Robotics Commons^™

Selección Y Clasificación De Piezas Mediante Visión De Máquina Utilizando Un Robot Industrial, Laura Julieth Patiño Arévalo, Wilson Alonso Hernández Martínez

Ingeniería en Automatización

Los robots industriales, diseñados para realizar operaciones de forma rápida, precisa y repetidamente tienen una larga tradición en la industria manufacturera, debido a que operan en ambientes relativamente estáticos y en grandes cantidades, sin embargo, el uso de estos en procesos de selección y clasificación conlleva la visión de máquina, la cual aporta a la tarea la información necesaria al procesar una imagen y dar los datos correctos para posterior realización de la tarea. El presente trabajo de grado contiene la implementación de un sistema de visión de máquina para la selección y clasificación de piezas por forma y tamaño …

Representation And Control Of Coordinated-Motion Tasks For Human-Robot Systems, Hyungju Andy Park

Open Access Dissertations

It is challenging for robots to perform various tasks in a human environment. This is because many human-centered tasks require coordination in both hands and may often involve cooperation with another human. Although human-centered tasks require different types of coordinated movements, most of the existing methodologies have focused only on specific types of coordination. This thesis aims at the description and control of coordinated-motion tasks for human-robot systems; i.e., humanoid robots as well as multi-robot and human-robot systems.

First, for bimanually coordinated-motion tasks in dual-manipulator systems, we propose the Extended-Cooperative-Task-Space (ECTS) representation, which extends the existing Cooperative-Task-Space (CTS) representation based …

Learning In Vision And Robotics, Daniel P. Barrett

Open Access Dissertations

I present my work on learning from video and robotic input. This is an important problem, with numerous potential applications. The use of machine learning makes it possible to obtain models which can handle noise and variation without explicitly programming them. It also raises the possibility of robots which can interact more seamlessly with humans rather than only exhibiting hard-coded behaviors. I will present my work in two areas: video action recognition, and robot navigation. First, I present a video action recognition method which represents actions in video by sequences of retinotopic appearance and motion detectors, learns such models automatically …

Flying By Fire: Making Controlled Burns Safer For Humans And Uavs, Rebecca Horzewski, Carrick Detweiler

UCARE Research Products

A temperature sensing circuit board was developed that will allow Nimbus Lab's controlled burn starting UAV to react to the temperatures around it.

“My Logic Is Undeniable”: Replicating The Brain For Ideal Artificial Intelligence, Samuel C. Adams

Senior Honors Theses

Alan Turing asked if machines can think, but intelligence is more than logic and reason. I ask if a machine can feel pain or joy, have visions and dreams, or paint a masterpiece. The human brain sets the bar high, and despite our progress, artificial intelligence has a long way to go. Studying neurology from a software engineer’s perspective reveals numerous uncanny similarities between the functionality of the brain and that of a computer. If the brain is a biological computer, then it is the embodiment of artificial intelligence beyond anything we have yet achieved, and its architecture is advanced …

Human-Robot Versus Human-Human Relationship Impact On Comfort Levels Regarding In Home Privacy, Keith R. Macarthur, Thomas G. Macgillivray, Eva L. Parkhurst, Peter A. Hancock

Keith Reid MacArthur

Development Of An Autonomous Robotic Mushroom Harvester, Nikita Alexeevich Kuchinskiy

Electronic Thesis and Dissertation Repository

The process of development of a new robot is one of the modern technological arts. This process involves multiple complex steps and recursive approach. In this project, a solution for automatic harvesting of mushrooms is developed. In order to design an effective solution, it is necessary to explore and take into consideration the limitations of grasping very soft and fragile objects (particularly mushrooms). We will elaborate several strategies of picking and analyze each strategy to formulate the design requirements, develop a solution, and finally, evaluate the efficiency of the proposed solution in actual farm conditions for real mushrooms. The mushroom …

Application Of Simultaneous Localization And Mapping Algorithms For Haptic Teleoperation Of Aerial Vehicles, Bandar Hulayyil Aldhafeeri

Electronic Thesis and Dissertation Repository

In this thesis, a new type of haptic teleoperator system for remote control of Unmanned Aerial Vehicles (UAVs) has been developed, where the Simultaneous Localization and Mapping (SLAM) algorithms are implemented for the purpose of generating the haptic feedback. Specifically, the haptic feedback is provided to the human operator through interaction with artificial potential field built around the obstacles in the virtual environment which is located at the master site of the teleoperator system. The obstacles in the virtual environment replicate essential features of the actual remote environment where the UAV executes its tasks. The state of the virtual environment …

Implementation Of Algorithms For The Restoration Of Retinal Images, David Samir Toro Hoyos

Ingeniería en Automatización

No abstract provided.

Robot Fish Do Not Need Sentience, Antonio Chella

Animal Sentience

The target article by Key (2016) discusses the thesis that fish cannot feel pain because of the lack of the necessary neural structure. This commentary suggests the possibility that fish do not need conscious neural processing by taking into account recent results from biomimetic robotics. State-of-the-art biomimetic robot fish are based on a tight interaction between the body and the environment and are typically controlled by behavior-based architectures. Therefore, it can be hypothesized that cognitive architectures are not needed to control a robot fish. This is in line with the thesis proposed by Key: what biomimetic robot fish show is …

Kinematic Modeling Of An Automated Laser Line Scanning System, Kiran Sunil Deshmukh

Wayne State University Theses

This research work describes the geometric coordinate transformation in an automated laser line scanning system caused by movements required for scanning a component surface. The elements of an automated laser scanning system (robot, laser line scanner, and the component coordinate system) function as a mechanical linkage to obtain a trajectory on a component surface. This methodology solves the forward kinematics, derives the component surface, and uses inverse kinematic equations to characterize the movement of the entire automated scanning system on point trajectory. To reach a point on the component, joint angles of robot have been calculated. As a result, trajectory …

Robots As Legal Metaphors, Ryan Calo

Articles

This Article looks at the specific role robots play in the judicial imagination. The law and technology literature is replete with examples of how the metaphors and analogies that courts select for emerging technology can be outcome determinative. Privacy law scholar Professor Daniel Solove argues convincingly, for instance, that George Orwell's Big Brother metaphor has come to dominate, and in ways limit, privacy law and policy in the United States. Even at a more specific, practical level, whether a judge sees email as more like a letter or a postcard will dictate the level of Fourth Amendment protection she is …

Design And Development Of The Ebear: A Socially Assistive Robot For Elderly People With Depression, Amirhossein Kargarbideh

Electronic Theses and Dissertations

There has been tremendous progress in the field of robotics in the past decade and especially developing humanoid robots with social abilities that can assist human at a socio-emotional level. The objective of this thesis is to develop and study a perceptive and expressive animal-like robot equipped with artificial intelligence in assisting the elderly people with depression. We investigated how social robots can become companions of elderly individuals with depression and improve their mood and increase their happiness and well-being. The robotic platform built in this thesis is a bear-like robot called the eBear. The eBear can show facial expression …

Establishing Performance Guarantees For Behavior-Based Robot Missions Using An Smt Solver, Feng Tang, Damian M. Lyons, Ronald Arkin

Faculty Publications

In prior work we developed an approach to formally representing behavior-based multi-robot programs, and the uncertain environments in which they operate, as process networks. We automatically extract a set of probabilistic equations governing program execution in that environment using a static analysis module called VIPARS, and solve these using a Dynamic Bayesian Network (DBN) to establish whether stated performance guarantees hold for the program in that environment. In this paper we address the challenge of expanding the range of performance guarantees that are possible by using an SMT-solver instead of a DBN. We translate flow functions, which are recursive probabilistic …

Recognizing Pain Using Novel Simulation Technology, Justin C. Grace

Honors Undergraduate Theses

Effective pain management and time to treatment is essential in patient care. Despite scientific evidence supporting the need to treat pain and an emphasis on addressing pain as a priority, pain management continues to be an unresolved issue. As a member of the health care team, nurses are integral to optimal pain management. Currently, nursing schools have limited innovative or alternative methods for teaching pain assessment and management. Simulation in nursing education provides a unique opportunity to expose students to realistic patient situations and allow them to learn and make mistakes without causing harm. However, modern low- and high-fidelity simulation …

Teaching Robot Kinematics For Engineering Technology Students Using A Created Three-Dimensional Robot And Camera, Cheng Y. Lin, Yuzhong Shen

Engineering Technology Faculty Publications

Teaching robot kinematics is important to engineering technology students in the robot automation. The study can help students not only in the coordinate transformation principles from a joint to its following joint in a robot, but also in relating the coordinate systems between a robot and a machine vision system. While students can utilize math software to compute robot kinematic transformations, they have problems verifying their answers. In this paper, a three dimensional vertically articulated robot is created to help students visualize the location and orientation of the end effector. Students can check their robot kinematic answers based on the …

Use Of A Small Unmanned Aerial System For The Sr-530 Mudslide Incident Near Oso, Washington, Robin Murphy, Brittany Duncan, Tyler Collins, Justin Kendrick, Patrick Lohman, Tamara Palmer, Frank Sanborn

School of Computing: Faculty Publications

The Center for Robot-Assisted Search and Rescue deployed three commercially available small unmanned aerial systems (SUASs)—an AirRobot AR100B quadrotor, an Insitu Scan Eagle, and a PrecisionHawk Lancaster—to the 2014 SR-530 Washington State mudslides. The purpose of the flights was to allow geologists and hydrologists to assess the eminent risk of loss of life to responders from further slides and flooding, as well as to gain a more comprehensive understanding of the event. The AirRobot AR100B in conjunction with PrecisionHawk postprocessing software created two-dimensional (2D) and 3D reconstructions of the inaccessible “moonscape” region of the slide and provided engineers with a …

Follow Me Robot, Victoria M. Edwards

Honors Theses

The idea of a personal robotic assistant, while once made up the tales of science fiction, is now moving closer and closer to reality. It is easy for two humans to walk together where one person knows the directions and the other person follows along. However, it is not a trivial problem for a robot to recognize a human, and follow side by side along with them. There are three key parts to this problem: 1.) Detection of a human, 2.) Tracking the human, and 3.) the robot's Motion strategy. Using baseline assumptions, I can simplify the detection process allowing …

The Role Of Uncertainty In Categorical Perception Utilizing Statistical Learning In Robots, Nathaniel V. Powell

Graduate College Dissertations and Theses

At the heart of statistical learning lies the concept of uncertainty.

Similarly, embodied agents such as robots

and animals must likewise address uncertainty, as sensation

is always only a partial reflection of reality. This

thesis addresses the role that uncertainty can play in

a central building block of intelligence: categorization.

Cognitive agents are able to perform tasks like categorical perception

through physical interaction (active categorical perception; ACP),

or passively at a distance (distal categorical perception; DCP).

It is possible that the former scaffolds the learning of

the latter. However, it is unclear whether DCP indeed scaffolds

ACP in humans and …

Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage

Electronic Theses and Dissertations

The main goals of this research were to enhance a commercial off the shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field testing. Developing this platform will enhance the U. S. Army Engineering Research and Development Center’s (ERDC’s) current capabilities and create a safe and efficient autonomous vehicle to perform the following functions within tunnels: (1) localization (e.g., position tracking) and mapping of its environment, (2) traversing varied terrains, (3) sensing the environment for objects of interest, and …