diseño e implementación del hardware del sistema electrónico de un robot manipulador de cinco grados de libertad". Se requiere, principalmente, que el usuario consiga manipular de forma directa la posición angular a la que se solicite que cada articulación llegue. Esto debe realizarse a partir de la implementación de un sistema de control retroalimentado. Para tal fin se programaron la interfaz de usuario y el software de los microcontroladores utilizados bajo el modelo Maestro-Esclavos. La interfaz recibe los ángulos solicitados por el usuario y los envía al microcontrolador maestro que a su vez envía los datos a cada una de las articulaciones para las cuales se les solicitó movimiento; de esta forma, los microcontroladores esclavos realizan la ejecución del algoritmo de control necesario para llegar a la posición solicitada. Se implementaron cinco controladores PD monoarticulares de posición angular para cada grado de libertad mediante la emulación discreta de controladores continuos; esto se consiguió a partir de la obtención del modelo matemático de cada articulación a controlar según ensayos realizados. En el capítulo uno, se describe qué es y el por qué es importante un robot manipulador; asimismo, se describen algunos tipos de robots manipuladores. En el capítulo dos, se detalla los bloques funcionales que posee la electrónica de un robot manipulador y como estos son encarados. En el capítulo tres, se aborda el diseño y la implementación de la programación del sistema. Finalmente, en el capítulo cuatro, se describen las pruebas realizadas y se muestran los resultados del sistema implementado. / Tesis

Tse, Kim Fung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2007. / Includes bibliographical references (leaves 103-109). / Abstracts in English and Chinese. / Abstract --- p.i / List of Figure --- p.iii / List of Table --- p.vi / Chapter Chapter 1 : --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Background information --- p.2 / Chapter 1.2.1 --- Similar researches on testbed construction --- p.2 / Chapter 1.2.2 --- Formation control theories --- p.2 / Chapter 1.2.3 --- Robot control architectures --- p.3 / Chapter 1.3 --- Basic design of our testbed --- p.4 / Chapter 1.4 --- The organization of this thesis --- p.6 / Chapter Chapter 2 : --- Literature Survey --- p.7 / Chapter 2.1 --- Similar researches on testbed construction --- p.7 / Chapter 2.2 --- Sensors for Distance Detection --- p.10 / Chapter 2.2.1 --- IR Sensor --- p.10 / Chapter 2.2.1 --- Ultrasonic Sensor --- p.11 / Chapter 2.3 --- Formation control theories --- p.11 / Chapter 2.3.1 --- Behavior-based approach --- p.11 / Chapter 2.3.2 --- Leader-follower approach --- p.13 / Chapter 2.3.3 --- Virtual Structure approach --- p.13 / Chapter 2.4 --- Robot control architectures --- p.14 / Chapter 2.4.1 --- Centralized robot controlling system --- p.14 / Chapter 2.4.2 --- Decentralized robot controlling system --- p.15 / Chapter 2.5 --- Summary --- p.16 / Chapter Chapter 3 : --- Wheeled Robot Design --- p.18 / Chapter 3.1 --- Layer Concept in Robot Construction --- p.19 / Chapter 3.1.1 --- Processing layer --- p.20 / Chapter 3.1.2 --- Sensing layer --- p.22 / Chapter 3.1.3 --- Actuating layer (Wheeled Robot) --- p.24 / Chapter 3.2 --- Control Station Setup --- p.27 / Chapter 3.3 --- Sensor performance --- p.31 / Chapter 3.3.1 --- Distance Detection --- p.31 / Chapter 3.3.2 --- Direction Detection --- p.34 / Chapter 3.4 --- "Experiments, results and discussions" --- p.42 / Chapter 3.4.1 --- Experiment 1 - Experiment on MICA performance --- p.42 / Chapter 3.4.2 --- Experiment 2 - Distance maintaining --- p.43 / Chapter 3.4.3 --- Experiment 3 - Robot tracking --- p.45 / Chapter 3.5 --- Summary --- p.47 / Chapter Chapter 4 : --- Levitated Robot Design --- p.49 / Chapter 4.1 --- Possible methods to lift the robots --- p.49 / Chapter 4.2 --- Air table for robot lifting --- p.50 / Chapter 4.2.1 --- Table with air pump --- p.51 / Chapter 4.2.2 --- Table with air compressor --- p.54 / Chapter 4.2.3 --- Comparisons and experiments on the designs --- p.56 / Chapter 4.3 --- New actuating layer for the levitated robot --- p.56 / Chapter 4.3.1 --- Possible actuators for robot to move on air table --- p.57 / Chapter 4.3.2 --- Actuator selection --- p.62 / Chapter 4.4 --- "Experiments, results and discussions" --- p.65 / Chapter 4.4.1 --- Experiment 1 - Testing the performance of actuators --- p.66 / Chapter 4.4.2 --- Experiment 2 - Movement determination --- p.70 / Chapter 4.4.3 --- Experiment 3 - Maintaining position on air table --- p.74 / Chapter 4.5 --- Summary --- p.75 / Chapter Chapter 5 : --- Improvement of Position Detection --- p.77 / Chapter 5.1 --- Direction detection --- p.78 / Chapter 5.1.1 --- One reading approach --- p.79 / Chapter 5.1.2 --- Three readings approach --- p.79 / Chapter 5.1.3 --- Effective readings approach --- p.80 / Chapter 5.1.4 --- Imaginary sensor approach --- p.80 / Chapter 5.2 --- Distance Detection --- p.87 / Chapter 5.3 --- Experimental Results --- p.89 / Chapter 5.4 --- Summary --- p.92 / Chapter Chapter 6 : --- Conclusions and Future work --- p.93 / Appendix --- p.97 / Reference --- p.103