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Hompes, Jouke (author)
Flexible robotics offers promising solutions for navigating complex environments, and this study contributes to its advancement through innovative methodologies optimizing both flexible robotic arm kinematics and a novel flexible actuator. The first methodology focuses on optimizing kinematics using quadratic programming, enabling the...
master thesis 2024
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Berjaoui Tahmaz, Amin (author)
This paper presents a hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior primitives with variable stiffness control capabilities for contact tasks. Our proposed approach relies on three key components: an action...
master thesis 2024
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Bekkers, Sam (author)
The generation of a 3D map of an unseen environment, obtained through solving the SLAM problem, is a popular topic currently in the robotics domain. The Lunar Rover Mini (LRM) at the German Aerospace Center solves this problem using a RGB-D camera system, which is favourable in space applications due to its lightweight characteristics and energy...
master thesis 2024
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Weinans, Tom (author)
Autonomy in traffic (e.g., autonomous vehicles) could potentially benefit mobility, safety, accessibility and sustainability. However, the realisation of these advancements is highly dependent on how effective these autonomous vehicles interact with vulnerable road users such as pedestrians. Before we can understand how pedestrians will interact...
master thesis 2024
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Waterhout, Max (author)
This study investigates the influence of synthetic data on the accuracy of 6D pose estimation in RGB images compared to RGB-Depth image-based methods. Additionally, it aims to examine how this performance varies across different types of small chess pieces during a picking task with a robotic arm. The methodology involves 3D scanning the chess...
master thesis 2024
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Zwanenburg, Andreas (author)
These days, people see more and more applications for drones, including monitoring rainforests to protect plant and animal species. However, drones face challenges when navigating through the dense and cluttered vegetation of the forest. These environments necessitate advanced autonomous detection and navigation to make the drone traverse...
master thesis 2024
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Fung-A-Jou, Xavier (author)
Piping and Instrumentation Diagrams (P&IDs) are graphical representations utilized in chemical engineering plants. Due to confidentiality reasons and legacy drawings, these diagrams are sent in PDF format. Piping engineers need to make a material take-off (MTO), a document containing all the components of a P&ID from these drawings....
master thesis 2023
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van der Vliet, Willem (author)
Digital twins (DTs) are a common way for city planners and citizens alike to visualize the impact of new policy decisions, simulate scenarios, and plan for disasters. The more detail these DTs have, the more useful they can be. Windows and doors, also known as building openings, are a critical detail missing in Amsterdam’s DT. While previous...
master thesis 2023
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Martin Rodriguez, Ruben (author)
The provision of somatosensory information may play a fundamental role in the recovery of stroke patients. Particularly, tactile information is known to influence motor control by contributing to the perception of the weight, friction, and slip condition of objects. Despite this, the inclusion of tactile information through haptic rendering in...
master thesis 2023
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Guruprasad, Pavan Prasad (author)
The speed of the unsprung mass has a direct effect on the comfort of the ride. Too much unsprung mass movement and high speeds can make the ride rough and uncomfortable by sending vibrations and other disturbances to the people inside the car. By getting an accurate estimate of the speed of the unsprung mass, the suspension system can adjust the...
master thesis 2023
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Xu, Chenghao (author)
In recent years, visual Simultaneous Localization and Mapping (SLAM) have gained significant attention and found wide-ranging applications in diverse scenarios. Recent advances in computer vision and deep learning also enrich visual SLAM capabilities in scene understanding and large-scale operation. However, despite remarkable performance in...
master thesis 2023
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Bani, Klait (author)
This thesis introduces a novel model predictive controller (MPC) that integrates both torque vectoring and path following into one controller. Due to a need to improve vehicle safety, systems are being developed in order to improve vehicle handling. One system that is able to improve the vehicle handling is torque vectoring (TV). With torque...
master thesis 2023
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Kejriwal, Abhishek kumar (author)
Electrovibration offers potential to enrich virtual touch experiences with authentic tactile sensations on touchscreens. In controlled environments, responses to tactile stimuli may be anticipated, yet this predictability becomes uncertain in unconstrained settings due to dynamic factors like varied applied force, finger scanning speed, and...
master thesis 2023
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Tiburzio, Seb (author)
In robotic manipulation of deformable objects, the continuum nature of the object state leads to prohibitively high degrees of freedom when traditional modelling techniques are applied, leading to much research focusing on approaches that avoid an explicit object model. However, without such a model the opportunities for long horizon planning...
master thesis 2023
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Rots, Astrid (author)
We propose a novel shared control interface that enables teleoperated teaching of both high-level decision-making skills and low-level impedance modulation skills using a single haptic device. In the proposed method, high-level teaching is achieved by repurposing the haptic device to remotely modify Behaviour Trees (BTs), allowing human...
master thesis 2023
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Bontan, Luc (author)
Robots are increasingly deployed in various locations to automate tasks, including in barns. However, in barns cows can obstruct the sensors such as LiDAR or camera, leading to a lack of environmental information. As a result, the robot’s localization system only relies on odometry at those moments, introducing additional uncertainty to the...
master thesis 2023
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Allemekinders, Emma (author)
In this study, we perform human identification using accumulated radar point clouds in an outdoor scene. We employ PointNet as classification network and explore the impact of adding radars' non-spatial features as input, namely doppler velocity and radar cross section (RCS). Furthermore, we encode time as an additional time identity dimension...
master thesis 2023
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van den Bent, Luuk (author)
master thesis 2023
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van Riessen, Bram (author)
Relocated haptic feedback from the fingertip to the proximal phalanx can alter the perception of physical interactions by simultaneously displaying relocated multimodal tactile cues. However, how these relocated tactile cues alter the vibrotactile sensitivity of the fingertip remains unclear. This two-site stimulation study employs a...
master thesis 2023
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Jaber, Wissam (author)
Behaviour trees (BTs) serve as a powerful hierarchical structure for task execution, simplifying complex tasks but posing challenges in their manual design. The automatic generation of BTs addresses this concern, yet often lacks robust failure recovery options. This study presents Failure Recovery with Ontologically Generated Behaviour Trees ...
master thesis 2023
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