Matching Items (3)
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- All Subjects: mobility
- Creators: Thangavelautham, Jekan
- Creators: Alonzi, Elise
Description
A robotic exploration mission that would enter a lunar pit to characterize the environment is described. A hopping mechanism for the robot's mobility is proposed. Various methods of hopping drawn from research literature are discussed in detail. The feasibilities of mechanical, electric, fluid, and combustive methods are analyzed. Computer simulations show the mitigation of the risk of complex autonomous navigation systems. A mechanical hopping mechanism is designed to hop in Earth gravity and carry a payload half its mass. A physical experiment is completed and proves a need for further refinement of the prototype design. Future work is suggested to continue exploring hopping as a mobility method for the lunar robot.
ContributorsMcKinney, Tyler James (Author) / Thangavelautham, Jekan (Thesis director) / Robinson, Mark (Committee member) / Asphaug, Erik (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2015-05
Description
Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture of each LIDAR point. Next, the various sources of error that can cause the mis-coloring of a LIDAR point after the cross- calibration are identified. Theoretical analyses of these errors reveal that the coloring errors due to noisy LIDAR points, errors in the estimation of the camera matrix, and errors in the estimation of translation between the sensors disappear with distance. But errors in the estimation of the rotation between the sensors causes the coloring error to increase with distance.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
ContributorsKrishnan, Aravindhan K (Author) / Saripalli, Srikanth (Thesis advisor) / Klesh, Andrew (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekan (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2016
Description
Mobility is an important aspect of the lives of religious individuals described by medieval texts in early and late medieval Ireland, and biogeochemical methods can be used to detect mobility in archaeological populations. Stories are recorded of monks and nuns traveling and founding monasteries across Ireland, Scotland, England, Wales, and other areas of Europe. However, these texts rarely address the quotidian lives of average monks and nuns who lived in monastic communities. This dissertation seeks to understand if travel was a typical part of the experiences of religious and lay people in early and late medieval Ireland. It also aims to increase understanding of how monastic communities related to the local lay communities, including addressing if the monastery was populated by those who grew up in the local area. Another methodological aim of this dissertation is to advance the field of archaeological biogeochemistry by (1) adding to the bioavailable strontium baseline in Ireland and (2) quantifying the contribution of ocean-derived strontium to coastal environments. These topics are explored through the biogeochemical analysis of 88 individuals buried at 5 early and late medieval monasteries in Ireland and the analysis of a total of 85 plant samples from four counties in Ireland. The three papers in this dissertation present: (1) a summary of the mobility of religious and lay people buried at the monasteries (Chapter 2), (2) a case study presenting evidence for fosterage of a local child at the early medieval monastery of Illaunloughan, Co. Kerry (Chapter 3), and (3) a study designed to quantify the impact of sea spray on bioavailable strontium in coastal environments (Chapter 4). The majority of lay and religious individuals studied were estimated to be local, indicating that medieval Irish Christianity was strongly rooted in the local community. The study of ocean-derived strontium in a coastal environment indicates that sea spray has a non-uniform impact on bioavailable strontium in coastal regions. These findings shed new light on medieval monastic and lay life in Ireland through the application of biogeochemical methods, contributing to the growth of the field of archaeological chemistry in Ireland.
ContributorsAlonzi, Elise (Author) / Knudson, Kelly (Thesis advisor) / Hegmon, Michelle (Committee member) / Scott, Rachel (Committee member) / Stojanowski, Christopher (Committee member) / Arizona State University (Publisher)
Created2018