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FREE BODIES IN UNSTEADY VISCOUS FLOWS AND SIMPLE MECHANICAL ANALOGS: NONLINEAR DYNAMICS AND UNDERACTUATED CONTROL
Title
FREE BODIES IN UNSTEADY VISCOUS FLOWS AND SIMPLE MECHANICAL ANALOGS: NONLINEAR DYNAMICS AND UNDERACTUATED CONTROL
Author
Abrajan Guerrero, Rodrigo
Date Created
2018
Subjects--Topical
Mechanical engineering, Mechanics, Robotics
Description
In this dissertation we study the interactions between free bodies and unsteady viscous flows, with particular interest in locomotion and in particle transport in streaming flows.For self-propelling bodies, we present systems with two different me...
Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints
Title
Improving Dense Real-Time 3D SLAM Using Sparse Geometric Constraints
Author
Papadakis, John-Richard
Date Created
2018
Subjects--Topical
Robotics
Description
This thesis explores the extension of a state of the art dense RGBD SLAM system to include detected geometries as elements in the estimated global map. The existing approach leverages an algorithm for dense visual odometry, which is analyzed in de...