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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 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 ...
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 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 ...
Design and development of a novel anthropomorphic finger with pneumatic tactile sensing
(2020-04-01)
The human hand is a tool that we rely on to conduct a vast variety of tasks, from cracking eggs to lifting boxes. Meanwhile, in an industrial setting, different tools are needed to complete specific tasks. Picking up a box ...
Manipulator’s configuration design, excavation path generation, and underground object detection for an autonomous electric excavator
(2022-12-01)
Construction is an industrial sector that requires high labor costs and is exposed to harsh and hazardous environmental conditions. As a solution to these problems, an autonomous excavator is expected in high demand. To ...