Majeed, Salih Rashid: Virtual reality simulation of a smart eating table for handicapped people. 2020
Inhalt
- Acknowledgment
- Kurzfassung
- Dedication
- Abstract
- Table of Content
- List of Figures
- List of Tables
- 1 Introduction
- 1.1 Motivation
- 1.2 Research Objectives
- 1.3 Main contributions
- 1.4 The publications
- 1.5 Dissertation Outlines
- 2 Literature survey
- 2.1 Simulation tool background
- 2.2 Semantic environments background
- 2.3 Assistive robot background
- 2.4 Sound Recognition System Background
- 3 System implementation
- 3.1 Requirements and Software
- 3.2 The schematic for the project
- 3.3 Design of the environment
- 3.4 General structure of the system
- 3.5 Connection control between the systems
- 4 Robotics system
- 4.1.1 JACO arm specification
- 4.2 Armature
- 4.3 JACO arm simulation
- 4.4 Skinning
- 4.5 Controlling the arm
- 4.6 Inverse kinematic architecture simulation
- 4.7 Trajectory action control
- 5 The semantic camera system
- 5.1 Overview of the semantic MORSE semantic camera methodology
- 5.2 Implementation of the semantic objects in the environment
- 5.3 The Objects orientation
- 5.4 Control the semantic camera
- 6 The sound recognizer system
- 6.1 The system scripts
- 6.2 The language model
- 6.3 Keywords list
- 6.4 Grammars
- 6.5 Static language model
- 6.6 The control design
- 7 End effector task space position optimization using the PID controller
- 7.1 Related work
- 7.2 PID Theory
- 7.3 Filtering
- 7.4 Set Point Weighting
- 7.5 Different Parameterizations
- 7.6 The PID tuning (Ziegler-Nichols)
- 7.7 PID In ROS
- 7.8 The results
- 8 Experimental results
- 9 Conclusions and future work
- References