American Studies Commons^™

Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence

USF Tampa Graduate Theses and Dissertations

The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.

In order to execute macro ADL tasks, such as a "go to and pick up" …

Exploring The Human Interactivity With A Robot To Obtain The Fundamental Properties Of Materials, William L. Christian

USF Tampa Graduate Theses and Dissertations

This research studies the way in which humans and robots interact with each other. When two humans are working together through a set of robotic devices, do they tend to work together or fight with each other more? In which Cartesian direction do they have the most difficulty? Does fighting drastically affect the performance of the team? Finally, what measures can be taken to promote better cooperation between humans and robots to ultimately allow humans to work just as comfortably with a robotic partner as with a human partner? This research answers these questions and provides an analysis of human-robot …

Improving Ad-Hoc Team Performance Using Video Games, Jeff David Craighead

USF Tampa Graduate Theses and Dissertations

This dissertation examined the effects of distributed, multiplayer training video games on the performance of distributed teams of robot operators. Two hypotheses were tested, the first hypothesis stated that online, game-based team training will improve the performance of an ad-hoc team versus an ad-hoc team formed of individually trained teammates. The second hypothesis stated that the fractal dimension of a robot's path can be used as an indicator of its operator's skill. Forty-one volunteers participated in an experiment in which they played a distributed, online training game which showed them the basics of operating an Inuktun Extreme VGTV for a …

An Inconsistency-Based Approach For Sensing Assessment In Unknown Environments, Jennifer Diane Gage

USF Tampa Graduate Theses and Dissertations

While exploring an unknown environment, an intelligent agent has only its sensors to guide its actions. Each sensor's ability to provide accurate information depends on the environment's characteristics. If the agent does not know these characteristics, how can it determine which sensors to rely on? This problem is exacerbated by sensing anomalies: cases where sensor(s) are working but the readings lead to an incorrect interpretation of the environment, e.g. laser sensors cannot detect glass. This work addresses the following research question: Can an inconsistency-based sensing accuracy indicator, which relies solely on fused sensor readings, be used to detect and …

Robots Without Faces: Non-Verbal Social Human-Robot Interaction, Cindy L. Bethel

USF Tampa Graduate Theses and Dissertations

Non-facial and non-verbal methods of affective expression are essential for naturalistic social interaction in robots that are designed to be functional and lack expressive faces (appearance-constrained)such as those used in search and rescue, law enforcement, and military applications. This research identifies five main methods of non-facial and non-verbal affective expression (body movement, posture, orientation, color, and sound). From the psychology, computer science, and robotics literature a set of prescriptive recommendations was distilled for the appropriate non-facial and non-verbal affective expression methods for each of three proximity zones of interest(intimate: contact - 0.46 m, personal: 0.46 - 1.22 m, and social: …

Laser Assisted Telerobotic Control For Remote Manipulation Activities, Karan Khokar

USF Tampa Graduate Theses and Dissertations

The effort in this work has been to innovatively use range information from a laser sensor mounted on the end effector of a remote robotic arm in a telerobotic system to assist the user in carrying out remote tasks in unstructured environments. Assistance is provided in the form of Traded Supervisory Control where the human is involved in high level activities such as decision making and the machine generates task plans and executes tasks autonomously using laser data and machine intelligence. In this way human planning and high level decision making capabilities are combined with machine computational and precision task …

Modeling Upper Body Kinematics While Using A Transradial Prosthesis, Derek J. Lura

USF Tampa Graduate Theses and Dissertations

The prostheses used by the majority of persons with upper limb amputations today offer a limited range of motion. Relative to anatomical joints transradial (below the elbow) prosthesis users lose at least two of the three degrees of freedom provided by the wrist and forearm. Some myoeletric prostheses currently allow for forearm pronation and supination (rotation about an axis parallel to the forearm) and the operation of a powered prosthetic hand. Body-powered prostheses, incorporating hooks and other cable driven terminal devices, have even fewer active degrees of freedom. In order to perform activities of daily living, an amputee must use …

A Modular Onboard Processing System For Small Unmanned Vehicles, Richard D. Garcia

USF Tampa Graduate Theses and Dissertations

This work describes the design and implementation of a generic lightweight onboard processing system for miniature Unmanned Vehicles (UVs) that is computationally powerful and highly adaptable. First, several classical approaches to giant scale and full size UV onboard processing systems are described along with their corresponding limitations. Second, a detailed study is presented that describes the key characteristics of an onboard system along with associated limitations. Next, an implementation of a generic onboard system capable of vision processing and servo based control is presented along with detailed hardware specifications and implementation software. Last, experimental data, both laboratory and field, are …

Creating A Distributed Field Robot Architecture For Multiple Robots, Matthew T. Long

USF Tampa Graduate Theses and Dissertations

This thesis describes the design and implementation of a distributed robot architecture, Distributed Field Robot Architecture. The approach taken in this thesis is threefold. First, the distributed architecture builds on existing hybrid deliberative/reactive architectures used for individual robots rather than creating a distributed architecture that requires re-engineering of existing robots. Second, the distributed layer of the architecture incorporates concepts from artificial intelligence and software agents. Third, the architecture is designed around Suns Jini middleware layer, rather than creating a middleware layer from scratch or attempting to adapt a software agent architecture. This thesis makes three primary contributions, both theoretical and …

Multi-Robot Task Allocation Using Affect, Aaron Gage

USF Tampa Graduate Theses and Dissertations

Mobile robots are being used for an increasing array of tasks, from military reconnaissance to planetary exploration to urban search and rescue. As robots are deployed in increasingly complex domains, teams are called upon to perform tasks that exceed the capabilities of any particular robot. Thus, it becomes necessary for robots to cooperate, such that one robot can recruit another to jointly perform a task. Though techniques exist to allocate robots to tasks, either the communication overhead that these techniques require prevents them from scaling up to large teams, or assumptions are made that limit them to simple domains. This …

Analysis Of How Mobile Robots Fail In The Field, Jennifer Carlson

USF Tampa Graduate Theses and Dissertations

The considerable risk to human life associated with modern military operations in urban terrain (MOUT) and urban search and rescue (USAR) has led professionals in these domains to explore the use of robots to improve safety. Recent studies on mobile robot use in the field have shown a noticeable lack of reliability in real field conditions. Improving mobile robot reliability for applications such as USAR and MOUT requires an understanding of how mobile robots fail in field environments.

This paper provides a detailed investigation of how ground-based mobile robots fail in the field. Forty-four representative examples of failures from 13 …