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Control of nonholonomic systemsYuan, Hongliang. January 2009 (has links)
Thesis (Ph.D.)--University of Central Florida, 2009. / Adviser: Zhihua Qu. Includes bibliographical references (p. 138-143).
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Finding approximate POMDP solutions through belief compression /Roy, Nicholas. January 1900 (has links)
Thesis (Ph. D.)--Carnegie Mellon University, 2003. / "August 2003." Includes bibliographical references and index.
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Design and control of a six-legged mobile robot /Chu, Kwok-kei. January 2001 (has links)
Thesis (M. Phil.)--University of Hong Kong, 2002. / Includes bibliographical references.
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Development of a hybrid robotic system for femur fracture reductionYe, Ruihua., 叶锐华. January 2011 (has links)
published_or_final_version / Mechanical Engineering / Doctoral / Doctor of Philosophy
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Performance optimisation of mobile robots in dynamic environmentsZhu, Wenkai., 朱文凯. January 2012 (has links)
Rousing applications of robot teams abound over the past three decades, but ferocious demands for viable systems to coordinate teams of mobile robots in dynamic environments still linger on.
To meet this challenge, this project proposes a performance optimisation system for mobile robots to make the team performance more reliable and efficient in dynamic environments. A wide range of applications will benefit from the system, such as logistics, military, and disaster rescue.
The performance optimisation system comprises three main modules: (1) a task allocation module to assign tasks to robots, (2) a motion planning module to navigate robots, and (3) a graphical simulation module to visualise robot operations and to validate the methodologies of performance optimisation.
The task allocation module features a closed-loop bid adjustment mechanism for auctioning tasks to capable robots. Unlike most traditional open-looped methods, each of the robots evaluates its own performance after completing a task as feedback correction to improve its future bid prices of similar tasks. Moreover, a series of adjustments are weighed and averaged to damp out drastic deviations due to operational uncertainties. As such, the accuracy of bid prices is improved, and tasks are more likely allocated to suitable robots that are expected to perform better by offering more reliable bids.
The motion planning module is bio-inspired intelligent, characterised by detection of imminent neighbours and design flexibility of virtual forces to enhance the responsiveness of robot motions. Firstly, while similar methods unnecessarily entail each robot to consider all the neighbours, the detection of imminent neighbours instead enables each robot to mimic creatures to identify and only consider imminent neighbours which pose collision dangers. Hence, redundant computations are reduced and undesirable robot movements eliminated. Secondly, to imitate the responsive motion behaviours of creatures, a virtual force method is adopted. It composes virtual attractive forces that drive the robots towards their targets and, simultaneously, exerts virtual repulsive forces to steer the robots away from one another. To enhance the design flexibility of the virtual forces, a twosection function and, more significantly, a spline-based method are proposed. The shapes of force curves can be flexibly designed and adjusted to generate smooth forces with desirable magnitudes. Accordingly, robot motions are streamlined and likelihood of robot collisions reduced.
The graphical simulation module simulates and visualises robot team operations, and validates the proposed methodologies. It effectively emulates the operational scenarios and enables engineers to tackle downstream problems earlier in the design cycle. Furthermore, time and costs of robotic system development in the simulation module are considerably cut, compared with a physical counterpart.
The performance optimisation system is indeed viable in improving the operational safety and efficiency of robot teams in dynamic environments. It has substantially pushed the frontiers of this field, and may be adapted as an intelligent control software system for practical operations of physical robot teams to benefit various applications. / HKU 3 Minute Thesis Award, 1st Runner-up (2012) / published_or_final_version / Industrial and Manufacturing Systems Engineering / Doctoral / Doctor of Philosophy
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Minimum distance influence coefficients for obstacle avoidance in manipulator motion planningHarden, Troy Anthony 28 August 2008 (has links)
Not available / text
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Physical modeling of tools necessary for robot manipulationChang, Kyogun 28 August 2008 (has links)
Not available / text
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Task encoding, motion planning and intelligent control using qualitative modelsRamamoorthy, Subramanian 28 August 2008 (has links)
Not available / text
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Design and implementation of a micro-computer based off-line robot programming system徐迢之, Hsu, Siu-chi. January 1988 (has links)
published_or_final_version / Industrial Engineering / Master / Master of Philosophy
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Linear-time motion planning for two square, movable obstacles in a grid environment李美璇, Lee, Mi-suen. January 1992 (has links)
published_or_final_version / Computer Science / Master / Master of Philosophy
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