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Articles 1 - 13 of 13
Full-Text Articles in Engineering
A One-Wheeled Robot For Exploring Rolling Disk Locomotion, David H. J. Schmidt
A One-Wheeled Robot For Exploring Rolling Disk Locomotion, David H. J. Schmidt
Graduate Research Theses & Dissertations
The work proposed in this thesis is motivated by observations of one-wheel vehicles called monocycles. Whereas the unicycle has the rider sitting on a seat above the wheel, the monocycle’s rider sits inside a large circular hoop that serves as the wheel. Due to the position of the rider inside the wheel, it lowers the overall center of mass of the vehicle below the center of the wheel. For this reason, the uncontrolled longitudinal (forward/backward, or drive axis) dynamics are stable. For modest speeds above a certain threshold, the lateral (side-to-side, or lean axis) dynamics of the monocycle are also …
Magnetometer-Less State-Estimation Of A Mobile Robot Using Cascaded Kalman Filters, Tommy Le
Magnetometer-Less State-Estimation Of A Mobile Robot Using Cascaded Kalman Filters, Tommy Le
Graduate Research Theses & Dissertations
Localization, or state-estimation algorithms, are one of the most important aspects inthe development of autonomous mobile robots. Typical localization requires an IMU (Inertial Measurement Unit) along with an external reference, such as GPS (Global Positioning System) for outdoor applications. In indoor applications, the GPS data is not accessible so many mobile robot implementations turn to magnetometers to provide additional pose information. However, in the context of miniaturizing robotic systems, magnetometers are not always reliable due to their proximity to motors and other electronics, causing magnetic distortion and in turn, incorrect pose information. To address this issue, this thesis proposes a …
Design And Development Of A Smartphone App For Health Monitoring And Alerts For Farm Workers, Omer Oztoprak
Design And Development Of A Smartphone App For Health Monitoring And Alerts For Farm Workers, Omer Oztoprak
Graduate Research Theses & Dissertations
This thesis presents the design and development of a novel smartphone applicationfor simultaneous health monitoring and alerts for agricultural workers using multiple wearable sensor devices via Bluetooth Low Energy (BLE). The application combines health data from a range of sensors such as an IMU that detects body movement, a pulse oximeter that captures oxygen saturation and heart rate, and a thermometer that measures body temperature. The software framework is built using Jetpack Compose in Android Studio, and it incorporates the MVVM (Model- View-ViewModel) model to provide optimized data flow and robust efficiency. By integrating the Dagger Hilt Dependency Injection framework, …
Experimental Evaluation Of Micro-Epidermal Actuators On Flexible Substrates, Courtney D. Bradley
Experimental Evaluation Of Micro-Epidermal Actuators On Flexible Substrates, Courtney D. Bradley
Graduate Research Theses & Dissertations
Does embedding actuators in a flexible substrate increase their performance in hearing aids? What are the differences in damping experienced by actuators of different diameters and at different locations? At what frequency is peak acceleration achieved and what role does the size of the actuator and embedding it in a flexible substrate play? These questions will form the basis of this thesis. This work was done to develop a small non-invasive Band-Aid-©-like hearing aid. The novelty of this device requires a detailed analysis of piezoelectric actuators. This is a continuation of past students’ work on the topic. The main parameters …
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell
Graduate Research Theses & Dissertations
A fully solid-state, software-defined, one-handed, handle-type control device built around a machine-learning (ML) model that provides intuitive and simultaneous control in position and orientation each in a full three degrees-of-freedom (DOF) is proposed in this paper. The device, referred to as the “Smart Handle”, and it is compact, lightweight, and only reliant on low-cost and readily available sensors and materials for construction. Mobility chairs for persons with motor difficulties could make use of a control device that can learn to recognize arbitrary inputs as control commands. Upper-extremity exoskeletons used in occupational settings and rehabilitation require a natural control device like …
Human-Aware Information-Theoretic Control Of Robotic Swarms, Rafal David Krzysiak
Human-Aware Information-Theoretic Control Of Robotic Swarms, Rafal David Krzysiak
Graduate Research Theses & Dissertations
Robotic swarms provide a scalable and robust solution for monitoring large environments. In this context, the inclusion of a human has the potential advantage of incorporating prior knowledge about the target location or dynamics, thus increasing the overall efficiency of the task at hand. This is especially critical when dealing with time-intensive missions such as search and rescue. In this thesis we develop a general information-theoretic framework to control multiple autonomous robots in search and rescue missions that include a human teleoperator. Human prior knowledge is modeled to capture target location and dynamics, and a mutual information based control is …
Imu-Based Estimation Of Body Posture In Commercial Fishing, Umme Kawsar Alam
Imu-Based Estimation Of Body Posture In Commercial Fishing, Umme Kawsar Alam
Graduate Research Theses & Dissertations
According to the U.S. Bureau of Labor Statistics (BLS), work-related musculoskeletaldisorders (WMSDs) account for 33% of all occupational injuries and illnesses in the U.S. In addition, one of the most strenuous occupations in which musculoskeletal disorders are common is known to be commercial fishing. The first step to address this issue is to precisely measure the working postures of workers so that the relation between WMSDs and nonneutral working postures can be systematically investigated. Although the inertial measurement unit (IMU) has recently gained attention in posture measurement due to its portability, it is highly limited to the use as an …
A Multi-Constraint Predictive Control System With Auxiliary Emergency Controllerfor Autonomous Vehicles, Farhad Partovi Ebrahimpour
A Multi-Constraint Predictive Control System With Auxiliary Emergency Controllerfor Autonomous Vehicles, Farhad Partovi Ebrahimpour
Graduate Research Theses & Dissertations
In the last few years, several research groups and companies have worked on developing autonomous vehicles. Among the first automation layers, the safety layer plays a significant role in this field. However, considering safety should not diminish the importance of the efficiency of the vehicle in terms of path tracking with the desired speed. This thesis introduces a multi-constraint predictive control algorithm along with a safety layer to guarantee object avoidance in emergency situations. First, there is a quick review of autonomous cars and their functionalities. In the following, a controller switching mechanism is proposed and designed. It switches the …
Adaptive Object Detection For Autonomous Vehicles, Christopher Wolfe
Adaptive Object Detection For Autonomous Vehicles, Christopher Wolfe
Graduate Research Theses & Dissertations
Autonomous vehicles are gradually entering our daily lives. The goal of fully autonomous commercially available vehicles is becoming closer to reality each day as the contributions from researchers and various institutions are being added to the overall body of knowledge. Object detection is a critical component of an autonomous or semi-autonomous vehicle and draws extensively on results from many fields such as image processing and statistics. In this thesis, we consider ideas from the study of real-time computing and control systems to present a novel method of real-time adaptive object detection. We present a conceptual framework of the method as …
Small Non-Profit Website And Social Media Efficacy, Juliana Maria Leprich
Small Non-Profit Website And Social Media Efficacy, Juliana Maria Leprich
Graduate Research Theses & Dissertations
This thesis examines the website design and social media platform usage of small non-profit organizations (defined as less than $1M operating budget and less than ten staff). This research will be completed by first reviewing other studies that have been done on marketing in the non-profit sector, then by exploring marketing challenges firsthand through a mini-ethnographic case study as described in the mini-ethnographic case study approach, and finally through the examination of tax and financial data provided by Guidestar. The researcher was involved in website collaboration with The Gracie Center in a volunteer capacity and was employed with the two …
Exploring Cyber-Physical Systems, Misbah Uddin Mohammed
Exploring Cyber-Physical Systems, Misbah Uddin Mohammed
Graduate Research Theses & Dissertations
The advances in IOT, Computer Vision, AI and Machine Learning have made these technologies ubiquitous to our daily lives. From Smart Phones to Connected Vehicles, Cyber Physical systems have been interspersed into everything we interact in today’s world. The aim or this thesis was to explore these advances in Cyber Physical Systems and analyze the different sectors they were affecting. We then hand-picked certain domains and explored further by carrying out practical projects using some of the latest software and hardware resources available. Technologies like Amazon Alexa services, NVIDIA Jetson boards, TensorFlow, OpenCV, NodeJS were heavily employed in our various …
The Social Presence Of Jibo, Parisa Farhadi
The Social Presence Of Jibo, Parisa Farhadi
Graduate Research Theses & Dissertations
This research is an attempt to investigate how a social robot is perceived by users at the first encounter. And to find out whether a social robot like Jibo is understood merely as a kind of a technological object or a social entity. Previous studies in Human-Robot Interaction have considered social presence as a mediator in users’ social responses toward robots; however, the focus of this study is the social presence itself and investigates whether Jibo produces a sense of presence during initial encounters. To this end, the current study examines individuals’ perceptions of and responses to Jibo. Participants (N=8) …
Youtube’S Terms Of Service: Posthumanism, Algorithms, And Professional Writing, Sarah Bresnahan
Youtube’S Terms Of Service: Posthumanism, Algorithms, And Professional Writing, Sarah Bresnahan
Graduate Research Theses & Dissertations
This thesis aims to examine YouTube’s Terms of Service as it applies to content creators (known as YouTubers) who use the platform as a means of financial gain and how YouTube’s demonetization policy via an algorithm is negatively affecting them. I conducted a case study featuring one creator, Michelle Guido, and attempted to determine why some of her content is demonetized when it fulfills YouTube’s content standards for monetization. This study is meant as an examination through the lens of Dr. N. Katherine Hayles’s theory of posthumanism as stated in her book, How We Became Posthuman, and will offer insight …