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Articles 1 - 30 of 32
Full-Text Articles in Engineering
Development Of A Two-Finger Haptic Robotic Hand With Novel Stiffness Detection And Impedance Control, Vahid Mohammadi, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, Ahad Behboodi
Development Of A Two-Finger Haptic Robotic Hand With Novel Stiffness Detection And Impedance Control, Vahid Mohammadi, Ramin Shahbad, Mojtaba Hosseini, Mohammad Hossein Gholampour, Saeed Shiry Ghidary, Farshid Najafi, Ahad Behboodi
Mechanical & Aerospace Engineering Faculty Publications
Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive …
Chatgpt As Metamorphosis Designer For The Future Of Artificial Intelligence (Ai): A Conceptual Investigation, Amarjit Kumar Singh (Library Assistant), Dr. Pankaj Mathur (Deputy Librarian)
Chatgpt As Metamorphosis Designer For The Future Of Artificial Intelligence (Ai): A Conceptual Investigation, Amarjit Kumar Singh (Library Assistant), Dr. Pankaj Mathur (Deputy Librarian)
Library Philosophy and Practice (e-journal)
Abstract
Purpose: The purpose of this research paper is to explore ChatGPT’s potential as an innovative designer tool for the future development of artificial intelligence. Specifically, this conceptual investigation aims to analyze ChatGPT’s capabilities as a tool for designing and developing near about human intelligent systems for futuristic used and developed in the field of Artificial Intelligence (AI). Also with the helps of this paper, researchers are analyzed the strengths and weaknesses of ChatGPT as a tool, and identify possible areas for improvement in its development and implementation. This investigation focused on the various features and functions of ChatGPT that …
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani
Electrical and Computer Engineering Faculty Research & Creative Works
This study proposes a lifelong deep learning control scheme for robotic manipulators with bounded disturbances. This scheme involves the use of an online tunable deep neural network (DNN) to approximate the unknown nonlinear dynamics of the robot. The control scheme is developed by using a singular value decomposition-based direct tracking error-driven approach, which is utilized to derive the weight update laws for the DNN. To avoid catastrophic forgetting in multi-task scenarios and to ensure lifelong learning (LL), a novel online LL scheme based on elastic weight consolidation is included in the DNN weight-tuning laws. Our results demonstrate that the resulting …
Characterizing And Predicting Human Visual Perception Of Unmanned Aerial Vehicle Gestures, Paul Fletcher
Characterizing And Predicting Human Visual Perception Of Unmanned Aerial Vehicle Gestures, Paul Fletcher
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Unmanned Aerial Vehicles (UAVs) are being used in public domains and hazardous environments where effective communication strategies are critical. UAV gesture techniques have been shown to communicate meaning to human observers and may be ideal in contexts that require lightweight systems such as unmanned aerial flight, however, this work may be limited to an idealized range of viewer perspectives. As gesture is a visual communication technique it is necessary to consider how the perception of a robot gesture may suffer from obfuscation or self-occlusion from some viewpoints. This thesis presents the results of three online user-studies that examine participants’ ability …
Aerial Flight Paths For Communication, Alisha Bevins
Aerial Flight Paths For Communication, Alisha Bevins
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
This body of work presents an iterative process of refinement to understand naive perception of communication using the motion of an unmanned aerial vehicle (UAV). This includes what people believe the UAV is trying to communicate, and how they expect to respond through physical action or emotional response. Previous work in this area sought to communicate without clear definitions of the states attempting to be conveyed. In an attempt to present more concrete states and better understand specific motion perception, this work goes through multiple iterations of state elicitation and label assignment. The lessons learned in this work will be …
Simplification Of Robotics Through Autonomous Navigation, Grant Turner
Simplification Of Robotics Through Autonomous Navigation, Grant Turner
Mahurin Honors College Capstone Experience/Thesis Projects
With self-driving vehicles, college campus food delivery, or even automated home vacuuming systems, robotics is undoubtedly becoming more prevalent in everyday society and it can be expected to continue with time. While many people are owners, users, or even just spectators of theses robotic products or services, there seems to be a negative perception of robotics that poses an intimidation factor regarding the attempt to understand the ideas driving technology. This perception tends to view robotics as machines that require rich education to understand the complexity and interworkings of, thus attempts understand the field are neglected.
To combat this line …
Using Taint Analysis And Reinforcement Learning (Tarl) To Repair Autonomous Robot Software, Damian Lyons, Saba Zahra
Using Taint Analysis And Reinforcement Learning (Tarl) To Repair Autonomous Robot Software, Damian Lyons, Saba Zahra
Faculty Publications
It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility …
Using Robotics And Engineering Design Inquiries To Optimize Learning For Middle Level Teachers: A Case Study, Iman Chafik Chahine, Norman Robinson Iii, Kimbeni Mansion
Using Robotics And Engineering Design Inquiries To Optimize Learning For Middle Level Teachers: A Case Study, Iman Chafik Chahine, Norman Robinson Iii, Kimbeni Mansion
Publications & Research
This exploratory case study reports findings on 20 middle-level science and mathematics teachers’ perceptions of the effectiveness of a one-year project in which teachers engaged in using robotics and engineering design inquiries in their classrooms. Principled by Bandura’s Social Learning Theory (SLT) and using mixed methods approaches, the study measured teachers' efficacy through the Mathematics Teaching Efficacy Belief Instrument (MTEBI) and observation logs before and after the program. The results of this study showed statistically significant differences between PRE MTEBI and POST MTEBI scores. Furthermore, five themes emerged that illuminated potential affordances and constraints that teachers perceive as opportunities and …
Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque
Domain Adaptation In Unmanned Aerial Vehicles Landing Using Reinforcement Learning, Pedro Lucas Franca Albuquerque
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Landing an unmanned aerial vehicle (UAV) on a moving platform is a challenging task that often requires exact models of the UAV dynamics, platform characteristics, and environmental conditions. In this thesis, we present and investigate three different machine learning approaches with varying levels of domain knowledge: dynamics randomization, universal policy with system identification, and reinforcement learning with no parameter variation. We first train the policies in simulation, then perform experiments both in simulation, making variations of the system dynamics with wind and friction coefficient, then perform experiments in a real robot system with wind variation. We initially expected that providing …
Robot Simulation Analysis, Jacob Miller, Jeremy Evert
Robot Simulation Analysis, Jacob Miller, Jeremy Evert
Student Research
• Simulate virtual robot for test and analysis
• Analyze SLAM solutions using ROS
• Assemble a functional Turtlebot
• Emphasize projects related to current research trajectories for NASA, and general robotics applications
Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal
Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal
Computer Science: Faculty Publications and Other Works
This paper presents progress in developing exercises for high school students incorporating level-appropriate mathematics into robotics activities. We assume mathematical foundations ranging from algebra to precalculus, whereas most prior work on integrating mathematics into robotics uses only very elementary mathematical reasoning or, at the other extreme, is comprised of technical papers or books using calculus and other advanced mathematics. The exercises suggested are relevant to any differerential-drive robot, which is an appropriate model for many different varieties of educational robots. They guide students towards comparing a variety of natural navigational strategies making use of typical movement primitives. The exercises align …
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Honors Projects
A 3D printed hand and arm prosthetic was created from the idea of adding bionic elements while keeping the cost low. It was designed based on existing models, desired functions, and materials available. A tilt sensor keeps the hand level, two motors move the wrist in two different directions, a limit switch signals the fingers to open and close, and another motor helps open and close the fingers. All sensors and motors were built on a circuit board, programmed using an Arduino, and powered by a battery. Other supporting materials include metal brackets, screws, guitar strings, elastic bands, small clamps, …
Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg
Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg
Computer Science: Faculty Publications and Other Works
This paper shows how students can be guided to integrate elementary mathematical analyses with motion planning for typical educational robots. Rather than using calculus as in comprehensive works on motion planning, we show students can achieve interesting results using just simple linear regression tools and trigonometric analyses. Experiments with one robotics platform show that use of these tools can lead to passable navigation through dead reckoning even if students have limited experience with use of sensors, programming, and mathematics.
Healthcare Robotics: Key Factors That Impact Robot Adoption In Healthcare, Sujatha Alla, Pilar Pazos
Healthcare Robotics: Key Factors That Impact Robot Adoption In Healthcare, Sujatha Alla, Pilar Pazos
Engineering Management & Systems Engineering Faculty Publications
In the current dynamic business environment, healthcare organizations are focused on improving patient satisfaction, performance, and efficiency. The healthcare industry is considered a complex system that is highly reliant of new technologies to support clinical as well as business processes. Robotics is one of such technologies that is considered to have the potential to increase efficiency in a wide range of clinical services. Although the use of robotics in healthcare is at the early stages of adoption, some studies have shown the capacity of this technology to improve precision, accessibility through less invasive procedures, and reduction of human error during …
Multi-Robot Coordination And Scheduling For Deactivation & Decommissioning, Sebastian A. Zanlongo
Multi-Robot Coordination And Scheduling For Deactivation & Decommissioning, Sebastian A. Zanlongo
FIU Electronic Theses and Dissertations
Large quantities of high-level radioactive waste were generated during WWII. This waste is being stored in facilities such as double-shell tanks in Washington, and the Waste Isolation Pilot Plant in New Mexico. Due to the dangerous nature of radioactive waste, these facilities must undergo periodic inspections to ensure that leaks are detected quickly. In this work, we provide a set of methodologies to aid in the monitoring and inspection of these hazardous facilities. This allows inspection of dangerous regions without a human operator, and for the inspection of locations where a person would not be physically able to enter.
First, …
A Mathematical Framework On Machine Learning: Theory And Application, Bin Shi
A Mathematical Framework On Machine Learning: Theory And Application, Bin Shi
FIU Electronic Theses and Dissertations
The dissertation addresses the research topics of machine learning outlined below. We developed the theory about traditional first-order algorithms from convex opti- mization and provide new insights in nonconvex objective functions from machine learning. Based on the theory analysis, we designed and developed new algorithms to overcome the difficulty of nonconvex objective and to accelerate the speed to obtain the desired result. In this thesis, we answer the two questions: (1) How to design a step size for gradient descent with random initialization? (2) Can we accelerate the current convex optimization algorithms and improve them into nonconvex objective? For application, …
Formal Performance Guarantees For An Approach To Human In The Loop Robot Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Formal Performance Guarantees For An Approach To Human In The Loop Robot Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Faculty Publications
Abstract— A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into the formal performance guarantees for the mission. We present a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration. Our approach allows us to model different skill levels directly in terms of the behavior of the lumped, robot plus operator, system.
Using MissionLab and VIPARS (a behavior-based robot mission verification …
Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank
Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank
Computer Science Faculty Research and Scholarship
This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find …
A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, Craig Christensen
A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, Craig Christensen
MS in Computer Science Project Reports
Robotic arms have been in common use for a several decades now in many areas from manufacturing and industrial uses to hobby projects and amusement park rides. However, there have been very few attempts to make an inexpensive robot arm with a software stack for use in higher education. This paper will outline a control and interfacing software stack built on the Robot Operating System (ROS) and a simulation of the 5 degree of freedom (DoF) robotic arm.
An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons
An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons
Faculty Publications
Visual Homing is a bioinspired approach to robot navigation which can be fast and uses few assumptions. However, visual homing in a cluttered and unstructured outdoor environment offers several challenges to homing methods that have been developed for primarily indoor environments. One issue is that any current image during homing may be tilted with respect to the home image. The second is that moving through a cluttered scene during homing may cause obstacles to interfere between the home scene and location and the current scene and location. In this paper, we introduce a robust method to improve a previous developed …
Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg
Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg
Computer Science: Faculty Publications and Other Works
Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to …
Performance Verification For Robot Missions In Uncertain Environments, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Performance Verification For Robot Missions In Uncertain Environments, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Faculty Publications
Abstract—Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results …
Establishing A-Priori Performance Guarantees For Robot Missions That Include Localization Software, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Establishing A-Priori Performance Guarantees For Robot Missions That Include Localization Software, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Faculty Publications
One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behaviorbased, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several …
Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang
Faculty Publications
Abstract— Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.
Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy …
Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg
Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg
Computer Science: Faculty Publications and Other Works
This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.
Principles And Experimentations Of Self-Organizing Embedded Agents Allowing Learning From Demonstration In Ambient Robotics, Nicolas R. Verstaevel, Christine Regis, Marie-Pierre Gleizes, Fabrice Robert
Principles And Experimentations Of Self-Organizing Embedded Agents Allowing Learning From Demonstration In Ambient Robotics, Nicolas R. Verstaevel, Christine Regis, Marie-Pierre Gleizes, Fabrice Robert
SMART Infrastructure Facility - Papers
Ambient systems are populated by many heterogeneous devices to provide adequate services to their users. The adaptation of an ambient system to the specific needs of its users is a challenging task. Because human-system interaction has to be as natural as possible, we propose an approach based on Learning from Demonstration (LfD). LfD is an interesting approach to generalize what has been observed during the demonstration to similar situations. However, using LfD in ambient systems needs adaptivity of the learning technique. We present ALEX, a multi-agent system able to dynamically learn and reuse contexts from demonstrations performed by a tutor. …
Integrating Cobots In Engineering Technology Education, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris, Otilia Popescu
Integrating Cobots In Engineering Technology Education, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris, Otilia Popescu
Engineering Technology Faculty Publications
Collaborative robots or CoBots, unlike traditional robots, are safe and flexible enough to work harmoniously with humans. Exploiting the efficiency of automated operations and the flexibility of manual operations in one process can improve productivity and worker job satisfaction. CoBots technology has been experiencing strong growth in different areas such as ground transportation, food-processing industry, car manufacturing, and naval or aeronautical engineering. Current CoBots education and training opportunities are rare or non-existent in university environments. In response to this need, we developed several CoBots modules which will be integrated in the current robotics and mechatronics courses. In this paper we …
Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain
Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian Lyons, Ron Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, Julia Deeb
Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian Lyons, Ron Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, Julia Deeb
Faculty Publications
Abstract—Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behavior-based controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this …
Modeling A Sensor To Improve Its Efficacy, Nabin K. Malakar, Daniil Gladkov, Kevin H. Knuth
Modeling A Sensor To Improve Its Efficacy, Nabin K. Malakar, Daniil Gladkov, Kevin H. Knuth
Physics Faculty Scholarship
Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a …