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Skip to Search Results- 6Motion Planning
- 3Modular Construction
- 2Medical Robotics
- 2Robotics
- 1Artificial Intelligence
- 1Conceptual Cost Estimation
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A Conceptual Cost Comparison Study between Alberta and Overseas Module Assembly Strategies for Industrial Construction Projects
DownloadFall 2016
In recent years, the lower cost of construction resources in overseas countries (e.g. China and Korea) and advancements in transportation have increased the interest in offshore fabrication and assembly of industrial modules as an alternative to local assembly in Alberta, Canada. Many research...
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Fall 2012
Crane lift path planning is time-consuming, prone to errors, and requires the practitioners to have exceptional visualization abilities, in particular, as the construction site is congested and dynamically changing. This research presents a methodology based on robotics motion planning to...
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Spring 2015
In North America, industrial projects are constructed using a modularization/offsite construction method. Modules, such as pipe racks and vessels, are prefabricated offsite in factories, assembled in module yards, and shipped to the site for installation. This process has been adopted by the...
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Improving the Efficiency, Productivity, and Cost-Effectiveness of Modular Design and Construction Processes
DownloadSpring 2012
This thesis provides a methodology to incorporate building information modeling (BIM), lean construction, and simulation modelling into a cohesive package in the context of modular manufacturing. BIM was used to construct a three dimensional model from which the wall and object properties were...
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Fall 2017
Percutaneous needle insertion is a common type of minimally invasive surgery used for diagnostic and therapeutic applications such as biopsy, drug delivery, and cancer treatment. Prostate brachytherapy is a needle-based intervention, which is used for cancer treatment. In brachytherapy the...
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Motion Planning of Robotic Systems in Diagnostic and Therapy Applications Using Control and AI
DownloadFall 2023
This thesis presents significant research on robotic motion planning within diagnostic and therapy applications, with a primary focus on the integration of control and AI techniques. The research encompasses three main contributions: a robotic ultrasound imaging method, a robot-assisted...
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Spring 2016
This thesis applies the Monte Carlo Random Walk method (MRW) to motion planning. We explore different global and local restart strategies to improve the performance. Several new algorithms based on the MRW approach, such as bidirectional Arvand and optimizing planner Arvand*, are introduced and...
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Uncalibrated Vision-Based Control and Motion Planning of Robotic Arms in Unstructured Environments
DownloadFall 2012
Many robotic systems are required to operate in unstructured environments. This imposes significant challenges on algorithm design. Particularly, motion control and planning algorithms should be robust to noise and outliers, because uncertainties are inevitable. In addition, independence from...