자료유형  

 학위논문

Control Number  

0017162484

International Standard Book Number  

9798383046876

Dewey Decimal Classification Number  

629.8

Main Entry-Personal Name  

Pogue, Alexandra Nguyen.

Publication, Distribution, etc. (Imprint  

[S.l.] : University of California, Los Angeles., 2024

Publication, Distribution, etc. (Imprint  

Ann Arbor : ProQuest Dissertations & Theses, 2024

Physical Description  

121 p.

General Note  

Source: Dissertations Abstracts International, Volume: 85-12, Section: B.

General Note  

Advisor: Hong, Dennis W.;Mehta, Ankur M.

Dissertation Note  

Thesis (Ph.D.)--University of California, Los Angeles, 2024.

Summary, Etc.  

요약This collection of studies explores various facets of robotic intelligence, emphasizing the lifecycle of a robot from inception to advanced operation. Beginning with the design phase, the concept of "physical intelligence" is demonstrated using the Non-Anthropomorphic Biped-Soleus (NABi-S) robot. The NABi-S robot, with its unique leg alignment and compliant soleus mechanism, demonstrates stability and agility while allowing for recovery from perturbations without complex control systems. Simplified kinematic analyses and open-loop control algorithms are all that are necessary for natural motion.In cases where closed-loop control is necessary, intuitive design approaches are taken to hybridize the CPG controller with zero dynamic control methods in order to render marginally stable and unstable zero dynamics of a cart-pole system, stable. Without the use of rigorous control theory, empirical tuning approaches are all that is necessary to synchronize a CPG state to the cart's pivot state to robustly stabilize the system. We then extend closed-loop CPG control to a hybrid dynamical system, the Simplest Walker, and show that stability regions surrounding walking cycles can be extended. This leads to the discussion of the synergistic benefits of hybridizing a CPG controller with an HZD controller. Through analysis, it is found that robots like NABi-S that have a higher number of degrees of freedom (DOFs) and walk unconventionally can be controlled successfully with this algorithm.In consideration of communication and cooperation, it is shown that the integration of Multi-Input Multi-Output (MIMO) network theory enhances spatial intelligence and awareness among UAV teams, allowing for high-level trajectory optimization in simultaneous data aggregation and communication tasks. By making small adjustments to pre-existing sensing tasks, this approach achieves significant improvements in network efficiency, demonstrating how ``spatially aware" modifications to data collection plans can lead to substantial gains in performance.Lastly, for robotic perception, SLAM (Simultaneous Localization and Mapping) techniques are crucial. The Block Online Expectation Maximization (BOEM) SLAM algorithm presents a robust hybrid approach to visual-inertial navigation that combines filtering and optimization techniques. Unlike optimization-based SLAM methods, this method does not require the processing of an entire batch of data at once, yet it achieves greater accuracy than filtering methods alone. By efficiently fusing visual and inertial data, BOEM-SLAM supports accurate real-time localization while lowering hardware requirements, making it useful for the simplification of robotic systems by algorithmic means.Together, these studies underscore the multifaceted intelligence required for modern robots, from foundational physical design to advanced spatial and visual capabilities.

Subject Added Entry-Topical Term  

Robotics.

Subject Added Entry-Topical Term  

Computer engineering.

Subject Added Entry-Topical Term  

Mechanical engineering.

Index Term-Uncontrolled  

Central pattern generators

Index Term-Uncontrolled  

Communications

Index Term-Uncontrolled  

Controls

Index Term-Uncontrolled  

Dynamics

Index Term-Uncontrolled  

Kinematics

Index Term-Uncontrolled  

Simultaneous Localization and Mapping

Added Entry-Corporate Name  

University of California, Los Angeles Mechanical Engineering 0330

Host Item Entry  

Dissertations Abstracts International. 85-12B.

Electronic Location and Access  

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Control Number  

joongbu:658434