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Articles 1 - 10 of 10
Full-Text Articles in Computer Engineering
Brain-Inspired Spatio-Temporal Learning With Application To Robotics, Thiago André Ferreira Medeiros
Brain-Inspired Spatio-Temporal Learning With Application To Robotics, Thiago André Ferreira Medeiros
USF Tampa Graduate Theses and Dissertations
The human brain still has many mysteries and one of them is how it encodes information. The following study intends to unravel at least one such mechanism. For this it will be demonstrated how a set of specialized neurons may use spatial and temporal information to encode information. These neurons, called Place Cells, become active when the animal enters a place in the environment, allowing it to build a cognitive map of the environment. In a recent paper by Scleidorovich et al. in 2022, it was demonstrated that it was possible to differentiate between two sequences of activations of a …
Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun
Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun
36th Florida Conference on Recent Advances in Robotics
Pouring is an efficient way to transfer objects from
one container to another. This abstract summarizes a method
to accurately pour solid objects, such as ice cubes. It leverages
visual and proprioceptive feedback together with contextual
information to control the forward and backward rotation of the
pouring container. These feedback signals are fed to a recurrent
neural network that produces the control signal. The proposed
approach can achieve a human-like pouring accuracy in both a
simulation and a real setup.
Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun
Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun
36th Florida Conference on Recent Advances in Robotics
Grasping multiple objects at once from a pile is common for humans. It makes us efficient in pick and transfer tasks. It is essential for a robot to gain multi-object grasping capability (MOG). This paper defines the multi-object grasping problem and introduces several novel multi-object grasping techniques. These techniques include probability-based pre-grasp potential calculation, a stochastic flexing/extending routine, obtaining end-grasp types, and estimating the number of objects in a grasp. It also proposes a new stochastic grasping strategy for grasping a desired number of objects.
Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments, Zachary Frey, Nghia Vo, Varaha Maithreya, Tais Mota, Urvish Trivedi, Redwan Alqasemi, Rajiv Dubey
Live Audiovisual Remote Assistance System (Laras) For Person With Visual Impairments, Zachary Frey, Nghia Vo, Varaha Maithreya, Tais Mota, Urvish Trivedi, Redwan Alqasemi, Rajiv Dubey
36th Florida Conference on Recent Advances in Robotics
According to "The World Report on Vision" by World Health Organization (WHO) [1], there are more than 2.2 billion people who have near or distant vision Impairments, out of which 36 million people are classified as entirely blind. This report also emphasizes the importance of social and communal support in enabling individuals with vision impairments to integrate into society and reach their full potential. While performing daily activities and navigating the environment, people with visual impairments (PVIs) often require direct or synchronous assistance [2]. Consequently, there is a growing need for automated solutions to assist in this regard. However, existing …
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil
36th Florida Conference on Recent Advances in Robotics
Humans overcome minor household inconveniences daily without fully recognizing how challenging these tasks could be for individuals such as elderly people or people with disabilities. Those people often times struggle to complete tasks, for instance opening a door or reaching for an item, leading them to rely on caregivers for help. During the COVID-19 pandemic, this caregiver support becomes an unsafe and unreliable solution that can result in a greater risk, thus the need for another solution arises: robotic technology. Recent developments in the robotics field have paved the way for this research, aiming to design a home assistance robot …
Reinforcement Learning And Place Cell Replay In Spatial Navigation, Chance Hamilton, Pablo Scleidorovich Phd, Alfredo Weitzenfeld Phd
Reinforcement Learning And Place Cell Replay In Spatial Navigation, Chance Hamilton, Pablo Scleidorovich Phd, Alfredo Weitzenfeld Phd
36th Florida Conference on Recent Advances in Robotics
In the last decade, studies have demonstrated that hippocampal place cells influence rats’ navigational learning ability. Moreover, researchers have observed that place cell sequences associated with routes leading to a reward are reactivated during rest periods. This phenomenon is known as Hippocampal Replay, which is thought to aid navigational learning and memory consolidation. These findings in neuroscience have inspired new robot navigation models that emulate the learning process of mammals. This study presents a novel model that encodes path information using place cell connections formed during online navigation. Our model employs these connections to generate sequences of
state-action pairs to …
Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior, Zachary Hinnen, Chance Hamilton, Alfredo Weitzenfeld
Biologically Inspired Multi-Robot System Based On Wolf Hunting Behavior, Zachary Hinnen, Chance Hamilton, Alfredo Weitzenfeld
36th Florida Conference on Recent Advances in Robotics
Studies involving the group predator behavior of wolves have inspired multiple robotic architectures to mimic these biological behaviors in their designs and research. In this work, we aim to use robotic systems to mimic wolf packs' single and group behavior. This work aims to extend the original research by Weitzenfeld et al [7] and evaluate under a new multi-robot robot system architecture. The multiple robot architecture includes a 'Prey' pursued by a wolf pack consisting of an 'Alpha' and 'Beta' robotic group. The Alpha Wolf' will be the group leader, searching and tracking the 'Prey.' At the same time, the …
Programming By Demonstration Using Learning Based Approach: A Mini Review, Atul Acharya, Rajiv Dubey, Redwan Alqasemi
Programming By Demonstration Using Learning Based Approach: A Mini Review, Atul Acharya, Rajiv Dubey, Redwan Alqasemi
36th Florida Conference on Recent Advances in Robotics
Wheelchair-mounted robotic arms are used in rehabilitation robotics to help physically impaired people perform ADL (Activity of daily living) tasks. However, the dexterity of manipulation tasks makes the teleoperation of the robotic arm challenging for the user, as it is difficult to control all degrees of freedom with a handheld joystick or a screen touch device. PbD (Programming by demonstration) allows the user to demonstrate the desired behavior and enables the system to learn from the demonstrations and adapt to a new environment. This learned model can perform a new set of actions in a new environment. Learning from a …
A Human-In-The-Loop Robot Grasping System With Grasp Quality Refinement, Tian Tan
A Human-In-The-Loop Robot Grasping System With Grasp Quality Refinement, Tian Tan
USF Tampa Graduate Theses and Dissertations
The goal of this dissertation is to develop a grasping system for assistive robots that can help people with disabilities and the elderly to perform tasks of daily living. In developing this robot grasping system, we maximize its reliability, accuracy, and autonomy. High reliability and accuracy are required for robots to perform tasks around human users and to safely interact with objects that might be fragile or have contents that could spill. High autonomy is desired as users with disabilities are usually not dexterous enough to directly operate the robot. In this dissertation, a human-in-the-loop (HitL) robot grasping system is …
Process Automation And Robotics Engineering For Industrial Processing Systems, Drake Stimpson
Process Automation And Robotics Engineering For Industrial Processing Systems, Drake Stimpson
USF Tampa Graduate Theses and Dissertations
Automation in industrial systems applications has emerged as the fundamental solution for improving quality, production rate, and efficiency of a process. Much of the recent popularity surrounding the transition of processes from manually operated tasks to automated systems can be attributed to the concept of Industry 4.0, which outlines the fundamental guidelines for integrating cyber-physical systems into industrial processes. Due to rapid advancement of technology in robotics and automation as well as the increase in accessibility of resources to this technology, the capability to develop automated systems has become feasible for small-scale enterprise. This work presents a two-part initiative to …