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Robotics

Series

2015

Articles 1 - 9 of 9

Full-Text Articles in Computer Engineering

Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel J. Simon, William A. Smith, Sergey Samorezov Jan 2015

Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel J. Simon, William A. Smith, Sergey Samorezov

Electrical and Computer Engineering Faculty Publications

Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. This paper describes the development, modeling, parameter estimation and control of a robot capable of reproducing two degree-of-freedom hip motion in the sagittal plane. Hip vertical displacement and thigh angle motion profiles are applied to a transfemoral prosthesis attached to the robot. A treadmill is used as walking …

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Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian Jan 2015

Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian

Faculty Publications

Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …

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Homing With Stereovision, Paramesh Nirmal, Damian Lyons Jan 2015

Homing With Stereovision, Paramesh Nirmal, Damian Lyons

Faculty Publications

Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved …

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Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy Jan 2015

Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy

Faculty Publications

The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even …

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Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons Jan 2015

Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons

Faculty Publications

This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol. The D-SBPF approach yields a simple potential field control strategy for all robots but nonetheless has good dispersion and overlap performance in exploring areas with convex geometry while avoiding potential …

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Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal Jan 2015

Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal

Faculty Publications

Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …

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Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang Jan 2015

Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang

Faculty Publications

The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of a-priori specification of uncertain environments for robot program verification. A second contribution is a novel method …

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Preparing Students For The Advanced Manufacturing Environment Through Robotics, Mechatronics, And Automation Training, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris Jan 2015

Preparing Students For The Advanced Manufacturing Environment Through Robotics, Mechatronics, And Automation Training, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris

Engineering Technology Faculty Publications

Automation is one of the key areas for modern manufacturing systems. It requires coordination of different machines to support manufacturing operations in a company. Recent studies show that there is a gap in the STEM workforce preparation in regards to highly automated production environments. Industrial robots have become an essential part of these semi-automated and automated manufacturing systems. Their control and programming requires adequate education and training in robotics theory and applications. Various engineering technology departments offer different courses related to the application of robotics. These courses are a great way to inspire students to learn about science, math, engineering, …

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Using Robots As Therapeutic Agents To Teach Children With Autism Recognize Facial Expression, Seyedmohammad Mavadati, Huanghao Feng, Peyten B. Sanger, S. Silver, Anibal Gutierrez, Mohammad H. Mahoor Jan 2015

Using Robots As Therapeutic Agents To Teach Children With Autism Recognize Facial Expression, Seyedmohammad Mavadati, Huanghao Feng, Peyten B. Sanger, S. Silver, Anibal Gutierrez, Mohammad H. Mahoor

Electrical and Computer Engineering: Graduate Student Scholarship

Background: Recognizing and mimicking facial expressions are important cues for building great rapport and relationship in human-human communication. Individuals with Autism Spectrum Disorder (ASD) have often deficits in recognizing and mimicking social cues, such as facial expressions. In the last decade several studies have shown that individuals with ASD have superior engagement toward objects and particularly robots (i.e. humanoid and non-humanoid). However, majority of the studies have focused on investigating robot’s appearances and the engineering design concepts and very few research have been done on the effectiveness of robots in therapeutic and treatment applications. In fact, the critical question that …

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