000001619 001__ 1619
000001619 035__ $$a34940 
000001619 037__ $$aROMDOC-THESIS-2017-1100
000001619 041__ $$arum
000001619 100__ $$aBobocea, Geanina-Mihaela
000001619 245__ $$aStudii şi cercetări privind dezvoltarea şi realizarea de roboţi autoconfigurabili prin module cu două grade de mobilitate 
000001619 260__ $$c2011-09-06
000001619 520__ $$aStudy and Research on Developing and Designing a Self-Reconfigurable Robot with Two Degrees of Freedom Modules PhD Thesis Abstract Autor: ing. Geanina-Mihaela BOBOCEA Conducător doctorat: prof. dr. ing. Nicolae ALEXANDRESCU The main goal of this thesis is research and development of a mini-modular robotic system that can achieve controlled movement, reconfiguration and self-replication operations. 1st Chapter: Introduction. PhD thesis goals – offers a presentation of thesis goals. 2nd Chapter: Existing self-reconfigurable modular robots structures, mobility and locomotion type – presents a worldwide-existing solutions study. 3rd Chapter deals with Self-reconfigurable modular robots existing connecting solutions. 4th Chapter involves research results from ROMAR’s robot theoretical and experimental study, in the development of which the PhD student has contributed. 5th Chapter: Research and development of new constructive and cinematic solutions to the new ROMAR module – deals with the improvement of the ROMAR robot solution proposed. 6th Chapter: Locomotion and reconfiguration of improved ROMAR module structures study – offers an analysis of cinematic and locomotion properties of a module. The goal was to develop locomotion and reconfiguration algorithms for different structures with a number of up to eleven improved ROMAR modules. 7th Chapter: Improved ROMAR modules dynamic behaviour modelling for caterpillar and quadruped configurations – focused on dynamic modelling in 20-sim development tool, in order to verify the ability of the improved ROMAR module structures to achieve different types of locomotion proposed in the 6th chapter. 8th Chapter: Self-reconfigurable modular robot remote control – dealt with solving the issues regarding robot modules’ synchronisation and optimising the command for the improved ROMAR robot. These were the main objectives of a 3-month European research stage between April 4th and July 4th 2011 at Fachhochschule Frankfurt am Main – University of Applied Sciences, in the Technische Informatik Labor, under professor Peter Nauth’s guidance. Chapter 10 – Conclusions regarding PhD thesis objectives and results – presents personal contributions and future research perspectives.
000001619 6531_ $$aROMAR (Robot modular)
000001619 6531_ $$aRobotică -- Teză de doctorat
000001619 6531_ $$aRoboţi industriali -- Teză de doctorat
000001619 6531_ $$aMecatronică -- Teză de doctorat 
000001619 8560_ $$ff_costache@library.pub.ro
000001619 8564_ $$uhttp://romdoc.upb.ro/record/1619/files/$$zAccess to Fulltext
000001619 980__ $$aTHESIS