VILNIUS TECH Library invites you to follow the published new dissertations. The dissertation „Investigation of microrobot movement trajectory planning using sensor data fusion“ („Mikroroboto judėjimo trajektorijos planavimo, naudojant jutiklių duomenų suliejimą, tyrimas“) prepared by VILNIUS TECH, Jurga Subačiūtė-Žemaitienė. The dissertation was prepared in 2020–2025. Scientific Consultant – Prof. Dr Vytautas Bučinskas.
The dissertation was defended at the public meeting of the Dissertation Defence Council of the Scientific Field of Mechanical Engineering in the Aula Doctoralis Meeting Hall of Vilnius Gediminas Technical University at 10 a.m. on 5 June 2025.
This dissertation deals with the problem of trajectory planning for micro-robots. The object of research is a microrobot, the elements of the robotic system that affect its trajectory, and machine learning solutions. The detailed structural analysis of the robotic system components and the evaluation of their performance allows the selection of effective solutions for the trajectory planning of the microrobot. The use of the YOLOv7 machine-learning model enables the microrobot to respond efficiently to changing environmental conditions and to locate the object of interest. This dissertation aims to identify the design elements that have a greater impact on the efficiency of trajectory planning and to develop techniques and algorithms using sensor data fusion information. The analysis of the experimental results will provide recommendations for improving trajectory planning. The dissertation consists of an introduction, three chapters, a summary of the results, and a list of the literature used and the author’s publications on the topic of the dissertation. The introductory chapter discusses the research problem and the relevance of the dissertation, describes the research object, formulates the aim and objectives of the work, describes the research methodology, the scientific novelty of the dissertation, the practical significance of the dissertation results, and the defended statements. The introduction concludes with an overview of the author’s publications and conference presentations on the dissertation topic and the structure of the dissertation. The First Chapter focuses on literature analysis. It provides the applications of microrobots, presents an analysis of actuators used in robotic systems found in the scientific literature, microrobot tools, and an overview of positioning accuracy in manipulation systems. The chapter ends with conclusions and a refinement of the dissertation objectives. The Second Chapter presents the methodology, analysis, and results of the trajectory accuracy assessment. It describes the modelling of the micro-positioning system, the theoretical research methodology and the results. The Third Chapter presents the experimental studies carried out using sensor data fusion. It describes the results obtained, which allow for assessing the accuracy of the planned trajectory of the microrobot. Six scientific articles have been published on the subject of the dissertation: three in journals included in the Web of Science database, two in Periodicals and Occasional Papers, and one in conference proceedings referenced in the Web of Science database. The results of the research carried out in this dissertation were published in seven international scientific conferences in Lithuania and abroad.
Doctoral dissertation readers can search via VILNIUS TECH Virtual Library.
