Collaborative Appearance-Based Place Recognition And Improving Place Recognition Using Detection Of Dynamic Objects, 2018 The Graduate Center, City University of New York
Collaborative Appearance-Based Place Recognition And Improving Place Recognition Using Detection Of Dynamic Objects, Juan Pablo Munoz
All Dissertations, Theses, and Capstone Projects
This dissertation makes contributions to the problem of Long-Term Appearance-Based Place Recognition. We present a framework for place recognition in a collaborative scheme and a method to reduce the impact of dynamic objects on place representations. We demonstrate our findings using a state-of-the-art place recognition approach.
We begin in Part I by describing the general problem of place recognition and its importance in applications where accurate localization is crucial. We discuss feature detection and description and also explain the functioning of several place recognition frameworks.
In Part II, we present a novel framework for collaboration between agents from a pure ...
Moral Authority And Artificial Intelligence, 2018 Carroll College, Helena, MT
Moral Authority And Artificial Intelligence, Jacob Souza
Power, Voice, Mandate: Moral Authority in the Contemporary Age
This paper looks at the relationship between Artificial intelligence and moral authority. It explores the important concepts related to moral authority, such as power, authority, responsibility, and morality, but also defines what a thinking machine will look like in human society. What the paper determines is that it is difficult to trust machines that do not show emotion, but thinking machines without emotion will still have an important role in society and that when emotional AIs are achievable, they will be able to achieve moral authority.
Pythagorean Combinations For Lego Robot Building., 2018 Selected Works
Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg
This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.
Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg
Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to ...
Motion Planning For Simple Two-Wheeled Robots, 2018 Selected Works
Motion Planning For Simple Two-Wheeled Robots, Ronald I. Greenberg, Jeffery M. Karp
This paper considers various simple ways of navigating in a 2-dimensianal territory with a two-wheeled robot of a type typical in educational robotics. We determine shortest paths under various modes of operation and compare.
Intelligent Uav Scouting For Field Condition Monitoring, 2018 University of Kentucky
Intelligent Uav Scouting For Field Condition Monitoring, Hasan Seyyedhasani
Theses and Dissertations--Electrical and Computer Engineering
Precision agriculture requires detailed and timely information about field condition. In less than the short flight time a UAV (Unmanned Aerial Vehicle) can provide, an entire field can be scanned at the highest allowed altitude. The resulting NDVI (Normalized Difference Vegetation Index) imagery can then be used to classify each point in the field using a FIS (Fuzzy Inference System). This identifies areas that are expected to be similar, but only closer inspection can quantify and diagnose crop properties. In the remaining flight time, the goal is to scout a set of representative points maximizing the quality of actionable information ...
Regulating Robo Advice Across The Financial Services Industry, 2018 University of Pennsylvania Law School
Regulating Robo Advice Across The Financial Services Industry, Tom Baker, Benedict G. C. Dellaert
Automated financial product advisors – “robo advisors” – are emerging across the financial services industry, helping consumers choose investments, banking products, and insurance policies. Robo advisors have the potential to lower the cost and increase the quality and transparency of financial advice for consumers. But they also pose significant new challenges for regulators who are accustomed to assessing human intermediaries. A well-designed robo advisor will be honest and competent, and it will recommend only suitable products. Because humans design and implement robo advisors, however, honesty, competence, and suitability cannot simply be assumed. Moreover, robo advisors pose new scale risks that are different ...
Sensor-Based Legged Robot Homing Using Range-Only Target Localization, 2017 University of Pennsylvania
Sensor-Based Legged Robot Homing Using Range-Only Target Localization, Vasileios Vasilopoulos, Omur Arslan, Avik De, Daniel E. Koditschek
Departmental Papers (ESE)
This paper demonstrates a fully sensor-based reactive homing behavior on a physical quadrupedal robot, using onboard sensors, in simple (convex obstacle-cluttered) unknown, GPS-denied environments. Its implementation is enabled by our empirical success in controlling the legged machine to approximate the (abstract) unicycle mechanics assumed by the navigation algorithm, and our proposed method of range-only target localization using particle filters.
For more information: Kod*lab
An Unmanned Aerial System For Prescribed Fires, 2017 University of Nebraska-Lincoln
An Unmanned Aerial System For Prescribed Fires, Evan M. Beachly
Computer Science and Engineering: Theses, Dissertations, and Student Research
Prescribed fires can lessen wildfire severity and control invasive species, but some terrains may be difficult, dangerous, or costly to burn with existing tools. This thesis presents the design of an unmanned aerial system that can ignite prescribed fires from the air, with less cost and risk than with aerial ignition from a manned aircraft. The prototype was evaluated in-lab and successfully used to ignite interior areas of two prescribed fires. Additionally, we introduce an approach that integrates a lightweight fire simulation to autonomously plan safe flight trajectories and suggest effective fire lines. Both components are unique in that they ...
Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, 2017 Purdue University
Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson
Purdue Journal of Service-Learning and International Engagement
The courses of Tech120, CGT110, and ENGT 180/181 and Red Gold at Purdue collaborated to design a robot that would plant and water a garden for a local community charter school. The students centered the project on the users’ needs for fresh food, nutrition education, and early exposure to STEM for children. The school, Anderson Preparatory Academy (APA), is comprised of many children who come from low-income families and are in the free or reduced lunch program. Inspired from “Farm Bot,” a similar system that allows for almost hands-free gardening, the “Boiler Bot” is designed to be scalable so ...
Modeling Of Force And Motion Transmission In Tendon-Driven Surgical Robots, 2017 The University of Western Ontario
Modeling Of Force And Motion Transmission In Tendon-Driven Surgical Robots, Farshad Anooshahpour
Electronic Thesis and Dissertation Repository
Tendon-based transmission is a common approach for transferring motion and forces in surgical robots. In spite of design simplicity and compactness that comes with the tendon drives, there exists a number of issues associated with the tendon-based transmission. In particular, the elasticity of the tendons and the frictional interaction between the tendon and the routing result in substantially nonlinear behavior. Also, in surgical applications, the distal joints of the robot and instruments cannot be sensorized in most cases due to technical limitations. Therefore, direct measurement of forces and use of feedback motion/force control for compensation of uncertainties in tendon-based ...
Implementation Of The Tickbot: Results And Implications For Modeling, 2017 Old Dominion University
Implementation Of The Tickbot: Results And Implications For Modeling, Alexis White, Armin Bahrani, Amanda Devleeschower, Holly Gaff
Annual Symposium on Biomathematics and Ecology: Education and Research
No abstract provided.
Rate Based Impact Analysis, 2017 University of Nebraska-Lincoln
Rate Based Impact Analysis, Nishant Sharma
Computer Science and Engineering: Theses, Dissertations, and Student Research
Impact Analysis (IA) identifies control and data dependencies to determine the system components that could be affected by a change. Changes to robotic systems as they are updated often alter the flow of control and sensor data. Changes to the rates at which data is published from sensors, controllers, and other parts of the system are particularly subtle and difficult to detect. These rate changes, even if minor (e.g. lowering the frame rate of a camera), can propagate throughout the system and have broad impacts. However, for robotic systems, these changes in flow rate cannot be precisely tracked by ...
Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, 2017 University of Nebraska-Lincoln
Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, Tyler Troyer
Biological Systems Engineering--Dissertations, Theses, and Student Research
Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from ...
Developing Grounded Goals Through Instant Replay Learning, 2017 Swarthmore College
Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank
Computer Science Faculty Research and Scholarship
This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find ...
Effects Of Anthropomorphism On Trust In Human-Robot Interaction, 2017 University of Central Florida
Effects Of Anthropomorphism On Trust In Human-Robot Interaction, Keith R. Macarthur, William T. Shugars, Tracy L. Sanders, Peter A. Hancock
Keith Reid MacArthur
Ani-Bot: A Mixed-Reality Ready Modular Robotics System, 2017 Purdue University
Ani-Bot: A Mixed-Reality Ready Modular Robotics System, Zhuangying Xu, Yuanzhi Cao
The Summer Undergraduate Research Fellowship (SURF) Symposium
DIY modular robotics has always had a strong appeal to makers and designers; being able to quickly design, build, and animate their own robots opens the possibility of bringing imaginations to life. However, current interfaces to control and program the DIY robot either lacks connection and consistency between the users and target (Graphical User Interface) or suffers from limited control capabilities due to the lack of versatility and functionality (Tangible User interface). We present Ani-Bot, a modular robotics system that allows users to construct Do-It-Yourself (DIY) robots and use mixed-reality approach to interact with them instantly. Ani-Bot enables novel user ...
Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, 2017 University of Nebraska - Lincoln
Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling
Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research
An Unmanned Aircraft System (UAS) is a Cyber-Physical System (CPS) in which a host of real-time computational tasks contending for shared resources must be cooperatively managed to obtain mission objectives. Traditionally, control of the UAS is designed assuming a fixed, high sampling rate in order to maintain reliable performance and margins of stability. But emerging methods challenge this design by dynamically allocating resources to computational tasks, thereby affecting control and mission performance. To apply these emerging strategies, a characterization and understanding of the effects of timing on control and trajectory following performance is required. Going beyond traditional control evaluation techniques ...
Modeling The Consumer Acceptance Of Retail Service Robots, 2017 University of Tennessee, Knoxville
Modeling The Consumer Acceptance Of Retail Service Robots, So Young Song
This study uses the Computers Are Social Actors (CASA) and domestication theories as the underlying framework of an acceptance model of retail service robots (RSRs). The model illustrates the relationships among facilitators, attitudes toward Human-Robot Interaction (HRI), anxiety toward robots, anticipated service quality, and the acceptance of RSRs. Specifically, the researcher investigates the extent to which the facilitators of usefulness, social capability, the appearance of RSRs, and the attitudes toward HRI affect acceptance and increase the anticipation of service quality. The researcher also tests the inhibiting role of pre-existing anxiety toward robots on the relationship between these facilitators and attitudes ...
An Interactive Interface For Nursing Robots., 2017 University of Louisville
An Interactive Interface For Nursing Robots., Ankita Sahu
Electronic Theses and Dissertations
Physical Human-Robot Interaction (pHRI) is inevitable for a human user while working with assistive robots. There are various aspects of pHRI, such as choosing the interface, type of control schemes implemented and the modes of interaction. The research work presented in this thesis concentrates on a health-care assistive robot called Adaptive Robot Nursing Assistant (ARNA). An assistive robot in a health-care environment has to be able to perform routine tasks and be aware of the surrounding environment at the same time. In order to operate the robot, a teleoperation based interaction would be tedious for some patients as it would ...