Engineering Commons^™

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

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

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

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

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

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 …