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Theses from 2019

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Multi-Robot Task Allocation and Scheduling with Spatio-Temporal and Energy Constraints, Dharini Dutia

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Mechanical Redesign and Implementation of Intuitive User Input Methods for a Hand Exoskeleton Informed by User Studies on Individuals with Chronic Upper Limb Impairments, Tess Bisbee Meier

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Biologically Inspired Legs and Novel Flow Control Valve Toward a New Approach for Accessible Wearable Robotics, Shannon Marija Moffat

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A mixed reality framework for surgical navigation: approach and preliminary results, Shravan Murlidaran

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Object Transfer Point Estimation for Prompt Human to Robot Handovers, Heramb Nemlekar

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A Deep 3D Object Pose Estimation Framework for Robots with RGB-D Sensors, Ameya Yatindra Wagh

Theses from 2018

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Automating endoscopic camera motion for teleoperated minimally invasive surgery using inverse reinforcement learning, Ankur S. Agrawal

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Constrained Motion Planning System for MRI-Guided, Needle-Based, Robotic Interventions, Christopher Bove

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Implementation of a Modular Software Architecture on a Real-Time Operating System for Generic Control over MRI Compatible Surgical Robots, Katie Gandomi-Bernal

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Cooperative Object Manipulation with Force Tracking on the da Vinci Research Kit, Radian A. Gondokaryono

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Decentralized Persistent Connectivity Deployment in Robot Swarms, Adhavan Jayabalan

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Dynamic Task Allocation in Robot Swarms with Limited Buffer and Energy Constraints, Janani Mohan

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Proactive Planning through Active Policy Inference in Stochastic Environments, Nolan Poulin

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A Minimum-Bending-Energy Needle Model for Closed-Loop Localization During Image-Guided Insertion, Joseph George Schornak

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Goal Based Human Swarm Interaction for Collaborative Transport, Yicong Xu

Theses from 2017

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Decentralized Control of an Energy Constrained Heterogeneous Swarm for Persistent Surveillance, Nikhil Kamalkumar Advani

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Locomotion Trajectory Generation For Legged Robots, Aditya Bhat

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CUDA-Accelerated ORB-SLAM for UAVs, Donald Bourque

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Dynamic viscoelastic model of the Hydro Muscle and the control of a multi-fiber Hydro Muscle actuated bionic ankle, Chinmay Harmalkar

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Efficient Factor Graph Fusion for Multi-robot Mapping, Ramkumar Natarajan

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Nonparametric Inverse Reinforcement Learning and Approximate Optimal Control with Temporal Logic Tasks, Siddharthan Perundurai Rajasekaran

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A Decentralized Strategy for Swarm Robots to Manage Spatially Distributed Tasks, Rohit S. Sheth

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Decentralized Approach to SLAM using Computationally Limited Robots, Vishnu Sudheer Menon

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Decentralized Approach to SLAM using Computationally Limited Robots, Vishnu Sudheer Menon

Theses from 2016

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Perception Framework for Activities of Daily Living Manipulation Tasks, Koushik Balasubramanian

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Gesture Based Navigation and Localization of a Smart Wheelchair using Fiducial Markers, Jayam Umesh Patel

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HydroBone and Variable Stiffness Exoskeleton with Knee Actuation, Saivimal Sridar

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Automating Fullerton Fitness Test Using a Home Robot, Apoorv Walawalkar

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Actuation, Control and Environment Setup for a bi-joint hydro-muscle driven leg structure, Amaid Zia

Theses from 2015

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Human Supervised Semi-Autonomous Approach for the DARPA Robotics Challenge Door Task, Nandan Banerjee

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Cyber Physical System for Continuous Evaluation of Fall Risks to Enable Aging-In-Place, Vinayak Jagtap

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Implementation of a Surgical Robot Dynamical Simulation and Motion Planning Framework, Adnan Munawar

Theses from 2014

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Analyzing and Modeling Low-Cost MEMS IMUs for use in an Inertial Navigation System, Justin Michael Barrett

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The Development of a Sensitive Manipulation End Effector, Catherine Coleman

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Analysis and Realization of a Dual-Nacelle Tiltrotor Aerial Vehicle, Paul Heslinga

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Construction of a 3D Object Recognition and Manipulation Database from Grasp Demonstrations, David E. Kent

Theses from 2013

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The Development of a Sensitive Manipulation Platform, Nigel B. Cochran

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An Intelligent Portable Aerial Surveillance System: Modeling and Image Stitching, Ruixiang Du

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An Embedded Seizure Onset Detection System, Alexander Lawrence Kindle

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Tactile-Based Mobile Robot Navigation, Xianchao Long

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Visual Simultaneous Localization and Mapping for a tree climbing robot, Benzun Pious Wisely Babu

Theses from 2012

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Designing and Constructing an Animatronic Head Capable of Human Motion Programmed using Face-Tracking Software, Robert J. Fitzpatrick

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Development of a Model and Simulation Framework for a Modular Robotic Leg, Katiegrace Youngsma

Theses from 2011

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Introductory Microcontroller Programming, Peter J. Alley