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Spring 2024
This thesis delves into the pivotal role of teachers in effectuating organisational change within K-12 educational settings. The study hinges on the premise that while teachers are at the forefront of implementing change, they are often sidelined in the decision-making processes, leading to a...
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Fall 2015
The navigation task for unmanned aerial vehicles (UAVs), such as quadrotors, in an indoor environment becomes challenging as the global positioning system (GPS) and the magnetometer may provide inaccurate aiding measurements and the signals may get jammed. The navigation system design in this...
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Vision-assisted behavior-based construction safety: Integrating computer vision and natural language processing
DownloadFall 2023
Background: Construction sites can be hazardous places. Behavior-based safety is a method to optimize workers’ behaviors and improve site safety. Previous behavior-based safety has been criticized for their low efficiency because of manual observation. The community has conducted enormous studies...
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Fall 2017
Vision-based algorithms designed to detect and track UAVs from an onboard moving platform have been the focus of active and extensive research over the last decade, and dozens of algorithms have been tested, compared and optimized. However, the existing approaches tend to rely on specific...
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Vision-based Impedance Control of a 7-DOF Robotic Manipulator for Pick-and-Place Tasks in Grasping Fruits
Download2022-06-01
Chen, Qiguang, Wan, Lucas, Ravichadran, Prabahar, Pan, Ya-Jun, Chang, Young Ki
A vision-based impedance control method is applied to a 7-degree-of-freedom (7-DOF) Franka Emika (FE) Panda robotic manipulator to complete pick-and-place tasks with human-like grasping of fruits. The interfaces between different hardware and the controller are developed using robotic operating...
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Fall 2021
This thesis applied a combination of machine learning and computer vision to an engineering research project, using a two-armed Baxter robot hardware platform. The challenge was estimating the robot arm’s joint angles from monocular camera images. After evaluating several methods from...
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Vision-based Tracking of Worker Trajectories in Built Workplaces for Safety and Health Study
DownloadFall 2016
Construction sites are the place where personnel and equipment work closely. In such workplaces, human movement dynamically adapts to the surrounding circumstances which are congested and continually changing. Acquisition of worker trajectories and measurement of physical value of workplaces,...