A Unified Mathematical and Theoretical Framework for Intelligent Reassembling Robotics

Sudharsan Thiruvengadam

doi:10.26182/r3v4-9813

A Unified Mathematical and Theoretical Framework for Intelligent Reassembling Robotics

Sudharsan Thiruvengadam

School of Engineering

Research output: Thesis › Doctoral Thesis

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Abstract

This thesis presents a unified framework of theoretical and mathematical methods that generalises the analysis and modelling of intelligent robots that adaptively reassemble to meet classical mechanical needs of new task manoeuvres and spaces. To this end, the four broad avenues of research developed were generalised mathematical methodologies for: the characterisation of theoretical reassembling transformations, the analysis and modelling of reassembling robots' classical mechanical behaviours, a novel higher-dimensional general artificial intelligence approach and a new time series analysis and forecasting approach. This formulation was built using Geometric or Clifford Algebra, quaternions, screws, network theory and higher-dimensional conformal space mappings.

Original language	English
Qualification	Doctor of Philosophy
Awarding Institution	The University of Western Australia
Supervisors/Advisors	Wittek, Adam, Supervisor Miller, Karol, Supervisor
Award date	3 Sept 2021
DOIs	https://doi.org/10.26182/r3v4-9813
Publication status	Unpublished - 2020

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10.26182/r3v4-9813

THESIS - DOCTOR OF PHILOSOPHY - THIRUVENGADAM, Sudharsan - 2020
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Cite this

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title = "A Unified Mathematical and Theoretical Framework for Intelligent Reassembling Robotics",

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AB - This thesis presents a unified framework of theoretical and mathematical methods that generalises the analysis and modelling of intelligent robots that adaptively reassemble to meet classical mechanical needs of new task manoeuvres and spaces. To this end, the four broad avenues of research developed were generalised mathematical methodologies for: the characterisation of theoretical reassembling transformations, the analysis and modelling of reassembling robots' classical mechanical behaviours, a novel higher-dimensional general artificial intelligence approach and a new time series analysis and forecasting approach. This formulation was built using Geometric or Clifford Algebra, quaternions, screws, network theory and higher-dimensional conformal space mappings.

KW - robotics

KW - manipulators

KW - singularities

KW - conformal algebra

KW - geometric algebra

KW - network theory

KW - classical mechanics

KW - dynamics geometry

KW - kinematics

KW - quaternions

KW - screws

KW - Lagrange methods

KW - mechanism and machine theory

KW - higher dimensional clifford algebra

KW - general artificial intelligence

KW - time series forecasting

KW - non-linear optimisation

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DO - 10.26182/r3v4-9813

M3 - Doctoral Thesis

ER -

A Unified Mathematical and Theoretical Framework for Intelligent Reassembling Robotics

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