Robotics Commons^™

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

Development Of Workforce Skills: Student Perceptions Of Mentoring In First Robotics, Katie Joan Veal Wallace

Dissertations

In today’s global economy, new workforce competencies are needed for success at both individual and societal levels. The new workforce skills extend beyond basic reading, writing, and arithmetic to include higher order processes such as critical thinking and problem solving. Technical job opportunities have grown by approximately 17%, yet the United States continues to decline in science, technology, engineering and mathematics (STEM) disciplines. Further, U.S. students earn average or below average test scores when compared to other developed countries. Researchers cite the need to incorporate the learning of workplace skills into secondary education curriculum, and advocates call for new teaching …

Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings

Masters Theses

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …

Bio-Inspired Robotic Fish With Vision Based Target Tracking, Eric Anderson

Open Access Theses

The lionfish is an invasive species that out-competes and overcrowds native sh species along the eastern seaboard of the United States and down into the Caribbean. Lionfish populations are growing rapidly. Current methods of monitoring lionfish populations are costly and time intensive. A bio-inspired robotic fish was built to use as an autonomous lionfish tracking platform. Lionfish are tracked visually using an onboard processor. Five different computer vision methods for identification and tracking are proposed and discussed. These include: background subtraction, color tracking, mixture of Gaussian background subtraction, speeded up robust feature (SURF), and CamShift based tracking. Each of these …

Principle Of Bio-Inspired Insect Wing Rotational Hinge Design, Fan Fei

Open Access Theses

A principle for designing and fabricating bio-inspired miniature artificial insect flapping wing using flexure rotational hinge design is presented. A systematic approach of selecting rotational hinge stiffness value is proposed. Based on the understanding of flapping wing aerodynamics, a dynamic simulation is constructed using the established quasi-steady model and the wing design. Simulations were performed to gain insight on how different parameters affect the wing rotational response. Based on system resonance a model to predict the optimal rotational hinge stiffness based on given wing parameter and flapping wing kinematic is proposed. By varying different wing parameters, the proposed method is …

Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera

Open Access Theses

In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it …

Design And Analysis Of A Cable-Driven Test Apparatus For Flapping-Flight Research, Stephen J. Musick

Open Access Theses

The biology, physiology, kinematics, and aerodynamics of insect flight have been a longstanding fascination for biologists and engineers. The former three are easily obtained through the observation of the organic species. The latter though, is very difficult to study in this fashion. In many cases, aerodynamic forces and fluid-body interactions can be simulated with computational fluid dynamics; another option is to use dynamically-scaled, experimental set-ups to measure physically these values.

An archetypal, experimental set-up may include one or two scaled wings, where each wing is actuated to achieve upwards of three degrees of freedom. The three degrees of freedom correspond …

An Autonomous Robotic Indoor Environment Surveillance System, Andrew Gunnerson, Bogdan Olar, Haodong Wang

Undergraduate Research Posters 2014

We developed an autonomous mobile robot platform capable of following a path and gather environmental data, including temperature, humidity, light intensity, etc. The robot is capable of detecting the path using its camera and correct most navigational errors, while the sensors support a limited set of instructions regarding which sensor data to collect and how often. Our experiment consisted of having the robot follow a looped path we set up in BU004 Lab. The robot was able to complete the loop and gather sensor data for light intensity, humidity and temperature at a frequency of once per second, and also …

Verifying And Validating Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Tsung-Ming Liu

Faculty Publications

We have developed an approach that can be used by mission designers to determine whether or not a performance guarantee for their mission software, when carried out under the uncertain conditions of a real-world environment, will hold within a threshold probability. In this paper we demonstrate its utility for verifying multirobot missions, in particular a bounding overwatch mission.

Automated Image Interpretation For Science Autonomy In Robotic Planetary Exploration, Raymond Francis

Electronic Thesis and Dissertation Repository

Advances in the capabilities of robotic planetary exploration missions have increased the wealth of scientific data they produce, presenting challenges for mission science and operations imposed by the limits of interplanetary radio communications. These data budget pressures can be relieved by increased robotic autonomy, both for onboard operations tasks and for decision- making in response to science data.

This thesis presents new techniques in automated image interpretation for natural scenes of relevance to planetary science and exploration, and elaborates autonomy scenarios under which they could be used to extend the reach and performance of exploration missions on planetary surfaces.

Two …

Dynamic Surgical Tool Tracking And Delivery System Using Baxter Robot, Sthitapragyan Parida, Juan Pablo Wachs, Maria Eugenia Cabrera

The Summer Undergraduate Research Fellowship (SURF) Symposium

Several hospitals face nurse staffing shortages for surgeries. This research focuses on building a system with Baxter robot capable of identifying surgical tools using computer vision and delivering them to the surgeon on demand. This would deal with the issue of nurse unavailability during simple surgical procedures. The key aspects of the project were: testing the accuracies of various Artificial Neural Networks (ANNs) in classifying surgical instruments, and programming Baxter to implement a surgical tool delivery system using magnets at the tip of its 7-DOF robotic arms. The methodology consisted of, first, implementing algorithms to enable Baxter to do pick …

Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …

3d Robotic Sensing Of People: Human Perception, Representation And Activity Recognition, Hao Zhang

Doctoral Dissertations

The robots are coming. Their presence will eventually bridge the digital-physical divide and dramatically impact human life by taking over tasks where our current society has shortcomings (e.g., search and rescue, elderly care, and child education). Human-centered robotics (HCR) is a vision to address how robots can coexist with humans and help people live safer, simpler and more independent lives.

As humans, we have a remarkable ability to perceive the world around us, perceive people, and interpret their behaviors. Endowing robots with these critical capabilities in highly dynamic human social environments is a significant but very challenging problem in practical …

A Comparative Study Of Underwater Robot Path Planning Algorithms For Adaptive Sampling In A Network Of Sensors, Sreeja Banerjee

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

Monitoring lakes, rivers, and oceans is critical to improving our understanding of complex large-scale ecosystems. We introduce a method of underwater monitoring using semi-mobile underwater sensor networks and mobile underwater robots in this thesis. The underwater robots can move freely in all dimension while the sensor nodes are anchored to the bottom of the water column and can move only up and down along the depth of the water column. We develop three different algorithms to optimize the path of the underwater robot and the positions of the sensors to improve the overall quality of sensing of an area of …

Stereo Vision System Module For Low-Cost Fpgas For Autonomous Mobile Robots, Connor Citron

Master's Theses

Stereo vision uses two adjacent cameras to create a 3D image of the world. A depth map can be created by comparing the offset of the corresponding pixels from the two cameras. However, for real-time stereo vision, the image data needs to be processed at a reasonable frame rate. Real-time stereo vision allows for mobile robots to more easily navigate terrain and interact with objects by providing both the images from the cameras and the depth of the objects. Fortunately, the image processing can be parallelized in order to increase the processing speed. Field-programmable gate arrays (FPGAs) are highly parallelizable …

A Brain Robot Interface For Autonomous Activities Of Daily Living Tasks, Don Indika Upashantha Pathirage

USF Tampa Graduate Theses and Dissertations

There have been substantial improvements in the area of rehabilitation robotics in the recent past. However, these advances are inaccessible to a large number of people with disabilities who are in most need of such assistance. This group includes people who are in a severely paralyzed state, that they are completely "locked-in" in their own bodies. Such persons usually retain full cognitive abilities, but have no voluntary muscle control.

For these persons, a Brain Computer Interface (BCI) is often the only way to communicate with the outside world and/or control an assistive device. One major drawback to BCI devices is …

Getting It Right The First Time: Verification Of Behavior-Based Multirobot Missions, Damian M. Lyons, Ronald C. Arkin, Shu Jiang, Dagon Harrington, Matthew O'Brien

Faculty Publications

No abstract provided.

Leveraging Area Bounds Information For Autonomous Multi-Robot Exploration, Tsung-Ming Liu, Damian M. Lyons

Faculty Publications

In this paper we propose an approach, the Space-Based Potential Field (SBPF) approach, to controlling multiple robots for area exploration missions that focus on robot dispersion. The SBPF method is based on a potential field approach that leverages knowledge of the overall bounds of the area to be explored. This additional information allows a simpler potential field control strategy for all robots but which nonetheless has good dispersion and overlap performance in all the multi-robot scenarios while avoiding potential minima. Both simulation and robot experimental results are presented as evidence.

Getting It Right The First Time: Verification Of Autonomous Behavior-Based Multirobot Missions, Ronald C. Arkin, Damian M. Lyons

Faculty Publications

No abstract provided.

Invariant Inferring And Monitoring In Robotic Systems, Hengle Jiang

Department of Computer Science and Engineering: Dissertations, Theses, and Student Research

System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today’s robotic systems, however, can be very difficult due to the systems’ inherent complexity and its rich operating environment.

In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. This approach is inspired by existing software engineering approaches for automated invariant inference, and it is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, time, temporal, and architectural attributes of robotic …