Browsing Mechanical and Mechatronics Engineering by Supervisor "Melek, William"
Now showing items 1-20 of 21
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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 ... -
Augmentation of Visual Odometry using Radar
(University of Waterloo, 2021-10-25)As UAVs become viable for more applications, pose estimation continues to be critical. All UAVs need to know where they are at all times, in order to avoid disaster. However, in the event that UAVs are deployed in an area ... -
A Data-Driven Approach for Generating Vortex Shedding Regime Maps for an Oscillating Cylinder
(University of Waterloo, 2022-01-20)Recent developments in wind energy extraction methods from vortex-induced vibration (VIV) have fueled the research into vortex shedding behaviour. The vortex shedding map is vital for the consistent use of normalized ... -
Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models
(University of Waterloo, 2021-03-12)Despite many advances that aim to bring autonomous cars to market, several challenges remain to overcome before such technology is widely adopted. Among these is the need for a reliable cornering control that can work ... -
Development of a Multi-Hour Ahead Wind Power Forecasting System
(University of Waterloo, 2022-09-01)Wind energy, as a renewable and green energy source with substantial value that is vital for sustainable human development, is gaining more and more attention around the world. The variability of wind implies that wind ... -
Development of an Autonomous Vehicle Platform
(University of Waterloo, 2019-08-27)Autonomous vehicles and their related development are gaining a lot of traction as a promising up and coming technology. The Mechatronics Vehicle Systems lab at the University of Waterloo is well pioneered in the automotive ... -
Direct Visual-Inertial Odometry using Epipolar Constraints for Land Vehicles
(University of Waterloo, 2018-09-20)Autonomously operating vehicles are being developed to take over human supervision in applications such as search and rescue, surveillance, exploration and scientific data collection. For a vehicle to operate autonomously, ... -
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, ... -
Hierarchical Adaptive Control of Modular and Reconfigurable Robot Manipulator Platforms
(University of Waterloo, 2020-10-26)Within the rapidly growing interest in today's robotics industry, modular and reconfigurable robots (MRRs) are among the most auspicious systems to expand the adaptability of robotic applications. They are adaptable to ... -
Integrated Task and Motion Planning of Multi-Robot Manipulators in Industrial and Service Automation
(University of Waterloo, 2021-02-01)Efficient coordination of several robot arms in order to carry out some given independent/cooperative tasks in a common workspace, avoiding collisions, is an appealing research problem that has been studied in different ... -
An Intelligent Ambulatory Fall Risk Assessment Method Based on the Detection of Compensatory Balance Reactions and Environmental Factors
(University of Waterloo, 2022-01-18)Falls in older adults are a critical public health problem worldwide and impact one in three older adults at least once each year. In addition to physical consequences (e.g., hip fracture) falls can lead to negative ... -
A Methodology for Data-Informed Process Control in Progressive Die Sheet Metal Forming
(University of Waterloo, 2022-10-25)This thesis investigates the coupled relationship between the strip transfer and forming operations in progressive die sheet metal forming, including the effects of the strip layout geometry, and its effect on the process ... -
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 ... -
Novel Tornado-Like Vortex Generator with Intelligent Controller
(University of Waterloo, 2021-01-29)Cooking fumes may cause multiple adverse health effects, and range hoods play central roles in controlling indoor air pollution caused by cooking fumes. However, the traditional design of the range hoods has a low efficiency ... -
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 ... -
Pitch Angle Control for a Small-Scale Darrieus Vertical Axis Wind Turbine with Straight Blades (H-type VAWT)
(University of Waterloo, 2019-06-18)Unlike the horizontal axis wind turbines, only a few studies have been conducted recently to improve the performance of a Darrieus Vertical Axis Wind Turbine with straight blades (H-type VAWT). Pitch angle control technique ... -
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 ... -
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. ... -
Simultaneous Local Motion Planning and Control, Adjustable Driving Behavior, and Obstacle Representation for Autonomous Driving
(University of Waterloo, 2020-10-08)The evolving autonomous driving technology has been attracting significant research efforts in both academia and industry because of its promising potentials. Eliminating the human intervention in driving will drastically ... -
Synchronized Motion Control of Dual Robot Manipulator Systems
(University of Waterloo, 2020-09-14)Dual manipulator systems are capable of accomplishing a variety of tasks, such as manipulating large and heavy objects and assembling parts, that might be impossible for single manipulators. These collaborative tasks ...