Engineering Commons^™

Ros-Enabled Framework For A Miniature Hexapod As A Mobile Robot Research Platform, Joseph Michael Kloeppel

Electrical and Computer Engineering ETDs

The purpose of this thesis is to investigate and develop a framework for connected six-legged robots which can be used as a Robotic Operating System (ROS) based research platform. The research presented aims to purvey the necessary engineering and scientific steps needed to evolve a consumer-grade connected toy into a fully functioning and highly capable robotic system. Such a platform can be used to simulate and implement novel biologically inspired swarm research. Crawling robots have the advantage of being able to scale terrains which wheeled mobile robots may not and possess many interesting characteristics. The miniROaCH, miniature ROS-enabled and Crawling …

Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using A Human Gait Model, William Patrick Anderson

Doctoral Dissertations

The Tracking Fluoroscope System II, a mobile robotic fluoroscopy platform, developed and built at the University of Tennessee, Knoxville, presently employs a pattern matching algorithm in order to identify and track a marker placed upon a subject’s knee joint of interest. The purpose of this research is to generate a new tracking algorithm based around the human gait cycle for prediction and improving the overall accuracy of joint tracking.

This research centers around processing the acquired x-ray images of the desired knee joint obtained during standard clinical operation in order to identify and track directly through the acquired image. Due …

Poly Spotlight Control, Ryan P. O'Neill, C. Oleg Frandle, Anthony T. Lombardi

Mechanical Engineering

When this project began, The Cambria Center for the Arts Theater used a manually-operated spotlight. The sound created by the fans, along with the sheer size of the spotlight, required that it be housed in an attic room above the theater and shined through a closed window. This trapped a lot of heat in the room and involved some risk with climbing into and out of the attic room. This project sought to remedy those issues by mounting a pair of newer LED spotlights inside the theater. Doing this required a method for remotely controlling and actuating the angular position …

Applying Heterogeneous Teams Of Robotic Agents Using Hybrid Communications To Mapping And Education, Jonathan M. West

Electrical and Computer Engineering ETDs

Robotic agents are being increasingly utilized to carry out tasks that are difficult or dangerous for humans. Many of these missions are best performed by heterogeneous teams of agents with various individual abilities. Communication among agents and with operators is a critical element in the performance and efficiency of these missions. Although radio frequency communications dominate the robotic networking field, they are limited in range and bandwidth due to spectrum congestion and subject to interference from noise or hostile jamming and can be intercepted. Optical communication has many advantages such as higher bandwidth and focused beam, however the line-of-sight requirement …

Cross Case Study Of An Elementary Engineering Task, John Heffernan

Doctoral Dissertations

Designerly play has been identified as a fundamental component of childhood learning (Baynes, 1994; Petroski, 2003). However, as students enter grade one and beyond, the increasing academic focus has resulted in the loss of opportunities for designerly play (Zhao, 2012). At the same time, there are increasing calls to increase the number, skill, and diversity of STEM workers (Brophy, Portsmore, Klein, & Rogers, 2008). The robotics based Elementary Engineering Curriculum (Heffernan, 2013) - used by students in this study - and other similar projects have the potential to increase the STEM pipeline but elementary engineering is not well-understood. Research is …

Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken

Doctoral Dissertations

Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …

Motherbrain Swarm Robots, Tam Van, Mytch Johnson, Matthew Ng, Darius Holmgren

Computer Engineering

A trial in small-scale, cheap fleet autonomy with computer vision as the feedback controls system.

Design And Manufacture Of A Tick Collecting Robot, Jeremy Manus

Honors Theses

The overall goal of this research project is to fully design, manufacture, and test a robot for tick collection. The robot will be designed to collect ticks in regions with thickly branched vegetation, specifically including shrubs, trees, and leaf liter. The robot will be useful to biologists who collect ticks for research or disease control purposes, because it will reach areas that are inaccessible to human-powered collection methods and thus provide them with a more accurate estimate of the tick density in a given region. Obtaining a more precise tick density is crucial, because it provides more detailed information about …

Wheelieking Trainer Project Report, Harold Hall Iii, Nathaniel Fox, Thomas Niemisto

Biomedical Engineering

In this report we will detail the design and implementation process of the WheelieKing Trainer project, a device that helps people learn how to do wheelies on a bicycle by preventing backward falls. Formal project requirements are specified, followed by the ideation and iteration process to meet those requirements. The components and methods used to create the device are described in detail. The results of the development process and usage test results of the device are included. Appendices at the end of this report include references, supporting analyses, and project management and timeline details.

Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black

Doctoral Dissertations

This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and …

Min Kao Autonomous Robot Tour Guide, Albert J. Toth, Sunay G. Bhat, Christopher A. Treadway, Ammar S. Abdelwahed, Samuel C. Leach

Chancellor’s Honors Program Projects

No abstract provided.

Design And Control Of A Powered Rowing Machine With Programmable Impedance, Jose Humberto De La Casas Zolezzi

ETD Archive

Due to the rise of obesity, diabetes and cardiovascular disease, research in human performance and physical activity has received increased attention. Rowing machines are used for performance improvements through concentric exercises, however a combination of concentric and eccentric actions is known to improve the effectiveness of training. In this work, a conventional rowing machine was modified to include an electric motor and a robust impedance control system, enabling programmable impedance with concentric and eccentric capabilities. Eccentric exercises are known to contribute significantly to the efficacy of training and to diminish the detrimental effects of humans operating in microgravity for long …

Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi

ETD Archive

Derivative-free Kalman filtering (DKF) for estimation-based control of a special class of nonlinear systems is presented. The method includes a standard Kalman filter for the estimation of both states and unknown inputs, and a nonlinear system that is transformed to controllable canonical state space form through feedback linearization (FL). A direct current (DC) motor with an input torque that is a nonlinear function of the state is considered as a case study for a nonlinear single-input-single-output (SISO) system. A three degree-of-freedom (DOF) robot / prosthesis system, which includes a robot that emulates human hip and thigh motion and a powered …

Design And Demonstration Of A Physical, Multi-Agent Autonomous Controller Testbed, Eric A. Nees

Browse all Theses and Dissertations

Navigation and control algorithms are often tested in a simulated environment before being deployed in physical systems. Although simulated environments provide a controlled setting to carefully evaluate performance, the designed scenarios are sometimes unrealistically ideal and may unintentionally omit circumstances or unmodeled interactions. This thesis presents the design, implementation, and practical demonstration of a physical testbed that enables the testing of multi-agent autonomous strategies in hardware on a small scale. Testing the algorithms at scale allows real-time exploration of the interaction and performance of both human and autonomous algorithms under non-ideal conditions while avoiding the costs and risks of full-scale, …