Engineering Commons^™

Implementación De Una Herramienta De Programación Y Simulación De Un Manipulador Robótico Utilizando Realidad Virtual, Daniel Santiago Rodríguez Hoyos

Ingeniería en Automatización

En la actualidad el uso de robots manipuladores va aumentando con el crecimiento de la industria, en donde se remplaza el trabajo manual repetitivo por estos mecanismos, si se quiere estar a la vanguardia con el crecimiento industrial surge la necesidad de crear herramientas tecnologías para facilitar la programación de robots en entornos industriales. Ayudando a que el usuario no requiera conocimiento profundo de programación de robots manipuladores. Este proyecto contempla el desarrollo de la herramienta computacional de realidad virtual en Unity 3D, construido a partir de modelos CAD incluidos en un espacio virtual computarizado, la programación de las funcionalidades …

Implementación De Un Robot Armable Para El Desarrollo De Habilidades Motrices Fina, Ana María Moreno Salgado

Ingeniería en Automatización

No abstract provided.

Magic Triangle – Human, Exoskeleton, And Collaborative Robot Scenario, R. A. Goehlich, M. H. Rutsch, I. Krohne

Publications

The incidence of musculoskeletal disorders in workplaces with difficult ergonomic conditions is increasing. Today, there is a growing market for technical support systems that avoid repetitive strain on the musculoskeletal system. We have been observing two (parallel) lines of development: on the one hand, the development of exoskeletons supporting shop floor operators and, on the other hand, the development of collaborative robots for the creation of hybrid teams. The focus of our research is the combined application of exoskeletons AND collaborative robots for shop floor operators in the aerospace industry. Our approach is to analyze various scenarios to understand which …

A Pilot Study On Facial Expression Recognition Ability Of Autistic Children Using Ryan, A Rear-Projected Humanoid Robot, Farzaneh Askari, Huanghao Feng, Timothy D. Sweeny, Mohammad H. Mahoor

Electrical and Computer Engineering: Graduate Student Scholarship

Rear-projected robots use computer graphics technology to create facial animations and project them on a mask to show the robot’s facial cues and expressions. These types of robots are becoming commercially available, though more research is required to understand how they can be effectively used as a socially assistive robotic agent. This paper presents the results of a pilot study on comparing the facial expression recognition abilities of children with Autism Spectrum Disorder (ASD) with typically developing (TD) children using a rear-projected humanoid robot called Ryan. Six children with ASD and six TD children participated in this research, where Ryan …

How Children With Autism Spectrum Disorder Recognize Facial Expressions Displayed By A Rear-Projection Humanoid Robot, Farzaneh Askari, Huanghao Feng, Anibal Gutierrez, Timothy Sweeny, Mohammad H. Mahoor

Electrical and Computer Engineering: Graduate Student Scholarship

Background: Children with Autism Spectrum Disorder (ASD) experience reduced ability to perceive crucial nonverbal communication cues such as eye gaze, gestures, and facial expressions. Recent studies suggest that social robots can be used as effective tools to improve communication and social skills in children with ASD. One explanation has been put forward by several studies that children with ASD feel more contented and motivated in systemized and predictable environment, like interacting with robots.

Objectives: There have been few research studies evaluating how children with ASD perceive facial expression in humanoid robots but no research evaluating facial expression perception …

Design And Simulation Of A Pneumatic Actuator Bending Soft Robotics Based On 3d Printing, Chenyu Zheng

Theses, Dissertations and Capstones

Robots mechatronic devices are able to replicate human actions, especially in dangerous environments and in manufacturing. Recently, the development of robotics has been inspired by bionics. The advanced robotics allow advanced robots to be used in new environments where they were not traditionally applicable, such as narrow and small spaces. Compared to traditional rigid robots, soft robots are made by deformable materials and possess high dexterity and adaptivity in harsh working environments. Traditional soft robots are made by casting. The method implies that the molds of soft robots should be designed and printed by a 3D printer first, before casting. …

Desarrollo De Una Estrategia De Control Predictivo Aplicado A Un Péndulo Invertido, Que Permita La Estabilización De Imágenes En Robots Para Exploración Agrícola, David Mateo Rojas Vallejo

Ingeniería en Automatización

La robótica es un campo de estudio tan amplio, que se puede extender prácticamente a cualquiera de las labores humanas; una de estas actividades es la agricultura, aunque para que esto se logre, primero se deben considerar factores mas específicos de un sistema robótico como: visión artificial, estructuras robóticas, control de sistemas, entre otros. En este proyecto se desarrolla una estrategia de control para una plataforma de péndulo invertido, que emula el sistema mecánico en donde se posicionaría la cámara de un robot agrícola. El sistema consiste en un péndulo invertido rotativo, y la estrategia de control que se implementó …

Force-Canceling Mixer Algorithm For Vehicles With Fully-Articulated Radially Symmetric Thruster Arrays, Joseph Nicholas Casabona

Electronic Theses and Dissertations

A new type of fully-holonomic aerial vehicle is identified and developed that can optionally utilize automatic cancellation of excessive thruster forces to maintain precise control despite little or no throttle authority. After defining the physical attributes of the new vehicle, a flight control mixer algorithm is defined and presented. This mixer is an input/output abstraction that grants a flight control system (or pilot) full authority of the vehicle's position and orientation by means of an input translation vector and input torque vector. The mixer is shown to be general with respect to the number of thrusters in the system provided …

Developing An Affect-Aware Rear-Projected Robotic Agent, Ali Mollahosseini

Electronic Theses and Dissertations

Social (or Sociable) robots are designed to interact with people in a natural and interpersonal manner. They are becoming an integrated part of our daily lives and have achieved positive outcomes in several applications such as education, health care, quality of life, entertainment, etc. Despite significant progress towards the development of realistic social robotic agents, a number of problems remain to be solved. First, current social robots either lack enough ability to have deep social interaction with human, or they are very expensive to build and maintain. Second, current social robots have yet to reach the full emotional and social …

Studying Facial Expression Recognition And Imitation Ability Of Children With Autism Spectrum Disorder In Interaction With A Social Robot, Farzaneh Askari

Electronic Theses and Dissertations

Children with Autism Spectrum Disorder (ASD) experience limited abilities in recognizing non-verbal elements of social interactions such as facial expressions [1]. They also show deficiencies in imitating facial expressions in social situations. In this Master thesis, we focus on studying the ability of children with ASD in recognizing facial expressions and imitating the expressions using a rear-projected expressive humanoid robot, called Ryan. Recent studies show that social robots such as Ryan have great potential for autism therapy. We designed and developed three studies, first to evaluate the ability of children with ASD in recognizing facial expressions that are presented to …

A New Approach To Multiplanar, Real-Time Simulation Of Physiological Knee Loads And Synthetic Knee Components Augmented By Local Composition Control In Fused Filament Fabrication, Joshua Taylor Green

Open Access Theses & Dissertations

Despite numerous advances in biomedical engineering, few developments in surgical simulation have been made outside of computational models. Cadavers remain the primary media on which surgical research and simulation is conducted. Most attempts to quantify the effects of orthopedic surgical methods fail to achieve statistical significance due to limited quantities of cadaver specimen, large variations among the cadaver population, and a lack of repeatability among measurement techniques. The general purpose of the research covered in this dissertation is to develop repeatable simulation of physiological loads and develop techniques to fabricate a synthetic-based replacement of cadaver specimens. Future work applying this …

Development Of A Desktop Material Extrusion 3d Printer With Wire Embedding Capabilities, Jose Francisco Motta

Open Access Theses & Dissertations

Printed circuit boards (PCB) have been widely used as a permanent solution for generating complex circuitries to power electronic devices. Over the years, PCB boards have proved to be reliable when powering electronic devices. However, when fabricating a printed circuit board, one must outsource to fabricate the boards when in prototype phase. Therefore, the risk of intellectual property theft and long lead time is an issue. The objective of this Thesis is to develop a hybrid multi-tool desktop material extrusion 3D printer that allows for easy integration (modularity) of tools to generate multi-functional 3D printed components.

The addition of an …

Planificación De Trayectorias Para El Robot Motoman Usando Tecnología Kinect, Juan Sebastián Martínez Caldas

Ingeniería en Automatización

En este proyecto se desarrolló un sistema de planificación de trayectorias para el robot Motoman HP20D con tecnología Kinect. En un ambiente virtual, el usuario configura la posición y orientación, inicial y final, deseada del efector final, empleando un algoritmo de planeación de trayectorias para obtener el conjunto de posiciones articulares que describen el movimiento que debe ser ejecutado por el robot, con el fin de evitar obstáculos presentes en el ambiente de trabajo. La reconstrucción de los obstáculos en el área de trabajo se realiza empleando un sensor Kinect 2, las capturas y las nubes de puntos obtenidas se …

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, …

Extending Maneuverability Of Internally Actuated Underwater Gliders, An Attempt To Develop An Open Platform For Research And Education, Saeedeh Ziaeefard

Dissertations, Master's Theses and Master's Reports

Increasing maneuverability of internally actuated Underwater Gliders (UGs) is inevitable due to high demands in underwater surveillance and reconnaissance missions where agility and stealthiness are the keys to success. High maneuverability is needed to provide the opportunity for optimal trajectory planning, planar motion smoothness, and re-planning adapting to the dynamic environments.

This work explores extending the maneuverability of underwater gliders through coupled improvement in mechanical design, efficient use of internal actuation, and motion planning strategy utilizing flight concatenation. The existence of five flight patterns ``advanced flight", inspired by air gliders, enabled solely by utilizing internal actuation are investigated: Circle, Oval …

Insulting Words: "They Are Animals!", Carolyn A. Ristau

Animal Sentience

As Chapman & Huffman state, creating divisive human categories has rationalized atrocities committed against the “other.” Labeling neighboring warring villagers as “animals” is considered a despicable insult. Yet contemporary scientific views of many animals grant them thinking and conscious faculties, and the capacity for impressive achievements, many unattainable by humans. Robots, too, can accomplish many similar feats. But the essential reason we must protect animals is not because of their admirable abilities, but their capacity for consciousness, for suffering. Robots are not conscious. Participants in the human-animal debate should not complain about changing criteria for determining human uniqueness. New and …

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …

Review Of Deep Learning Methods In Robotic Grasp Detection, Shehan Caldera, Alexander Rassau, Douglas Chai

Research outputs 2014 to 2021

For robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged to securely grab an object and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods …

Resource Optimization In Wireless Sensor Networks For An Improved Field Coverage And Cooperative Target Tracking, Husam Sweidan

Dissertations, Master's Theses and Master's Reports

There are various challenges that face a wireless sensor network (WSN) that mainly originate from the limited resources a sensor node usually has. A sensor node often relies on a battery as a power supply which, due to its limited capacity, tends to shorten the life-time of the node and the network as a whole. Other challenges arise from the limited capabilities of the sensors/actuators a node is equipped with, leading to complication like a poor coverage of the event, or limited mobility in the environment. This dissertation deals with the coverage problem as well as the limited power and …

Applications Of Robot Operating System (Ros) To Mobile Microgrid Formation Outdoors, John Naglak

Dissertations, Master's Theses and Master's Reports

Application of mobile robots to microgrid formation has value for disaster response and service of forward operating bases. This thesis describes the development, testing and demonstration of broad effort across multiple disciplines to enable outdoor positioning and connection of mobile microgrids for the first time. This work includes an outdoor waypoint controller for a UGV agent, specifically the Clearpath Husky. It details sensor fusion of 2D LiDAR and stereo vision, and fusion of odometry sources using an Extended Kalman Filter. Development of these software tools entails integration of many of the packages available through the Robot Operating System (ROS), with …

The Rhetoric Of Science Education And Technology, Iwasan D. Kejawa

School of Computing: Faculty Publications

Nearly thousands of science experiments are performed both on humans and animals every year in the United States (Gregory, 1999). Does Science enormously play a role in the well-beings of individual in the society? Research has found that science education is through motivation and satisfying the needs of humans. The scientific world is part of an elongated human development. This can be substantiated with the use and evolution of TECHNOLOGY and SCIENCE (Minton, 2004). Education of the entities that comprise the need to achieve the goal of TECHNOLOGY and SCIENCE which are important issues of today. Research has shown that …

Internet Of Underground Things In Precision Agriculture: Architecture And Technology Aspects, Mehmet C. Vuran, Abdul Salam, Rigoberto Wong, Suat Irmak

School of Computing: Faculty Publications

The projected increases in World population and need for food have recently motivated adoption of information technology solutions in crop fields within precision agriculture approaches. Internet Of Underground Things (IOUT), which consists of sensors and communication devices, partly or completely buried underground for real-time soil sensing and monitoring, emerge from this need. This new paradigm facilitates seamless integration of underground sensors, machinery, and irrigation systems with the complex social network of growers, agronomists, crop consultants, and advisors. In this paper, state-of-the-art communication architectures are reviewed, and underlying sensing technology and communication mechanisms for IOUT are presented. Moreover, recent advances in …

Regulating Robo Advice Across The Financial Services Industry, Tom Baker, Benedict G. C. Dellaert

All Faculty Scholarship

Automated financial product advisors – “robo advisors” – are emerging across the financial services industry, helping consumers choose investments, banking products, and insurance policies. Robo advisors have the potential to lower the cost and increase the quality and transparency of financial advice for consumers. But they also pose significant new challenges for regulators who are accustomed to assessing human intermediaries. A well-designed robo advisor will be honest and competent, and it will recommend only suitable products. Because humans design and implement robo advisors, however, honesty, competence, and suitability cannot simply be assumed. Moreover, robo advisors pose new scale risks that …

Crop Height Estimation With Unmanned Aerial Vehicles, Carrick Detweiler, David Anthony, Sebastian Elbaum

School of Computing: Faculty Publications

An unmanned aerial vehicle (UAV) can be configured for crop height estimation. In some examples, the UAV includes an aerial propulsion system, a laser scanner configured to face downwards while the UAV is in flight, and a control system. The laser scanner is configured to scan through a two-dimensional scan angle and is characterized by a maxi mum range. The control system causes the UAV to fly over an agricultural field and maintain, using the aerial propulsion system and the laser scanner, a distance between the UAV and a top of crops in the agricultural field to within a programmed …

Autonomous Uav Battery Swapping, Reed Jacobsen, Nikolai Ruhe, Nathan Dornback

Williams Honors College, Honors Research Projects

One of the main hindrances of unmanned aerial vehicle (UAV) technology are power constraints. One way to alleviate some power constraints would be for two UAVs to exchange batteries while both are in flight. Autonomous mid-air battery swapping will expand the scope of UAV technology by allowing for indefinite flight times and longer missions. A single board computer will control each UAV’s flight software to respond to inputs to align with each other mid-flight. When the two UAVs have joined, mechanical components will exchange a depleted battery on the worker UAV for a freshly charged battery that belongs to the …

Application For Position And Load Reference Generation Of A Simulated Mechatronic Chain, Florentin Smarandache, V. Vladareanu, S.B. Cononovici, M. Migdalovici, H. Wang, Y. Feng

Branch Mathematics and Statistics Faculty and Staff Publications

The paper presents the position and load reference generation for a motor stand simulating a mechatronic chain, in this case a three degree of freedom robot leg. The task is accomplished using three PLC controlled motors in position as the robot joint actuators coupled with three controlled in torque, simulating the load at each simulation time-step. The paper briefly discusses the mathematical model and presents the visual interface used in the simulation, which is then to be further integrated into a virtual environment robot control application.

Humanoid Robots Supporting Children’S Learning In An Early Childhood Setting, Helen Crompton, Kristen Gregory, Diane Burke

Teaching & Learning Faculty Publications

This qualitative study explored the affordances provided by the integration of the NAO humanoid robot in three preschool classrooms. Using the Head Start Early Learning Outcomes Framework as a lens, the researchers qualitatively analyzed data from focus groups, observations, field notes and student artifacts, using grounded coding to uncover language and communication, physical, cognitive and social–emotional learning experiences for children. The researchers also examined interactions between the robot, children and teachers to identify successes and challenges experienced during the integration. Findings indicate the robot provided opportunities for student development in all learning domains. Students were intellectually curious about the robot; …

Intelligent Uav Scouting For Field Condition Monitoring, Hasan Seyyedhasani

Theses and Dissertations--Electrical and Computer Engineering

Precision agriculture requires detailed and timely information about field condition. In less than the short flight time a UAV (Unmanned Aerial Vehicle) can provide, an entire field can be scanned at the highest allowed altitude. The resulting NDVI (Normalized Difference Vegetation Index) imagery can then be used to classify each point in the field using a FIS (Fuzzy Inference System). This identifies areas that are expected to be similar, but only closer inspection can quantify and diagnose crop properties. In the remaining flight time, the goal is to scout a set of representative points maximizing the quality of actionable information …

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 …