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A Partitioned Experience Method for Trajectory Prediction of Pedestrians

Sridharan, Anish (author)

For travelling from point A to point B, autonomous vehicles generate a route between the points. During the mission, the vehicle uses a motion planning and controls algorithm to follow the planned route while avoiding static and dynamic obstacles. Motion planning algorithms generally plan over a future time horizon to smoothly follow the route...

master thesis 2022

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Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning

ZHANG, Frankie (author)

Task and Motion Planning (TAMP) has progressed significantly in solving intricate manipulation tasks in recent years, but the robust execution of these plans remains less touched. Particularly, generalizing to diverse geometric scenarios is still challenging during execution. In this work, we propose a reactive TAMP method to deal with...

master thesis 2023

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Linear State-Space System Identification for Automatic Greenhouse Climate Control

van der Lely, Lars (author)

Over nine billion people will have to be fed fresh and healthy food in 2050 according to United Nations. This puts pressure on the horticulture sector, responsible for a large portion of the world’s food production. The literature has shown that automatic optimal control algorithms are able to make better use of resources and can even outperform...

master thesis 2022

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Seat Vibration Simulator for Ride Comfort Evaluation

Zhao, Liang (author)

Ride comfort is one of the aspects of vehicles that manufacturers are constantly trying to improve, and seat vibration is an important contributing factor to ride comfort. The present study developed a seat vibration simulator for investigating the human perception of seat vibration and its application on ride comfort evaluation. <br/><br/>The...

master thesis 2018

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Line Adaptive Monte Carlo Localization: Improving self-localization of a mobile robot in barns

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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Architecture and Task Plan Co-Adaptation with Metaplan for Unmanned Underwater Vehicles

Zwanepol, Jeroen (author)

Unmanned Underwater Vehicles (UUVs) operate in complex environments and need to be able to adapt to sudden failures, or changes in the environment. To achieve autonomous operation, UUVs must have the ability to self-adapt in such cases. To effectively handle component failures and unexpected events, self-adaptation must be applied to both the...

master thesis 2023

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Automated Lane Keep Assist System: A study on the formation and evolution of the mental model of the user of ALKS

Shivankar, Shantanu (author)

The mental model is a very rarely studied topic when it comes to human-machine interaction. Nearly all the studies that are done in this field are on measuring the actual performance of the human while performing the collaborative task with the automation system rather than understanding the complete picture of how the human is understanding and...

master thesis 2021

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Forecasting of SARS-Cov-2 Infections within Dutch Municipalities using Spatio-Temporal Graph Neural Networks

Croft, Maxime (author)

This paper presents a novel approach to regional forecasting of SARS-Cov-2 infections one week ahead, which involves developing a municipality level COVID-19 dataset of the Netherlands and using a spatio-temporal graph neural network (GNN) to predict the number of infections. The developed model captures the spread of infectious diseases within...

master thesis 2023

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Wrinkle direction detection and its application on robotic cloth wrinkle removal

Qiu, Yulei (author)

Deformable Object Manipulation (DOM) is an important field of research as it contributes to practical tasks such as cloth handling, cable routing, surgical operation etc. The sensing in DOM is now considered as one of the major challenges in robotics due to the complex dynamics and high degree of freedom of deformable objects. One challenge is...

master thesis 2022

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On Game-Theoretic Planning with Unknown Opponents' Objectives

LIU, Xinjie (author)

Many autonomous navigation tasks require mobile robots to operate in dynamic environments involving interactions between agents. Developing interaction-aware motion planning algorithms that enable safe and intelligent interactions remains challenging. Dynamic game theory renders a powerful mathematical framework to model these interactions...

master thesis 2023

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Significance of Static Backgrounds for Video Object Detection

Chandran, Godwin Rayan (author)

Video Object Detectors (VID) are used in various applications such as surveillance, inspection, etc. Often in these applications there exists a spatial area of interest and a static background. The static backgrounds remain constant throughout the video sequence in the training data establishing an undesirable correlation with the moving object...

master thesis 2022

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User Exploratory Behaviour and Perception in Unconstrained Tactile Exploration Using Electrovibration

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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Modelling and stabilization of coil deposition in intracranial aneurysm treatment: Improving the safety of neurovascular interventions

van der Staaij, Jasper (author)

An intracranial aneurysm is a bulge in the cerebral vasculature. The rupture of an aneurysm results in a brain bleed. As a consequence, most patients become severely handicapped or may even die. Preventive treatment with endovascular coiling is controversial due to the high risk of complications. These complications are partly caused by the...

master thesis 2022

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A Better Grasp on the Asymmetrical Adaptation of Grip Force in Response to Friction Perturbations

Roël, Felix (author)

Our remarkable sense of touch provides us the feedback that is crucial for successfully manipulating a wide range of objects.<br/>The unconscious synergy between touch and the precision grip is particularly astonishing.<br/>During precision manipulation, humans constantly control their grip force to maintain a safety margin of approximately 25...

master thesis 2022

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Lane Change Intention Recognition Models Using Hidden Markov Models and Relevance Vector Machines

Yu, Rui (author)

The development of intelligent vehicle and autonomous driving asked a higher requirement of ADAS on its functionality. Currently, ADAS systems are able to detect and segment urban and highway driving scenes. They cannot, in general, extract ’meaning’ from this segmentation yet. Learning the intention of other road users will help ADAS understand...

master thesis 2019

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Manipulation of Deformable Linear Objects Using Dynamic Affine Curvature Modelling

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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Are you sure? Modelling the Confidence of a Driver in Left-Turn Gap Acceptance Decisions

Bontje, Floor (author)

When a person makes a decision, it is automatically accompanied by a subjective probability judgement of the decision being correct, in other words, a (local) confidence judgement. Confidence judgements have, among other things, an<br/>effect on justifications of future decisions and behaviour. A better understanding of the metacognitive...

master thesis 2023

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SLIP-based Iterative Learning for Efficient and Compliant Locomotion of Articulated Soft Quadrupeds

van Löben Sels, Mees (author)

Effectively controlling and exploiting the natural dynamics of Articulated Soft Robots for energy-efficient motions remains challenging. In literature, the problem is often split in two; in energy-efficient motion planning and structure-preserving control, where the focus is on one, and the other is largely disregarded. This work aims to unify...

master thesis 2023

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Learning to search & track dynamic targets with graph representations

Cong, Shijie (author)

Autonomous robots have been widely applied to search and rescue missions for information gathering about target locations. This process needs to be continuously replanned based on new observations in the environment. For dynamic targets, the robot needs to not only discover them but also keep tracking their positions. Previous works focus on...

master thesis 2023

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Developing a high-performance patient-to-image registration system for robotic cochlear implant surgery: Through the human-robot interaction-focused design method leading to a multi-modal, multi-feedback admittance control, touch-based pair-point bone-anchored fiducial registration and its performance measured in accuracy, workload, usability and trust

Halman, Susanna (author)

This thesis presents the research to design a successful high-accuracy, sub-millimetric registration method for an autonomous robot equipped to drill bone for cochlear implant (CI) surgery. Its performance, and thus success, is measured in accuracy, workload, usability and trust. While state-of-the-art (STOTA) research lacks the inclusion of...

master thesis 2023