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Localization of a robotic crawler for CANDU fuel channel inspection
(2017-06-01)
This thesis discusses the design and development of a pipe crawling robot for the purpose of CANDU fuel channel inspection. The pipe crawling robot shall be capable of deploying the existing CIGAR (Channel Inspection and ...
Development of an obstacle detection and navigation system for autonomous powered wheelchairs
(2019-05-01)
This thesis describes the development and prototyping of an after market system to convert an electric powered wheelchair into an autonomous wheelchair. The purpose of this research is to automatize powered wheelchairs for ...
Multimodal series elastic actuator for human-machine interaction with applications in robot-aided rehabilitation
(2019-11-01)
Series elastic actuators (SEAs) are becoming an elemental building block in collaborative robotic systems. They introduce an elastic element between the mechanical drive and the end-effector, making otherwise rigid structures ...
Development of an autonomous omnidirectional hazardous material handling robot
(2015-12-01)
This thesis describes the prototyping and testing of an autonomous omnidirectional robot, called the OmniMaxbot. The OmniMaxbot is designed to carry cans of uranium ash at Cameco Corporation's Port Hope Conversion Facility ...
Performance improvement for robotic mechanisms by: synthesis design, dynamic balancing and adaptive control techniques
(2016-05-01)
Robotics have been used in many arenas, such as manufacturing, medical, and space. Currently, the use of robotics is limited with respect to performance capabilities. Improving the performance of robotic mechanisms is a ...
Advances in parallel robotics for flexible and reconfigurable manufacturing
(2014-04-01)
Parallel robotic manipulators are a specific type of robot that has multiple
limbs which are ultimately connected to a moving body. Within
this regime, there are several sub-classes of robots characterized by
certain ...
Robotic radiation mapping using modelling and probabilistic analysis of sparse data
(2015-07-01)
An approach for generating radiation intensity maps, comprised of a mobile robotic platform and an integrated radiation model, is presented, and its ability to generate accurate radiation maps in simulation studies as well ...
H-Delta: design and applications of a novel 5 degree of freedom parallel robot
(2018-04-01)
This thesis presents a new parallel 5 DOF robot called the H-Delta. The H-
Delta adds 2 degrees of freedom (DOF) to the traditional Delta robot in a novel
way, adding functionality and versatility. Importantly, the rotational ...