Browsing by Subject "Robotics"
Now showing items 1-20 of 27
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3D Object Representations for Robot Perception
(2019)Reasoning about 3D objects is one of the most critical perception problems robots face; outside of navigation, most interactions between a robot and its environment are object-centric. Object-centric robot perception has ... -
A Cell Decomposition Approach to Robotic Trajectory Planning via Disjunctive Programming
(2012)This thesis develops a novel solution method for the problem of collision-free, optimal control of a robotic vehicle in an obstacle populated environment. The technique presented combines the well established approximate ... -
A robotics platform for automated batch fabrication of high density, microfluidics-based DNA microarrays, with applications to single cell, multiplex assays of secreted proteins.
(The Review of scientific instruments, 2011-09)Microfluidics flow-patterning has been utilized for the construction of chip-scale miniaturized DNA and protein barcode arrays. Such arrays have been used for specific clinical and fundamental investigations in which many ... -
A Workload Model for Designing & Staffing Future Transportation Network Operations
(2019)Across multiple industries (e.g., railroads, airlines, on-demand air taxi services), there are growing investments in future automated transportation systems. Even with these investments, there are still significant human-systems ... -
Accelerated Motion Planning Through Hardware/Software Co-Design
(2019)Robotics has the potential to dramatically change society over the next decade. Technology has matured such that modern robots can execute complex motions with sub-millimeter precision. Advances in sensing technology have ... -
Adaptive Control of Volumetric Laser Photoblation Surgery
(2019)Laser scalpels are utilized across a variety of invasive and non-invasive surgical procedures due to their precision and non-contact nature. Meanwhile, robotic and robotic-assisted surgeries are becoming more prevalent with ... -
Autonomous Robot Packing of Complex-shaped Objects
(2020)With the unprecedented growth of the E-Commerce market, robotic warehouse automation has attracted much interest and capital investment. Compared to a conventional labor-intensive approach, an automated robot warehouse brings ... -
Creation of an Autonomous, Fluorescence-Based Tissue Diagnostic and Ablation Device for use in Brain Tumor Resection
(2020)Physical resection of tumors is a crucial component of the treatment of brain tumors. Traditionally, a multi-faceted approach involving resection as well as chemotherapy and radiation provide the backbone for most modern ... -
Decentralized State Estimation using Robotic Sensor Networks
(2016)This dissertation proposes three control algorithms for active sensing with one or several autonomous robots.The algorithms all rely on models of the information content of the sensor measurement with respect to the relative ... -
Developing Scalable Abilities for Self-Reconfigurable Robots
(2010)The power of modern computer systems is due in no small part to their fantastic ability to adapt to whatever tasks they are charged with. Self-reconfigurable robots seek to provide that flexibility in hardware by building ... -
Distributed Control of Heterogeneous Mobile Robotic Agents in the Presence of Uncertainties
(2016)Swarm robotics and distributed control offer the promise of enhanced performance and robustness relative to that of individual and centrally-controlled robots, with decreased cost or time-to-completion for certain tasks. ... -
Distributed Intermittent Connectivity Control of Mobile Robot Networks
(2018)Wireless communication is known to play a pivotal role in enabling teams of robots to successfully accomplish global coordinated tasks. In fact, network connectivity is an underlying assumption in every distributed control ... -
Formal Verification of Stochastic ReLU Neural Network Control System
(2020)In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, ... -
Geometric Hitting Sets and Their Variants
(2011)This thesis explores a few geometric optimization problems that arisein robotics and sensor networks. In particular we present efficientalgorithms for the hitting-set problem and the budgeted hitting-set problem.Given a ... -
Human-in-the-Loop Robot Planning with Non-Contextual Bandit Feedback
(2020)In this paper, we consider robot navigation problems in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction, by ensuring that ... -
Indirect Training Algorithms for Spiking Neural Networks based on Spiking Timing Dependent Plasticity and Their Applications
(2017)Spiking neural networks have been used to investigate the mechanisms of processingin biological neural circuits or to propose hypotheses that can be tested in exper-iments. Because of their biological plausibility and event-based ... -
Intra-Operative Surgical Instrument Tracking with Radio-Frequency Identification
(2021)As data revolutionizes supply chains across diverse industries, healthcare lags. Sensor systems have struggled to automate the capture of actionable data without impeding clinical workflows. This work focuses on the development ... -
Laparoscopic compared with robotic sacrocolpopexy for vaginal prolapse: a randomized controlled trial.
(Obstet Gynecol, 2011-11)OBJECTIVE: To compare conventional laparoscopic and robotic-assisted laparoscopic sacrocolpopexy for vaginal apex prolapse. METHODS: This single-center, blinded randomized trial included participants with stage ... -
MODEL-BASED LEARNING AND CONTROL OF ADVECTION-DIFFUSION TRANSPORT USING MOBILE ROBOTS
(2019)Mathematical models that describe different processes and phenomena are of paramount importance in many robotics applications. Nevertheless, utilization of high-fidelity models, particularly Partial Differential Equations ... -
Neuroprosthetic Decoder Training as Imitation Learning.
(PLoS Comput Biol, 2018-02-02)Neuroprosthetic brain-computer interfaces function via an algorithm which decodes neural activity of the user into movements of an end effector, such as a cursor or robotic arm. In practice, the decoder is often learned ...
