Browsing Engineering (Faculty of) by Supervisor "Khajepour, Amir"
Now showing items 41-55 of 55
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Redundant Hybrid Cable-Driven Robots: Modeling, Control, and Analysis
(University of Waterloo, 2019-08-29)Serial and Cable-Driven Parallel Robots (CDPRs) are two types of robots that are widely used in industrial applications. Usually, the former offers high position accuracy at the cost of high motion inertia and small workspace ... -
Reliable Vehicle State and Parameter Estimation
(University of Waterloo, 2017-09-08)Diverse vehicle active safety systems including vehicle electronic stability control (ESC) system, anti-lock braking system (ABS), and traction control system (TCS) are significantly relying on information about the vehicle's ... -
Self-Localization for Autonomous Driving Using Vector Maps and Multi-Modal Odometry
(University of Waterloo, 2023-04-05)One of the fundamental requirements in automated driving is having accurate vehicle localization. It is because different modules such as motion planning and control require accurate location and heading of the ego-vehicle ... -
Sensor Fault Detection and Fault-Tolerant Estimation of Vehicle States
(University of Waterloo, 2023-01-13)Manufacturing smarter and more reliable vehicles is a progressing trend in the automotive industry. Many of today’s vehicles are equipped with driver assistant, automated driving and advanced stability control systems. ... -
Socially and Spatially Aware Motion Prediction of Dynamic Objects for Autonomous Driving
(University of Waterloo, 2023-03-17)The primary goal of this thesis project is to develop a robust object motion prediction framework enabling safe decision making for autonomous vehicles in various driving scenarios. Given the comparatively higher importance ... -
State and Parameter Estimation of Vehicle-Trailer Systems
(University of Waterloo, 2021-03-05)Vehicle-trailer systems have different unstable modes that should be considered in their stability control, including trailer snaking, jack-knifing, and roll-over. In general, vehicle control systems require vehicle ... -
Towards Domain Invariant Real-time Point Cloud Perception
(University of Waterloo, 2023-05-25)In recent years, autonomous driving has witnessed substantial advancements, owing in part to the rapid advancement of 3D sensor technologies, particularly Light Detection and Ranging (LiDAR) sensors.Despite these advancements, ... -
Towards Intelligent Tire and Self-Powered Sensing Systems
(University of Waterloo, 2019-05-21)Tires are the interface between a vehicle and the ground providing forces and isolation to the vehicle. For vehicle safety, stability, maintenance, and performance, it is vital to estimate or measure tire forces, inflation ... -
Trailer Sway Control Using an Active Hitch
(University of Waterloo, 2017-08-24)The handling and yaw stability characteristics of passenger vehicles are drastically changed when towing a trailer, which can lead to unsafe oscillations in the trailer yaw, known as trailer sway. This thesis examines the ... -
Variable-Structure Cable-Driven Parallel Robots
(University of Waterloo, 2022-05-16)Cable-driven parallel robots (CDPR) are a special class of robotic manipulators consisting of a rigid end effector suspended, constrained, and actuated by a number of length-varying cables. Since cable mass is typically ... -
Vehicle Dynamic and Control of Constrained Multi-Actuation Systems at the Limits of Handling
(University of Waterloo, 2021-03-17)With recent advances in electric vehicles, having electric motors directly driving the wheels is gaining attraction. When a vehicle is equipped with four independent electric hub motors or independently controlled brakes ... -
Vehicle Lateral and Longitudinal Velocity Estimation Using Machine Learning Algorithms
(University of Waterloo, 2022-01-17)Prediction and estimation of states are of great importance for vehicle control and safety. The conventional observers are designed and used vastly in the automotive industry to fulfill this objective. However, the vehicle ... -
Vehicle Stability Control Considering the Driver-in-the-Loop
(University of Waterloo, 2016-08-04)A driver‐in‐the‐loop modeling framework is essential for a full analysis of vehicle stability systems. In theory, knowing the vehicle’s desired path (driver’s intention), the problem is reduced to a standard control ... -
Vibration Control in Cable Robots Using a Multi-Axis Reaction System
(University of Waterloo, 2016-09-28)The primary motivation of this thesis is to develop a control strategy for eliminating persistent vibrations in all six spatial directions of the end effector of a planar cable-driven parallel robotic manipulator. By ... -
Vision-based Driver State Monitoring Using Deep Learning
(University of Waterloo, 2022-01-20)Road accidents cause thousands of injuries and losses of lives every year, ranking among the top lifetime odds of death causes. More than 90% of the traffic accidents are caused by human errors [1], including sight ...