Browsing Mechanical and Mechatronics Engineering by Supervisor "Jeon, Soo"
Now showing items 1-17 of 17
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Application of Nonlinear Model Predictive Control to Holonomic Mobile Robots without Terminal Constraints or Costs
(University of Waterloo, 2020-09-01)The use of mobile robots greatly enhances the capability and versatility of industrial robots compared to their fixed counterpart. However, successfully deploying autonomous mobile robots is challenging and requires accurate ... -
Development of a Feasible Elastography Framework for Portable Ultrasound
(University of Waterloo, 2017-10-06)Portable wireless ultrasound is emerging as a new ultrasound device due to the advantages such as small size, lightweight and affordable price. Its high portability allows practitioners to make diagnostic and therapeutic ... -
Dynamic Weight Estimation of Non-Singulated Objects
(University of Waterloo, 2018-08-21)Weight estimation is a common practice throughout many industries, though it typically requires that the objects to be weighed remain motionless. More often than not, it is beneficial to allow objects to move freely through ... -
Enhanced Learning Strategies for Tactile Shape Estimation and Grasp Planning of Unknown Objects
(University of Waterloo, 2019-09-20)Grasping is one of the key capabilities for a robot operating and interacting with humans in a real environment. The conventional approaches require accurate information on both object shape and robotic system modeling. ... -
Enhancing Focused Ultrasound Therapy Using Nanoscale Agents
(University of Waterloo, 2020-05-05)Focused ultrasound therapy, also known as high intensity focused ultrasound (HIFU), is a new energy-based method that uses ultrasonic energy to treat a range of health disorders and tumors. Despite the great potential for ... -
Experimental Evaluation of Affordance Detection Applied to 6-DoF Pose Estimation for Intelligent Robotic Grasping of Household Objects
(University of Waterloo, 2021-11-22)Recent computer vision research has demonstrated that deep convolutional neural networks can be trained on real images to add context to object parts for simultaneous object detection and affordance segmentation. However, ... -
Model Predictive Control of Highway Emergency Maneuvering and Collision Avoidance
(University of Waterloo, 2017-09-11)Autonomous emergency maneuvering (AEM) is an active safety system that automates safe maneuvers to avoid imminent collision, particularly in highway driving situations. Uncertainty about the surrounding vehicles’ decisions ... -
A New Approach to Reinforcement Learning for Sequential Robotic Tasks using a Chained Options Model and Subtask-Focused Rewards
(University of Waterloo, 2021-09-09)Reinforcement Learning for Robotics is a trending area of research with tremendous potential for widescale industry adoption. To its detriment, large amounts of environmental interactions are typically required by robotic ... -
Nonprehensile Manipulation via Multisensory Learning from Demonstration
(University of Waterloo, 2018-12-04)Dexterous manipulation problem concerns control of a robot hand to manipulate an object in a desired manner. While classical dexterous manipulation strategies are based on stable grasping (or force closure), many human-like ... -
On the Enhancement of the Localization of Autonomous Mobile Platforms
(University of Waterloo, 2020-08-27)The focus of many industrial and research entities on achieving full robotic autonomy increased in the past few years. In order to achieve full robotic autonomy, a fundamental problem is the localization, which is the ... -
Operator Impedance During Physical Human-Robot Interaction: Estimation and Validation
(University of Waterloo, 2019-09-20)As the frequency and complexity of physical human-robot interaction (pHRI) increases, so does the need to understand the dynamics of this coupled system in real-time. For haptic displays, which provide information to our ... -
Path Following for Robot Manipulators Using Gyroscopic Forces
(University of Waterloo, 2017-08-23)This thesis deals with the path following problem the objective of which is to make the end effector of a robot manipulator trace a desired path while maintaining a desired orientation. The fact that the pose of the end ... -
Reconfigurable Integrated Control for Urban Vehicles with Different Types of Control Actuation
(University of Waterloo, 2017-12-08)Urban vehicles are designed to deal with traffic problems, air pollution, energy consumption, and parking limitations in large cities. They are smaller and narrower than conventional vehicles, and thus more susceptible to ... -
Safe and Efficient Navigation of a Mobile Robot: Path Planning Based on Hierarchical Topology Map and Motion Planning with Pedestrian Behavior Model
(University of Waterloo, 2022-09-02)Safety in mobile robot navigation is an essential aspect, but it is often accompanied by a trade-off of efficiency in different navigation steps. For global planning, safety is frequently handled by inflated obstacles. ... -
Small scale energy harvesting for use with an electronic door strike
(University of Waterloo, 2016-04-18)Smart or connected devices are becoming more and more prevalent in modern society. These devices typically consist of miniature sensors and actuators to automate and control common daily activities. The spread of these ... -
Smart Exercise Adaptive Control of a Three Degree of Freedom Upper-limb Manipulator Robot
(University of Waterloo, 2021-09-15)An adaptive velocity field controller for robotic manipulators is proposed in this thesis. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user’s mechanical ... -
Vision-based Self-Supervised Depth Perception and Motion Control for Mobile Robots
(University of Waterloo, 2022-07-18)The advances in robotics have enabled many different opportunities to deploy a mobile robot in various settings. However, many current mobile robots are equipped with a sensor suite with multiple types of sensors. This ...