Open Access. Powered by Scholars. Published by Universities.®
- Institution
Articles 1 - 11 of 11
Full-Text Articles in Engineering
A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson
A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson
Computer Science and Computer Engineering Undergraduate Honors Theses
Cooperative 3D printing is an emerging technology that aims to increase the 3D printing speed and to overcome the size limit of the printable object by having multiple mobile 3D printers (printhead-carrying mobile robots) work together on a single print job on a factory floor. It differs from traditional layer-by-layer 3D printing due to requiring multiple mobile printers to work simultaneously without interfering with each other. Therefore, a new approach for slicing a digital model and generating commands for the mobile printers is needed, which has not been discussed in literature before. We propose a chunk-by-chunk based slicer that divides …
Integration Of Robotic Perception, Action, And Memory, Li Yang Ku
Integration Of Robotic Perception, Action, And Memory, Li Yang Ku
Doctoral Dissertations
In the book "On Intelligence", Hawkins states that intelligence should be measured by the capacity to memorize and predict patterns. I further suggest that the ability to predict action consequences based on perception and memory is essential for robots to demonstrate intelligent behaviors in unstructured environments. However, traditional approaches generally represent action and perception separately---as computer vision modules that recognize objects and as planners that execute actions based on labels and poses. I propose here a more integrated approach where action and perception are combined in a memory model, in which a sequence of actions can be planned based on …
Reinforcement Learning In Robotic Task Domains With Deictic Descriptor Representation, Harry Paul Moore
Reinforcement Learning In Robotic Task Domains With Deictic Descriptor Representation, Harry Paul Moore
LSU Doctoral Dissertations
In the field of reinforcement learning, robot task learning in a specific environment with a Markov decision process backdrop has seen much success. But, extending these results to learning a task for an environment domain has not been as fruitful, even for advanced methodologies such as relational reinforcement learning. In our research into robot learning in environment domains, we utilize a form of deictic representation for the robot’s description of the task environment. However, the non-Markovian nature of the deictic representation leads to perceptual aliasing and conflicting actions, invalidating standard reinforcement learning algorithms. To circumvent this difficulty, several past research …
Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong
Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong
Master's Theses (2009 -)
Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial robotics applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This thesis analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. Simulations and real-world experiments are carried out to test the proposed method against a deterministic …
Baseball Shagger, Anthony Velasquez, Nick Walker, Nathaniel Kai Paresa
Baseball Shagger, Anthony Velasquez, Nick Walker, Nathaniel Kai Paresa
Computer Engineering
The purpose of our project is to allow players to hit baseballs on a baseball field and not have to worry about picking them up. By combining our knowledge of software and hardware, we developed the first design of a robot that “shags” baseballs. Our endeavor was only partially successful. The device was tested on grass, turf, and concrete. The motors did not have enough torque to get moving on grass. The device faired better on turf where it could move, but was quite jerky as the motor drive needed to be high to start moving, but once it was …
Senior Project - Roborodentia Robot, Nicholas Alexander Ilog
Senior Project - Roborodentia Robot, Nicholas Alexander Ilog
Computer Engineering
This project includes an autonomous robot capable of dispensing balls from a dispenser mounted on a wall and shooting the balls through targets five to eight feet away. The robot can hold up to five balls at a time and shoots balls one by one at targets.
Roborodentia Robot: Treadbot, Stephen C. Schmidt
Roborodentia Robot: Treadbot, Stephen C. Schmidt
Computer Science and Software Engineering
This document is a summary of my contest entry to the 2018 Cal Poly Roborodentia competition. It is meant to be a process overview and design outline of the mechanical, electrical, and software components of my robot.
Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale
Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale
Mechanical & Aerospace Engineering Theses & Dissertations
This thesis presents the design of a robotic prosthesis, which mimics the morphology of a human hand. The primary goal of this work is to develop a systematic methodology that allows a custom-build of the prosthesis to match the specific requirements of a person with hand impairments. Two principal research questions are addressed toward this goal: 1) How do we cater to the large variation in the distribution of overall hand-sizes in the human population? 2) How closely do we mimic the complex morphological aspects of a biological hand in order to maximize the anthropomorphism (human-like appearance) of the robotic …
Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi
Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi
Electronic Theses and Dissertations
The locomotion ability and high mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official robotic platform used in the RoboCup Spl. Aldebaran Robotics, the manufacturing company of NAO provides a walking module that has disadvantages, such as being a black box that does not provide control of the gait as well as the robot walk with a bent knee. The latter disadvantage, …
Gender Effects Of Robotics Programs On Stem-Related Self-Efficacy Of High School Students, Sandra Hall-Lay
Gender Effects Of Robotics Programs On Stem-Related Self-Efficacy Of High School Students, Sandra Hall-Lay
Walden Dissertations and Doctoral Studies
Lack of STEM-related self-efficacy has impeded the growth of women in STEM fields. Out of school (OST) robotics programs and other STEM-related OST programs provide secondary students with opportunities to work in groups, brainstorm, and formulate ideas that require communication and teamwork. The purpose of this quantitative, quasi-experimental study was to compare STEM-related self-efficacy scores among male and female students who participated in OST robotics programs or other OST STEM-related programming. Independent variables were type of OST STEM program and gender. The dependent variable was students' STEM-related self-efficacy as measured by the Coping Self-Efficacy Scale. Responses from 149 students in …
An Autonomous Intelligent Robotic Wheelchair To Assist People In Need: Standing-Up, Turning-Around And Sitting-Down, Iosif Papadakis Ktistakis
An Autonomous Intelligent Robotic Wheelchair To Assist People In Need: Standing-Up, Turning-Around And Sitting-Down, Iosif Papadakis Ktistakis
Browse all Theses and Dissertations
The world’s ageing population has significantly increased over the last decades, which will result in one of the most significant transformations of the twenty-first century. As people age, they become more vulnerable to diseases and their health may need constant monitoring. At the same time, the number of people who have some kind of disability is also increasing. These people with disabilities may need daily assistance and monitoring of their health condition that is provided by specialists (health providers) at a high cost. A possible solution to the aforementioned problem comes from the assistive and intelligent robotics research area. The …