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Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross 2016 The University of Western Ontario

Study Of Mobile Robot Operations Related To Lunar Exploration, Matthew Cross

Electronic Thesis and Dissertation Repository

Mobile robots extend the reach of exploration in environments unsuitable, or unreachable, by humans. Far-reaching environments, such as the south lunar pole, exhibit lighting conditions that are challenging for optical imagery required for mobile robot navigation. Terrain conditions also impact the operation of mobile robots; distinguishing terrain types prior to physical contact can improve hazard avoidance.

This thesis presents the conclusions of a trade-off that uses the results from two studies related to operating mobile robots at the lunar south pole. The lunar south pole presents engineering design challenges for both tele-operation and lidar-based autonomous navigation in the context of ...


Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich 2016 University of Nebraska-Lincoln

Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich

Mechanical (and Materials) Engineering -- Dissertations, Theses, and Student Research

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures as well as benefits such as reducing scarring, infection, recovery time, and post-operative pain. While the procedures have many advantages, there are significant shortcomings such as limited instrument motion and reduced dexterity. In recent years, robotic surgical technology has overcome some of these limitations and has become an effective tool for many types of surgeries. These robotic platforms typically have an increased workspace, greater dexterity, improved ergonomics, and finer control than traditional laparoscopic methods. This thesis presents the designs of both a four degree-of-freedom (DOF) and 5-DOF ...


The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter, Katherine J. Kuchenbecker 2016 University of Pennsylvania

The Penn Hand-Clapping Motion Dataset, Naomi T. Fitter, Katherine J. Kuchenbecker

Departmental Papers (MEAM)

The Penn Hand-Clapping Motion Dataset is composed of inertial measurement unit (IMU) recordings from the hand motions of 15 naïve people. Each of these individuals participated in an experiment during which they were asked to pantomime various sequences of 10 different motions: back five, clap, double, down five, front five, lap pat, left five, right five, right snap, and up five. The examined motions comprise most typical actions from hand-clapping games like “Pat-a-cake” and “Slide.” This project was published in our IROS 2016 paper entitled “Using IMU Data to Demonstrate Hand-Clapping Games to a Robot.” After hearing of interest from ...


Perceptions Of Planned Versus Unplanned Malfunctions: A Human-Robot Interaction Scenario, Theresa T. Kessler, Keith R. MacArthur, Manuel Trujillo-Silva, Thomas MacGillivray, Chris Ripa, Peter A. Hancock 2016 University of Central Florida

Perceptions Of Planned Versus Unplanned Malfunctions: A Human-Robot Interaction Scenario, Theresa T. Kessler, Keith R. Macarthur, Manuel Trujillo-Silva, Thomas Macgillivray, Chris Ripa, Peter A. Hancock

Keith Reid MacArthur

The present study investigated the effect of malfunctions on trust in a human-robot interaction scenario. Participants were exposed to either a planned or unplanned robot malfunction and then completed two different self-report trust measures. Resulting trust between planned and unplanned exposures was analyzed, showing that trust levels impacted by planned malfunctions did not significantly differ from those impacted by unplanned malfunctions. Therefore, it can be surmised that the methods used for the manipulation of the planned malfunctions were effective and are recommended for further study use.


Studying The Effects Of Serpentine Soil On Adapted And Non-Adapted Species Using Arduino Technology, Kiana Saniee, Edward Himelblau, Brian Paavo 2016 California Polytechnic State University - San Luis Obispo

Studying The Effects Of Serpentine Soil On Adapted And Non-Adapted Species Using Arduino Technology, Kiana Saniee, Edward Himelblau, Brian Paavo

STAR (STEM Teacher and Researcher) Presentations

Abstract: Serpentine soils are formed from ultramafic rocks and are represent an extreme environment for plants. Serpentine soils are unique in that they carry high concentrations of heavy metals, are nutrient deficient, particularly in calcium, and have poor water retention capabilities. Although these soils constitute harsh conditions for plant growth, there are a number of species that are adapted and even endemic to serpentine soil. Water retention by commercial potting mix was compared with serpentine soil. Also, serpentine adapted and non-adapted species were grown in both soil treatments and physiological data were collected. We used the Arduino electronic platform to ...


Mechanical Design And Optimization Of An Interactive Animatronic Bald Eagle, Eric Burns 2016 Georgia Southern University

Mechanical Design And Optimization Of An Interactive Animatronic Bald Eagle, Eric Burns

Phi Kappa Phi Research Symposium

Animatronics is a specialized sub-category of mechatronics, a fusion of mechanical and electrical engineering. The field has grown from small, individual projects into a major industry. As animatronics progress, mechanical engineers are pushed to design internal structures which occupy ever-decreasing spaces and to ensure designs can undergo maintenance and modifications smoothly. This research investigates methods of reducing space required for mechanisms and several other beneficial methods of development as well as varying satisfactions for audiences when exposed to actor-controlled systems rather than pre-scripted functions. The mechanical systems are designed using CAD software available at Georgia Southern. On-campus, resources are used ...


Computational Interpersonal Communication: Communication Studies And Spoken Dialogue Systems, David J. Gunkel Dr. 2016 Northern Illinois University

Computational Interpersonal Communication: Communication Studies And Spoken Dialogue Systems, David J. Gunkel Dr.

communication +1

With the advent of spoken dialogue systems (SDS), communication can no longer be considered a human-to-human transaction. It now involves machines. These mechanisms are not just a medium through which human messages pass, but now occupy the position of the other in social interactions. But the development of robust and efficient conversational agents is not just an engineering challenge. It also depends on research in human conversational behavior. It is the thesis of this paper that communication studies is best situated to respond to this need. The paper argues: 1) that research in communication can supply the information necessary to ...


Autonomous Android: Autonomous 3d Environment Mapping With Android Controlled Multicopters, Tate Glick Hawkersmith 2016 University of Tennessee, Knoxville

Autonomous Android: Autonomous 3d Environment Mapping With Android Controlled Multicopters, Tate Glick Hawkersmith

Masters Theses

Autonomous robots are robotic platforms with a high degree of autonomy, programmed to perform various behaviors or tasks. They can either be semi-autonomous, only operable within the strict confines of their direct environment, or fully autonomous, capable of sensing and navigating their environments without any human interaction.

In this thesis, I focus on fully autonomous robotic platforms, specifically multicopters, controlled by an onboard Android-driven device, a widely available operating system for smartphones and tablets with over 1.4 billion active monthly users worldwide [Callaham 2015]. The main objective of this research is to create a plug and play solution for ...


Clustering-Based Robot Navigation And Control, Omur Arslan 2016 University of Pennsylvania

Clustering-Based Robot Navigation And Control, Omur Arslan

Departmental Papers (ESE)

In robotics, it is essential to model and understand the topologies of configuration spaces in order to design provably correct motion planners. The common practice in motion planning for modelling configuration spaces requires either a global, explicit representation of a configuration space in terms of standard geometric and topological models, or an asymptotically dense collection of sample configurations connected by simple paths, capturing the connectivity of the underlying space. This dissertation introduces the use of clustering for closing the gap between these two complementary approaches. Traditionally an unsupervised learning method, clustering offers automated tools to discover hidden intrinsic structures in ...


A Simulation-Based Layered Framework Framework For The Development Of Collaborative Autonomous Systems, Ioannis Sakiotis 2016 Old Dominion University

A Simulation-Based Layered Framework Framework For The Development Of Collaborative Autonomous Systems, Ioannis Sakiotis

Modeling, Simulation & Visualization Engineering Theses & Dissertations

The purpose of this thesis is to introduce a simulation-based software framework that facilitates the development of collaborative autonomous systems. Significant commonalities exist in the design approaches of both collaborative and autonomous systems, mirroring the sense, plan, act paradigm, and mostly adopting layered architectures. Unfortunately, the development of such systems is intricate and requires low-level interfacing which significantly detracts from development time. Frameworks for the development of collaborative and autonomous systems have been developed but are not flexible and center on narrow ranges of applications and platforms. The proposed framework utilizes an expandable layered structure that allows developers to define ...


Roborodentia Robot (Amazon Prime), Alec Cheung 2016 California Polytechnic State University, San Luis Obispo

Roborodentia Robot (Amazon Prime), Alec Cheung

Computer Science

Roborodentia is an annual autonomous robotics competition sponsored and hosted by Cal Poly. In the 2016 competition, participants are to design a robot that scores the most points by gathering rings from marked supply pegs and placing them onto marked scoring pegs. For Roborodentia I designed, constructed, and programmed a robot, named Amazon Prime, to compete.


The Story Of Beyoncé: The Roborodentia 2016 Contestant, Brandon Arnold, Mana Kulkarni, Aaron Newberg, Jon Sleep 2016 California Polytechnic State University, San Luis Obispo

The Story Of Beyoncé: The Roborodentia 2016 Contestant, Brandon Arnold, Mana Kulkarni, Aaron Newberg, Jon Sleep

Computer Engineering

No abstract provided.


Roborodentia Xxi Robot, Jose A. Villa 2016 California Polytechnic State University, San Luis Obispo

Roborodentia Xxi Robot, Jose A. Villa

Computer Engineering

This report covers the design and implementation of a robot built to compete in Roborodentia 2016.


Roborodentia 2016: Scorpion, Tyler Whalen 2016 California Polytechnic State University, San Luis Obispo

Roborodentia 2016: Scorpion, Tyler Whalen

Computer Engineering

This report showcases my entry into the Roborodentia 2016 competition, and my senior project. I chose this project because robotics has always interested me, and this was a great opportunity to jump in headfirst.

I will step through my design decisions and detail all information necessary for replicating this build.


Roborodentia Robot: Tektronix, Sean Yap 2016 California Polytechnic State University, San Luis Obispo

Roborodentia Robot: Tektronix, Sean Yap

Computer Engineering

Tektronix is a robot created to compete in the 2016 Roborodentia Competition. This report details the full function and implementation of the robot.


Senior Project: Control System For An Underwater Remotely Operated Vehicle, Tyler Mau, Joseph Mahoney 2016 California Polytechnic State University, San Luis Obispo

Senior Project: Control System For An Underwater Remotely Operated Vehicle, Tyler Mau, Joseph Mahoney

Computer Engineering

No abstract provided.


Red Piston (Roborodentia), Gabriel Lee Hernandez, Davie Sy 2016 California Polytechnic State University, San Luis Obispo

Red Piston (Roborodentia), Gabriel Lee Hernandez, Davie Sy

Computer Science

Roborodentia is an annual robotics competition held during Cal Poly’s Open House showcase. Teams of one to three people come together to build an autonomous robot to typically collect rings for points. The specifications of the competition will be detailed in the problem statement. For Roborodentia 2016, we built a machine dubbed Red Piston to tackle on this year’s competition. The following report will detail the design process and implementation of our robot.


A Stroke Therapy Brace Design, Evan Kirkbride 2016 California Polytechnic State University, San Luis Obispo

A Stroke Therapy Brace Design, Evan Kirkbride

Electrical Engineering

Victims of stroke often have difficulty with rehabilitation. With limited movement on their affected arm, patients often do not want to move much for physical therapy. In this project, we design a robotic brace that helps stroke patients move their arm more effectively in a reaching or pulling motion. By giving patients more movement in their affected arm than they would have otherwise, patients gain more from rehabilitation. The brace also adapts to the patient’s needs, providing more inclination or resistance as needed for their physical therapy. This kind of therapy engages patients rather than relying on their likely ...


Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek 2016 University of Pennsylvania

Voronoi-Based Coverage Control Of Heterogeneous Disk-Shaped Robots, Omur Arslan, Daniel E. Koditschek

Departmental Papers (ESE)

In distributed mobile sensing applications, networks of agents that are heterogeneous respecting both actuation as well as body and sensory footprint are often modelled by recourse to power diagrams — generalized Voronoi diagrams with additive weights. In this paper we adapt the body power diagram to introduce its “free subdiagram,” generating a vector field planner that solves the combined sensory coverage and collision avoidance problem via continuous evaluation of an associated constrained optimization problem. We propose practical extensions (a heuristic congestion manager that speeds convergence and a lift of the point particle controller to the more practical differential drive kinematics) that ...


Clustering-Based Robot Navigation And Control, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek 2016 University of Pennsylvania

Clustering-Based Robot Navigation And Control, Omur Arslan, Dan P. Guralnik, Daniel E. Koditschek

Departmental Papers (ESE)

In robotics, it is essential to model and understand the topologies of configuration spaces in order to design provably correct motion planners. The common practice in motion planning for modelling configuration spaces requires either a global, explicit representation of a configuration space in terms of standard geometric and topological models, or an asymptotically dense collection of sample configurations connected by simple paths. In this short note, we present an overview of our recent results that utilize clustering for closing the gap between these two complementary approaches. Traditionally an unsupervised learning method, clustering offers automated tools to discover hidden intrinsic structures ...


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