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Articles 1 - 30 of 34
Full-Text Articles in Engineering
How Can We Build A Moral Robot?, Kristen E. Clark
How Can We Build A Moral Robot?, Kristen E. Clark
Capstones
Artificial intelligence is already starting to drive our cars and make choices that affect the world economy. One day soon, we’ll have robots that can take care of our sick and elderly, and even rescue us in rescue us in emergencies. But as robots start to make decisions that matter—it’s raising questions that go far beyond engineering. We’re stating to think about ethics.
Bertram Malle and Matthias Scheutz are part of a team funded by the department of defense. It's their job to answer a question that seems straight out of a sci-fi novel: How can we build a moral …
Neuron Clustering For Mitigating Catastrophic Forgetting In Supervised And Reinforcement Learning, Benjamin Frederick Goodrich
Neuron Clustering For Mitigating Catastrophic Forgetting In Supervised And Reinforcement Learning, Benjamin Frederick Goodrich
Doctoral Dissertations
Neural networks have had many great successes in recent years, particularly with the advent of deep learning and many novel training techniques. One issue that has affected neural networks and prevented them from performing well in more realistic online environments is that of catastrophic forgetting. Catastrophic forgetting affects supervised learning systems when input samples are temporally correlated or are non-stationary. However, most real-world problems are non-stationary in nature, resulting in prolonged periods of time separating inputs drawn from different regions of the input space.
Reinforcement learning represents a worst-case scenario when it comes to precipitating catastrophic forgetting in neural networks. …
A Lidar Based Semi-Autonomous Collision Avoidance System And The Development Of A Hardware-In-The-Loop Simulator To Aid In Algorithm Development And Human Studies, Thomas F. Stevens
A Lidar Based Semi-Autonomous Collision Avoidance System And The Development Of A Hardware-In-The-Loop Simulator To Aid In Algorithm Development And Human Studies, Thomas F. Stevens
Master's Theses
In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board computer running embedded GNU/Linux. To eliminate any wired tethers that limit the system’s abilities, the driver operates the vehicle at a user-control-station through a wireless Bluetooth interface. The user-control-station is outfitted with a game-controller that provides standard steering wheel and pedal controls along …
Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
USF Tampa Graduate Theses and Dissertations
A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …
Real-Time Topic And Sentiment Analysis In Human-Robot Conversation, Elise Russell
Real-Time Topic And Sentiment Analysis In Human-Robot Conversation, Elise Russell
Master's Theses (2009 -)
Socially interactive robots, especially those designed for entertainment and companionship, must be able to hold conversations with users that feel natural and engaging for humans. Two important components of such conversations include adherence to the topic of conversation and inclusion of affective expressions. Most previous approaches have concentrated on topic detection or sentiment analysis alone, and approaches that attempt to address both are limited by domain and by type of reply. This thesis presents a new approach, implemented on a humanoid robot interface, that detects the topic and sentiment of a user’s utterances from text-transcribed speech. It also generates domain-independent, …
Using Eye And Head Movements As A Control Mechanism For Tele-Operating A Ground-Based Robot And Its Payload, Kathryn C. Hicks
Using Eye And Head Movements As A Control Mechanism For Tele-Operating A Ground-Based Robot And Its Payload, Kathryn C. Hicks
Computational Modeling & Simulation Engineering Theses & Dissertations
To date, eye and head tracking has been used to indicate users' attention patterns while performing a task or as an aid for disabled persons, to allow hands-free interaction with a computer. The increasing accuracy and the reduced cost of eye- and head-tracking equipment make utilizing this technology feasible for explicit control tasks, especially in cases where there is confluence between the visual task and control.
The goal of this research was to investigate the use of eye-tracking as a more natural interface for the control of a camera-equipped, remotely operated robot in tasks that require the operator to simultaneously …
3d Scene Reconstruction With Micro-Aerial Vehicles And Mobile Devices, Ivan Dryanovski
3d Scene Reconstruction With Micro-Aerial Vehicles And Mobile Devices, Ivan Dryanovski
Dissertations, Theses, and Capstone Projects
Scene reconstruction is the process of building an accurate geometric model of one's environment from sensor data. We explore the problem of real-time, large-scale 3D scene reconstruction in indoor environments using small laser range-finders and low-cost RGB-D (color plus depth) cameras. We focus on computationally-constrained platforms such as micro-aerial vehicles (MAVs) and mobile devices. These platforms present a set of fundamental challenges - estimating the state and trajectory of the device as it moves within its environment and utilizing lightweight, dynamic data structures to hold the representation of the reconstructed scene. The system needs to be computationally and memory-efficient, so …
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
USF Tampa Graduate Theses and Dissertations
A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …
The Design And Implementation Of An Adaptive Chess Game, Mehdi Peiravi
The Design And Implementation Of An Adaptive Chess Game, Mehdi Peiravi
Electronic Theses, Projects, and Dissertations
In recent years, computer games have become a common form of entertainment. Fast advancement in computer technology and internet speed have helped entertainment software developers to create graphical games that keep a variety of players’ interest. The emergence of artificial intelligence systems has evolved computer gaming technology in new and profound ways. Artificial intelligence provides the illusion of intelligence in the behavior of NPCs (Non-Playable-Characters). NPCs are able to use the increased CPU, GPU, RAM, Storage and other bandwidth related capabilities, resulting in very difficult game play for the end user. In many cases, computer abilities must be toned down …
A Magnetic Actuated Fully Insertable Robotic Camera System For Single Incision Laparoscopic Surgery, Xiaolong Liu
A Magnetic Actuated Fully Insertable Robotic Camera System For Single Incision Laparoscopic Surgery, Xiaolong Liu
Doctoral Dissertations
Minimally Invasive Surgery (MIS) is a common surgical procedure which makes tiny incisions in the patients anatomy, inserting surgical instruments and using laparoscopic cameras to guide the procedure. Compared with traditional open surgery, MIS allows surgeons to perform complex surgeries with reduced trauma to the muscles and soft tissues, less intraoperative hemorrhaging and postoperative pain, and faster recovery time. Surgeons rely heavily on laparoscopic cameras for hand-eye coordination and control during a procedure. However, the use of a standard laparoscopic camera, achieved by pushing long sticks into a dedicated small opening, involves multiple incisions for the surgical instruments. Recently, single …
Pl-X (Roborodentia), Kelly Leung, William Luo, Jeffrey Tang
Pl-X (Roborodentia), Kelly Leung, William Luo, Jeffrey Tang
Computer Engineering
Pl-x is the name of the robot that will be competing in Roborodentia, an annual autonomous robot competition. This year the competition involves moving rings from one end of a course to the opposite end of the course.
Roborodentia Robot 2015, Travis Stuever
Roborodentia Robot 2015, Travis Stuever
Computer Engineering
The Roborodentia 2015 competition was a ring based challenge that had participants move PVC rings from one side of a course to another all within 3 minutes. In order to succeed in this competition there needs to be a good robotic design, thought out use cases, and good solid software.
Roborodentia Robot, Jordan Dykstra, Anibal Hernandez, Robert Prosser
Roborodentia Robot, Jordan Dykstra, Anibal Hernandez, Robert Prosser
Computer Engineering
This report provides details on the design and implementation of a robot for the Spring 2015 Roborodentia competition. The system is described from a software perspective, a hardware perspective, and a mechanical design perspective.
Printed Circuit Board For Introductory Animatronics Course, Preston Brown
Printed Circuit Board For Introductory Animatronics Course, Preston Brown
Computer Engineering
For many years, freshmen Computer Engineering students at California Polytechnic State University have taken a course that introduces them to the “processes of electronics manufacturing. They are lectured on concepts such as CAD/CAM design, Design for Manufacture (DFM), documentation requirements, prototyping and production planning”. The laboratory portion of the course allows students to “use hands-on techniques to solidify knowledge of project planning, soldering, automation, hand tool usage and production methods” by manufacturing their own power supply, starting with aluminum sheets, a bag of components, and and an unassembled printed circuit board (PCB).
While the project is popular among students, department …
Universal Uav Payload Interface, Nolan Reker, David Troy Jr, Drew Troxell
Universal Uav Payload Interface, Nolan Reker, David Troy Jr, Drew Troxell
Computer Engineering
Unmanned Aerial Vehicle (UAV) technology is becoming increasingly accessible for civilian use. Both open-source and commercial-purpose UAVs can be obtained affordably or even built. However, the platforms available are very segmented in their customization to a specific application (i.e. land surveying, payload delivery). This project aims to create a Universal Payload Interface (UPI) mounted to the underside of multi-rotors or other UAVs to enable the attachment of customizable sensor payloads. These payloads allow a single UAV to be rapidly reconfigured to perform a multitude of tasks.
The Universal Payload Interface facilitates communication between the payload, onboard flight controller, and operator …
Innovative Connectivity Ensuring Education (I.-C.E.E.), Luke Cole, Andrew Ma, Nicholas Ross, Daniel Williams
Innovative Connectivity Ensuring Education (I.-C.E.E.), Luke Cole, Andrew Ma, Nicholas Ross, Daniel Williams
Electrical Engineering
This is the critical design review for the Telepresence/Telerobotic Technology for Children with Disabilities Project by team I.- C.E.E. (Innovative Connectivity Ensuring Education). This report details our telepresence system design for our client (Nathan Stilts) including design choices/justification, testing verification and procedures, and chosen components for implementation. There are seven chapters in total starting with introductory/background information followed by hardware and software design, verification, and testing and concludes with the current status of the project and what future work may need to be included.
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Master's Theses
Telepresence describes technologies that allow users to remotely experience the sensation of being present at an event without being physically present. An avatar exists to represent the user whilst in a remote location and is tasked to collect stimuli from its immediate surroundings to be delivered to the user for consumption. With the advent of recent developments in Virtual Reality technology, viz., head-mounted displays (HMDs), new possibilities have been enabled in the field of Telepresence. The main focus of this thesis is to develop a solution for visual Telepresence, where an HMD is used to control the direction of a …
Motion In The Field: A Study Of Movement In Computer Science, Catherine Martin
Motion In The Field: A Study Of Movement In Computer Science, Catherine Martin
Renée Crown University Honors Thesis Projects - All
In this project, I use a system that combines the use of a motion controller to obtain information about physical motion of a user with the transmission of outputs to a quadcopter that interacts with the physical environment. In the manual mode, the user sends commands to the quadcopter using hand controls. I utilized an existing system but increased usability to prevent accidental flight and created commands that are more intuitive for the user. In the automatic mode, the user gives a single command to the motion controller and it runs the A* path planning algorithm over a representation of …
Dynamic Simulation And Neuromuscular Control Of Movement: Applications For Predictive Simulations Of Balance Recovery, Misagh Mansouri Boroujeni
Dynamic Simulation And Neuromuscular Control Of Movement: Applications For Predictive Simulations Of Balance Recovery, Misagh Mansouri Boroujeni
Doctoral Dissertations
Balance is among the most challenging tasks for patients with movement disorders. Study and treatment of these disorders could greatly benefit from combined software tools that offer better insights into neuromuscular biomechanics, and predictive capabilities for optimal surgical and rehabilitation treatment planning. A platform was created to combine musculoskeletal modeling, closed-loop forward dynamic simulation, optimization techniques, and neuromuscular control system design. Spinal (stretch-reflex) and supraspinal (operational space task-based) controllers were developed to test simulation-based hypotheses related to balance recovery and movement control. A corrective procedure (rectus femoris transfer surgery) was targeted for children experiencing stiff-knee gait and how this procedure …
Object Tracking Through The Use Of Color Hue Image Processing, Zachary R. Sabey
Object Tracking Through The Use Of Color Hue Image Processing, Zachary R. Sabey
Electrical Engineering Undergraduate Honors Theses
Many industrial and commercial applications today are beginning to use autonomous systems to increase productivity and cut costs in production and manpower. Most of these applications are only semi autonomous; they still need assistance from a human to either start up or receive continual instructions. With the improvement of image processing techniques, camera processing capabilities and more efficient vehicles, a new wave of fully autonomous vehicles can be implemented. A simple system that uses a dedicated image processor connected to an RC vehicle can be developed to provide an example for the new techniques currently available. The Pixycam, a dedicated …
Formal Specification And Refinement Of The Navigation Tasks Of Autonomous Robots, Eman Rabiah Rabiah
Formal Specification And Refinement Of The Navigation Tasks Of Autonomous Robots, Eman Rabiah Rabiah
Theses
Autonomous robots are hybrid systems whose role in our daily life is becoming increasingly critical. They are tasked with various activities requiring reliability, safety, and correctness of their software-controlled behavior. Formal methods have been proved effective in addressing development issues associated with these software qualities. However, even though autonomous robot navigation is a primordial function, there is no research dealing with enhancing reliability of the navigation algorithms. Thus, our focus is to investigate this type of algorithms, and specifically path planning, a fundamental and critical functionality supporting autonomy. We formally address the issue of enhancing reliability of the widely-used A* …
Hybrid Power System For Micro Air Vehicles, Bakytgul Khaday
Hybrid Power System For Micro Air Vehicles, Bakytgul Khaday
Open Access Theses
Today Micro Air Vehicles are in need of a good power source that would enable them longer flight time and various functionalities. This work is focused on to this problem. A possible solution that is offered in this study is implementing a hybrid power system consisting of battery and supercapacitor (SCAP). The proposed hybrid power system was tested on an existing MAV platform (Cheerson CX-10). A separate hybrid power printed circuit board (PCB) was designed and manufactured. For experimental and system verification purposes, the PCB was not sized for on-board flight. The hybrid power PCB was connected to MAV through …
Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control With Application To Unmanned Aircraft Systems, David William Kun
Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control With Application To Unmanned Aircraft Systems, David William Kun
Open Access Theses
Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known …
Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster
Theses and Dissertations
The newly acquired 6-DOF Motion Test Apparatus (MTA) was installed to perform dynamic wind tunnel testing in the AFIT Low Speed Wind Tunnel. Several complex motions revealed that the overall performance of the test rig needed improvement especially during small motions. The motions exposed that further enhancements would need to be performed individually for each joint. This research effort focused on the improvement of the MTA wrist roll motor and controller using a pitch oscillation. The controller software was improved using position feedback because the MTA wrist roll motor and controller exhibited reduced signal bias and amplitude attenuation. The enhanced …
Diseño Y Fabricación De Luz Robótica De Dos Grados De Libertad Y Cambio De Color, Oscar Iván Sáenz Rivera
Diseño Y Fabricación De Luz Robótica De Dos Grados De Libertad Y Cambio De Color, Oscar Iván Sáenz Rivera
Ingeniería en Automatización
No abstract provided.
Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.
Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.
Open Access Theses & Dissertations
Since the rise of additive manufacturing (AM), innovation has been at the forefront. Additive Manufacturing systems that incorporate complex processes are steadily being developed. One example is the Multi3D System, which was designed to integrate the ability to print multi-material parts with that of embedding electronics. To achieve this automated process, the Multi3D incorporates a six-axis robotic arm to transfer a build platform containing a printed part, to various manufacturing stations (two fused deposition modeling (Stratasys, FDM400mc) systems and a computer numerical control router (Techno CNC Router). The robot is a Yaskawa Motoman MH50 chosen for its payload capacity of …
Integración De Un Robot Mitsubishi Melfa Rv-M1 Para Un Fms, Michael Andrés Forero Chaux
Integración De Un Robot Mitsubishi Melfa Rv-M1 Para Un Fms, Michael Andrés Forero Chaux
Ingeniería en Automatización
No abstract provided.
An Embodied Approach To Evolving Robust Visual Classifiers, Karol Zieba
An Embodied Approach To Evolving Robust Visual Classifiers, Karol Zieba
Graduate College Dissertations and Theses
From the very creation of the term by Czech writer Karel Capek in 1921, a "robot" has been synonymous with an artificial agent possessing a powerful body and cogitating mind. While the fields of Artificial Intelligence (AI) and Robotics have made progress into the creation of such an android, the goal of a cogitating robot remains firmly outside the reach of our technological capabilities. Cognition has proved to be far more complex than early AI practitioners envisioned. Current methods in Machine Learning have achieved remarkable successes in image categorization through the use of deep learning. However, when presented with novel …
Visual Slam And Surface Reconstruction For Abdominal Minimally Invasive Surgery, Bingxiong Lin
Visual Slam And Surface Reconstruction For Abdominal Minimally Invasive Surgery, Bingxiong Lin
USF Tampa Graduate Theses and Dissertations
Depth information of tissue surfaces and laparoscope poses are crucial for accurate surgical guidance and navigation in Computer Assisted Surgeries (CAS). Intra-operative Three Dimensional (3D) reconstruction and laparoscope localization are therefore two fundamental tasks in CAS. This dissertation focuses on the abdominal Minimally Invasive Surgeries (MIS) and presents laparoscopic-video-based methods for these two tasks.
Different kinds of methods have been presented to recover 3D surface structures of surgical scenes in MIS. Those methods are mainly based on laser, structured light, time-of-flight cameras, and video cameras. Among them, laparoscopic-video-based surface reconstruction techniques have many significant advantages. Specifically, they are non-invasive, provide …
Reducing The Control Burden Of Legged Robotic Locomotion Through Biomimetic Consonance In Mechanical Design And Control, Caitrin Elizabeth Eaton
Reducing The Control Burden Of Legged Robotic Locomotion Through Biomimetic Consonance In Mechanical Design And Control, Caitrin Elizabeth Eaton
USF Tampa Graduate Theses and Dissertations
Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity, any wheeled system is confined to relatively flat terrain. Wheels will also only ever be useful for rolling, while limbs observed in nature are highly multimodal. The robust locomotive utility of legs is evidenced by the many animals that walk, run, jump, swim, and climb in a world full of challenging terrain.
On the other hand, legs with multiple degrees of freedom (DoF) require much more complex control and …