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Drijver, Eveline (author)
Intelligent manufacturing has become increasingly important in the food packaging industry due to the growing demand for enhanced productivity and flexibility while minimizing waste and lead times. This work explores the integration of such manufacturing in automated secondary robotic food packaging solutions that transfer food products into...
master thesis 2023
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Bogaart, Loran (author)
In order to design safe and effective interactions between autonomous vehicles (AVs) and human road users, it is essential to understand the mechanisms underlying human-human merging behavior. Driving simulator experiments can be used to study these mechanisms, but previous research has primarily focused on the behavior of individual drivers...
master thesis 2023
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Matthieu, Mees (author)
On-demand ridesharing might be an effective solution to reduce traffic congestion and, as a result, reduce emissions to mitigate environmental issues. However, travel times are more uncertain in ridesharing services compared to non-shared transit services due to their shared nature. For example, at one moment, the users are informed that the...
master thesis 2022
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de Lange, Rudy (author)
This thesis proposes the novel Behaviour Tree Update Framework (BTUF) for the initial construction and continuous incremental adaptation of Behaviour Trees (BTs) for applications in Learning from Demonstration (LfD) frameworks to create complex robot behaviours associated with Activities of Daily Living (ADL) without requiring the user to have a...
master thesis 2022
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Uitendaal, Sven (author)
While robots execute many tasks where physical interaction with the environment is required, it is still challenging to control a robot that deliberately makes contact at a non-zero velocity, especially with multiple contact points that are impacted simultaneously.<br/>When there is a mismatch between planned and actual impact time, the robot...
master thesis 2022
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Bhatia, Stavya (author)
The recent decade has seen exponential growth in technology and information processing. This has enabled a paradigm shift in several logistical operations such as the introduction of on-demand same-day delivery of groceries.<br/><br/>One of the most relevant challenges in dynamic same-day pickup &amp; delivery systems is related to uncertainty...
master thesis 2022
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Rooijmans, Robert (author)
The main resistive force acting on the wheelchair during manual wheelchair propulsion is the rolling resistance. The magnitude of this rolling resistance is heavily influenced by the actions of the wheelchair user. By optimizing how wheelchair athletes move, this rolling resistance can be minimized, thereby improving their effective power output...
master thesis 2021
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Veldhuis, Erik (author)
This research proposes a new differentiator for estimating higher order derivatives of an input signal. The main reason why higher order derivatives are necessary is that Active Inference makes use of generalized coordinates. This means that it keeps internally track of higher order temporal derivatives of states, inputs and measurements. The...
master thesis 2021
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Marcelis, N.H.H. (author)
With the performance of current motion planning methods being highly dependent on the quality of the perception system, robust 3D multi-object detection and tracking are vital for autonomous driving applications. Despite all the advancements in 2D and 3D object detectors, robust tracking of pedestrians in dense scenarios is still a challenging...
master thesis 2021
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Gil Andres, Álvaro (author)
Human-robot interaction is a growing field that aims to research and develop communication channels between humans and robots to enhance comfort, safety, and productivity in healthcare, the household, and the industry. Researchers have considered ergonomy-related metrics to compose these channels for physical human-robot collaborative scenarios....
master thesis 2021
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Lee, Chia-Fu (author)
Hand pose tracking in 3D configuration is one of the popular components of human-computer interaction research, which can be seen applying in virtual reality (VR) and augmented reality (AR). Although the research field has been thoroughly studied in the past few decades, most methods emphasized recognizing hand gestures or joint locations....
master thesis 2021
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Lopez Bosque, Irene (author)
Interactive imitation learning refers to learning methods where a human teacher interacts with an agent during the learning process providing feedback to improve its behaviour. This type of learning may be preferable with respect to reinforcement learning techniques when dealing with real-world problems. This fact is especially true in the case...
master thesis 2021
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Bos, Fred (author)
The free energy principle is a recent theory that originates from the neuroscience. It provides a unified framework that combines action perception and learning in the human brain. This research aims to implement the perception aspect of the free energy principle into robotics. This is achieved via the dynamic expectation maximisation (DEM)...
master thesis 2021
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Kooijman, Bram (author)
Previous research showed that perceived risk is an important psychological determinant of road user behaviour and accident prevalence. However, little knowledge exists about how objective in-scene features affect a driver’s perceived risk in interactions with pedestrians. This crowdsourcing study tries to fill this research gap. A total of 1082...
master thesis 2021
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Sabnis, Nihar (author)
When a trainee is (re)learning a skilled movement, physical guidance from a trainer is crucial. Yet, providing physical cues to guide movements is highly challenging when training is digitally mediated (e.g.remotely). This work demonstrates the utility of pseudo forces generated by a wearable tactile interface for providing non-intrusive...
master thesis 2021
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meo, cristian (author)
Active inference, a theoretical construct inspired by brain processing, is a promising approach to control artificial agents. Here we present a novel multimodal active inference torque controller for industrial arms that improves the adaptive characteristics of previous active inference approaches but also enables multimodal integration with any...
master thesis 2021
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Coehoorn, Jesse (author)
The Free Energy Principle, which underlies Active Inference (AI), is a way to explain human perception and behaviour. Previous literature has hinted at a relation between AI and Linear-Quadratic Gaussian (LQG) control, the latter being a textbook controller. AI and LQG are, however, defined with different settings in mind: LQG has access to...
master thesis 2021
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van der Sar, martijn (author)
Pick and place systems that operate in a warehouse setting have been studied a lot recently due to the high economic value for e-commerce companies. In this thesis, the focus is on the perception pipeline that performs object recognition given a certain input data stream (typically RGB-D images). Impressive results regarding object recognition...
master thesis 2021
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Daniel Noel, Alejandro (author)
Intelligent agents must pursue their goals in complex environments with partial information and often limited computational capacity. Reinforcement learning methods have achieved great success by creating agents that optimize engineered reward functions, but which often struggle to learn in sparse-reward environments, generally require many...
master thesis 2021
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Westra, Koos (author)
Previous research has shown automated robotic mechanism design to be both deceptive (prone to local minima) and rife with linkage problems (having highly interdependent parameters). This results in a barrier to optimization that is unable to be breached by simply applying more iterations and computational power. The research also indicates that...
master thesis 2021
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