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 ...
Regulating By Robot: Administrative Decision Making In The Machine-Learning Era, 2017 University of Pennsylvania Law School
Regulating By Robot: Administrative Decision Making In The Machine-Learning Era, Cary Coglianese, David Lehr
Machine-learning algorithms are transforming large segments of the economy, underlying everything from product marketing by online retailers to personalized search engines, and from advanced medical imaging to the software in self-driving cars. As machine learning’s use has expanded across all facets of society, anxiety has emerged about the intrusion of algorithmic machines into facets of life previously dependent on human judgment. Alarm bells sounding over the diffusion of artificial intelligence throughout the private sector only portend greater anxiety about digital robots replacing humans in the governmental sphere. A few administrative agencies have already begun to adopt this technology, while ...
Remote Cable Gantry, 2017 California Polytechnic State University, San Luis Obispo
Remote Cable Gantry, Allen L. Bailey
The Remote Cable Gantry is a robotic system that was initially intended to aid in the art of aerial videography. It was designed to enable novice and expert users alike to capture both video footage and audio from perspectives unachievable by current methods. This system uses a series of cables to control the position of a camera gimbal in a defined 3D space and, as a self-contained unit, is portable and easy to use. The Remote Cable Gantry offers a quiet, intuitive, and safe alternative to existing technology, which has been limiting the market and potential of aerial photography and ...
Empirical Validation Of A Spined Sagittal-Plane Quadrupedal Model, 2017 University of Pennsylvania
Empirical Validation Of A Spined Sagittal-Plane Quadrupedal Model, Jeff Duperret, Daniel Koditschek
Departmental Papers (ESE)
We document empirically stable bounding using an actively powered spine on the Inu quadrupedal robot, and propose a reduced-order model to capture the dynamics associated with this additional, actuated spine degree of freedom. This model is sufficiently accurate as to roughly describe the robots mass center trajectory during a bounding limit cycle, thus making it a potential option for low dimensional representations of spine actuation in steady-state legged locomotion.
Farmbot Rfid Integration, 2017 California Polytechnic State University, San Luis Obispo
Farmbot Rfid Integration, Laura R. Swart
The purpose of this project is to assist the company FarmBot improve their product by adding RFID tracking to the FarmBot robot. RFID tracking will allow the robot to select and pick up tool heads without any user interference.
Light Sensing Automated Blinds, 2017 California Polytechnic State University, San Luis Obispo
Light Sensing Automated Blinds, Andrew B. Hodges, Ryan C. Flick
This project is solving the problem of wasted energy within buildings and homes, because currently the lights turned on inside building do not utilize natural, ambient light from the sun. Rather than having unnecessary light from a light source, the automated light sensing smart blinds can sense the amount of light outside the window and in the room, and then adjust the angle of the blinds to save energy by utilizing the available outdoor light. This way, the light source will not be running at maximum power output while there is excess light coming through the window. This project aims ...
The Following Robot, 2017 California Polytechnic State University, San Luis Obispo
The Following Robot, Juan D. Cerda, Matthew S. Kwan, Vi M. Le
The objective of this project is to design, build, and test an autonomous robot with an associated Android application. The robot uses on board inertial measurement sensors (magnetometer, accelerometer, gyroscope) and coordinates itself through Bluetooth communication with the similar builtin measurement sensors on the Android phone to mimic and follow movement. The Following Robot incorporates the same basic movement functionality as a typical RC car. The robot follows the user’s phone through an application on one’s phone. This application accesses the phone’s accelerometer and gyroscope data and translates into appropriate conversions. Methods of tracking and calculating ...
Blend It Wine Blending Distribution System, 2017 California Polytechnic State University, San Luis Obispo
Blend It Wine Blending Distribution System, Connor Clarry, Russell Temple, Matt Moren
No abstract provided.
An Internetworked Self-Driving Car System Of Systems, 2017 North Dakota State University--Fargo
An Internetworked Self-Driving Car System Of Systems, Jeremy Straub, Wafaa Amer, Christian Ames, Karanam R. Dayananda, Andrew Jones, Goutham Miryala, Nathan Olson, Noah Rockenback, Franklin Slaby, Santipab Tipparach, Samuel Fehringer, David Jedynak, Haiming Lou, Dakota Martin, Marc Olberding, Austin Oltmans, Alec Witte, Brady Goenner, Jessie Lee, Dylan Shipman
Cybersecurity Considerations For An Interconnected Self Driving Car System Of Systems, 2017 North Dakota State University--Fargo
Cybersecurity Considerations For An Interconnected Self Driving Car System Of Systems, Jeremy Straub, John Mcmillan, Brett Yaniero, Mitchell Schumacher, Abdullah Almosalami, Kelvin Boatey, Jordan Hartman
Regulating Robo Advice Across The Financial Services Industry, 2017 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 ...
Perception Of 3d Symmetrical And Near-Symmetrical Shapes, 2017 Purdue University
Perception Of 3d Symmetrical And Near-Symmetrical Shapes, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo
No abstract provided.
A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, 2017 Southern Adventist University
A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, Craig Christensen
MS in Computer Science Project Reports
Robotic arms have been in common use for a several decades now in many areas from manufacturing and industrial uses to hobby projects and amusement park rides. However, there have been very few attempts to make an inexpensive robot arm with a software stack for use in higher education. This paper will outline a control and interfacing software stack built on the Robot Operating System (ROS) and a simulation of the 5 degree of freedom (DoF) robotic arm.
Target Detection With Neural Network Hardware, 2017 University of Tennessee, Knoxville
Target Detection With Neural Network Hardware, Hollis Bui, Garrett Massman, Nikolas Spangler, Jalen Tarvin, Luke Bechtel, Kevin Dunn, Shawn Bradford
University of Tennessee Honors Thesis Projects
No abstract provided.
Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, 2017 California Polytechnic State University, San Luis Obispo
Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs
Master's Theses and Project Reports
Robots are no longer constrained to cages in factories and are increasingly taking on roles alongside humans. Before robots can accomplish their tasks in these dynamic environments, they must be able to navigate while avoiding collisions with pedestrians or other robots. Humans are able to move through crowds by anticipating the movements of other pedestrians and how their actions will influence others; developing a method for predicting pedestrian trajectories is a critical component of a robust robot navigation system. A current state-of-the-art approach for predicting pedestrian trajectories is Social-LSTM, which is a recurrent neural network that incorporates information about neighboring ...
The Penn Baxter Face Database, 2017 University of Pennsylvania
The Penn Baxter Face Database, Naomi T. Fitter, Katherine J. Kuchenbecker
Departmental Papers (MEAM)
The Penn Baxter Face Database is composed of Baxter robot face images designed in a variety of expressions and colors. Each of these images was photographed on the physical Baxter robot and assessed by internet raters (N = 568) in an Amazon Mechanical Turk survey. Raters assessed the pleasantness and energeticness of each robot face and also shared how safe and pleased each face made them feel. This project was published in our ICSR 2016 paper entitled “Designing and Assessing Expressive Open-Source Faces for the Baxter Robot.” After hearing of interest from other researchers, we previously released our Baxter face database ...
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, 2017 University of South Florida
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West
Graduate Theses and Dissertations
A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance ...