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Robot

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Articles 1 - 30 of 42

Full-Text Articles in Computer Engineering

Planr.: Planar Learning Autonomous Navigation Robot, Gabrielle S. Santamorena, Daniel Kasman, Jesus Mercado, Ben Klave, Andrew Weisman, Anthony Fortner Jun 2019

Planr.: Planar Learning Autonomous Navigation Robot, Gabrielle S. Santamorena, Daniel Kasman, Jesus Mercado, Ben Klave, Andrew Weisman, Anthony Fortner

Computer Engineering

PLANR is a self-contained robot capable of mapping a space and generating 2D floor plans of a building while identifying objects of interest. It runs Robot Operating System (ROS) and houses four main hardware components. An Arduino Mega board handles the navigation, while an NVIDIA Jetson TX2, holds most of the processing power and runs ROS. An Orbbec Astra Pro stereoscopic camera is used for recognition of doors, windows and outlets and the RPLiDAR A3 laser scanner is able to give depth for wall detection and dimension measurements. The robot is intended to operate autonomously and without constant human monitoring ...


Towards A Prototype Platform For Ros Integrations On A Ground Robot, Taylor Joseph Linville Whitaker May 2019

Towards A Prototype Platform For Ros Integrations On A Ground Robot, Taylor Joseph Linville Whitaker

Theses and Dissertations

The intent of this work was to develop, evaluate, and demonstrate a prototype robot platform on which ROS integrations could be explored. With observations of features and requirements of existing industrial and service mobile ground robots, a platform was designed and outfitted with appropriate components to enable the most common operational-critical functionalities and account for unforeseen components and features. The resulting Arlo Demonstration Robot accommodates basic mapping, localization, and navigation in both two and three-dimensional space as well as additional safety and teleoperation features. The control system is centered around the Zybo Z7 FPGA SoC hosting a custom hardware design ...


Autonomous Combat Robot, Andrew J. Szabo Ii, Chris Heldman, Tristin Weber, Tanya Tebcherani, Holden Leblanc, Fabian Ardeljan Jan 2019

Autonomous Combat Robot, Andrew J. Szabo Ii, Chris Heldman, Tristin Weber, Tanya Tebcherani, Holden Leblanc, Fabian Ardeljan

Williams Honors College, Honors Research Projects

This honors project will also serve as an engineering senior design project.

The objective is to design and build the software and electrical systems for a 60 lb weight class combat robot that will function autonomously and outperform manually driven robots during competition.

While running autonomously, the robot will use LiDAR sensors to detect and attack opponent robots. This robot will also be able to be remote controlled in manual mode. This will mitigate the risk in case the autonomy or sensors fail. LED lights on the robot will indicate whether it is in autonomous or manual mode. The system ...


Roborodentia Final Report, Trevor James Gesell, Zeph Colby Nord, Mitchell Tyler Myjak Jun 2018

Roborodentia Final Report, Trevor James Gesell, Zeph Colby Nord, Mitchell Tyler Myjak

Computer Engineering

The Senior Project consisted of competing in Roborodentia, a competition in which groups build robots to complete a particular task. This event took place at the Cal Poly Open House on Saturday, April 12th, 2018. For the competition, the robot was to collect Nerf balls from supply tubes raised approximately 7” from the board and shoot them into nets placed along the opposite side of the course. The design, manufacture, and testing of the robot began the first week of Cal Poly winter quarter and lasted until the day of the competition.


Darling, Robot For Roborodentia 2018, Michael Le, Steven Liu Jun 2018

Darling, Robot For Roborodentia 2018, Michael Le, Steven Liu

Computer Engineering

No abstract provided.


Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt Jun 2018

Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt

Honors Theses

A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies.

In order to observe ...


Designing An Automated Material Handler For Agricultural Warehouse Applications, Brendan Taedter, Mark Fenn May 2018

Designing An Automated Material Handler For Agricultural Warehouse Applications, Brendan Taedter, Mark Fenn

Honors Theses AY 17/18

Plenty Unlimited farms are contained within 100,000 square foot warehouses which require a substantial amount of goods transportation. Currently, these goods are primarily transported by humans. In order to optimize labor efficiency within the warehouse, remedial tasks such as manually carrying goods should be conducted autonomously. This investigation aims to address the issue of automating the task of carrying goods. Automated material handlers for warehouses already exist; however, these handlers are very expensive and are riddled with non-essential functionality. The material handler design proposed by the senior design team and Plenty Unlimited engineers is a line-following, multi-directional robot capable ...


Verbal Chess Using Computer Vision With The Baxter Research Robot, Zephaniah Connell, Connor Desmond, Ryan Cook Apr 2018

Verbal Chess Using Computer Vision With The Baxter Research Robot, Zephaniah Connell, Connor Desmond, Ryan Cook

Honors Theses AY 17/18

The Baxter robotic system is an extremely sophisticated piece of machinery, equipped with a myriad of sensors and features. As of yet, very little research has been accomplished utilizing Baxter by students or faculty in the Department of Electrical and Computer Engineering at the University of Wyoming. This project is a base that will enable future employment of Baxter for more intricate and advanced research topics. This project was derived to showcase a large portion of Baxter’s functionality in an easily digestible and potentially expandable format. It will display a convenient form of user interaction (voice commands), utilization of ...


Towards Robust Dense Visual Simultaneous Localization And Mapping (Slam), Juan Falquez Jan 2018

Towards Robust Dense Visual Simultaneous Localization And Mapping (Slam), Juan Falquez

Computer Science Graduate Theses & Dissertations

Long-term autonomy is the dream of many roboticists – and if a robotic system can be split into three main categories: perception, planning and control – then the biggest challenges to achieve this dream are undoubtedly faced in perception. Large scale environments that change with time – due to normal operations or even lighting changes – are typical situations the robot would encounter. As such, a Simultaneous Localization and Mapping (SLAM) system that is robust enough to handle many of these conditions is desired.

The objective of this dissertation is to present components that would lead to a robust dense visual SLAM system. It ...


Emerging Role Of Robot-Assisted Occupational Therapy For Children With Down Syndrome, Venera Krasniqi, Nevena Ackovska, Katerina Zdravkova Oct 2017

Emerging Role Of Robot-Assisted Occupational Therapy For Children With Down Syndrome, Venera Krasniqi, Nevena Ackovska, Katerina Zdravkova

UBT International Conference

Robotic technology is becoming increasingly popular as a platform for both education and entertainment. It also provides us with new conceptual directions which might have incredibly positive impact on children with physical growth delays and intellectual disabilities. In this research project, the educational robot Roamer Too from Valiant Technologies has been used to explore the development of social skills of children with Down syndrome. In conjunction with an interactive collaborative environment, this device represents a unique opportunity for these children to fully engage in learning, play, communication, build relationships and have fun. The results of this study indicate that educational ...


Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson Oct 2017

Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson

Purdue Journal of Service-Learning and International Engagement

The courses of Tech120, CGT110, and ENGT 180/181 and Red Gold at Purdue collaborated to design a robot that would plant and water a garden for a local community charter school. The students centered the project on the users’ needs for fresh food, nutrition education, and early exposure to STEM for children. The school, Anderson Preparatory Academy (APA), is comprised of many children who come from low-income families and are in the free or reduced lunch program. Inspired from “Farm Bot,” a similar system that allows for almost hands-free gardening, the “Boiler Bot” is designed to be scalable so ...


Modeling The Consumer Acceptance Of Retail Service Robots, So Young Song Aug 2017

Modeling The Consumer Acceptance Of Retail Service Robots, So Young Song

Doctoral Dissertations

This study uses the Computers Are Social Actors (CASA) and domestication theories as the underlying framework of an acceptance model of retail service robots (RSRs). The model illustrates the relationships among facilitators, attitudes toward Human-Robot Interaction (HRI), anxiety toward robots, anticipated service quality, and the acceptance of RSRs. Specifically, the researcher investigates the extent to which the facilitators of usefulness, social capability, the appearance of RSRs, and the attitudes toward HRI affect acceptance and increase the anticipation of service quality. The researcher also tests the inhibiting role of pre-existing anxiety toward robots on the relationship between these facilitators and attitudes ...


Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs May 2017

Models For Pedestrian Trajectory Prediction And Navigation In Dynamic Environments, Jeremy N. Kerfs

Master's Theses and Project Reports

Robots are no longer constrained to cages in factories and are increasingly taking on roles alongside humans. Before robots can accomplish their tasks in these dynamic environments, they must be able to navigate while avoiding collisions with pedestrians or other robots. Humans are able to move through crowds by anticipating the movements of other pedestrians and how their actions will influence others; developing a method for predicting pedestrian trajectories is a critical component of a robust robot navigation system. A current state-of-the-art approach for predicting pedestrian trajectories is Social-LSTM, which is a recurrent neural network that incorporates information about neighboring ...


Underwater Robot, Joseph E. Beck, Matthew Crislip, Cody Bobek, Peyton Lucas Jan 2017

Underwater Robot, Joseph E. Beck, Matthew Crislip, Cody Bobek, Peyton Lucas

Williams Honors College, Honors Research Projects

Remotely Operated Vehicles (ROVs) are remote controlled drones operated by a non-local user. The ROV we plan to build is connected by a tethering wire to a floating buoy that contains an antenna which will send signals between the base station and the ROV. The ROV is equipped with a video camera, ballast system, propulsion system, lights, and a depth sensor. The ROV will transmit a live video feed to the user, while receiving input signals to control its movement from the base station.


Studying The Effects Of Serpentine Soil On Adapted And Non-Adapted Species Using Arduino Technology, Kiana Saniee, Edward Himelblau, Brian Paavo Oct 2016

Studying The Effects Of Serpentine Soil On Adapted And Non-Adapted Species Using Arduino Technology, Kiana Saniee, Edward Himelblau, Brian Paavo

STAR (STEM Teacher and Researcher) Presentations

Abstract: Serpentine soils are formed from ultramafic rocks and are represent an extreme environment for plants. Serpentine soils are unique in that they carry high concentrations of heavy metals, are nutrient deficient, particularly in calcium, and have poor water retention capabilities. Although these soils constitute harsh conditions for plant growth, there are a number of species that are adapted and even endemic to serpentine soil. Water retention by commercial potting mix was compared with serpentine soil. Also, serpentine adapted and non-adapted species were grown in both soil treatments and physiological data were collected. We used the Arduino electronic platform to ...


Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs Aug 2016

Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs

Open Access Theses

Joint flexibility is a physical trait that affects all robotic systems to some degree. This characteristic has been shown to be very detrimental to the performance of these robotic systems when implementing fast point-to-point motion. During such motion, the robot will induce vibrations in its structure that will extend past the completion of the move. Many techniques have been applied over the years in order to minimize these residual vibrations. One such method is known as command shaping, which will construct the input profile so as to avoid exciting the natural frequencies of the system. This work seeks to extend ...


Roborodentia Robot (Amazon Prime), Alec Cheung Jun 2016

Roborodentia Robot (Amazon Prime), Alec Cheung

Computer Science and Software Engineering

Roborodentia is an annual autonomous robotics competition sponsored and hosted by Cal Poly. In the 2016 competition, participants are to design a robot that scores the most points by gathering rings from marked supply pegs and placing them onto marked scoring pegs. For Roborodentia I designed, constructed, and programmed a robot, named Amazon Prime, to compete.


Roborodentia 2016: Scorpion, Tyler Whalen Jun 2016

Roborodentia 2016: Scorpion, Tyler Whalen

Computer Engineering

This report showcases my entry into the Roborodentia 2016 competition, and my senior project. I chose this project because robotics has always interested me, and this was a great opportunity to jump in headfirst.

I will step through my design decisions and detail all information necessary for replicating this build.


Roborodentia Robot: Tektronix, Sean Yap Jun 2016

Roborodentia Robot: Tektronix, Sean Yap

Computer Engineering

Tektronix is a robot created to compete in the 2016 Roborodentia Competition. This report details the full function and implementation of the robot.


“My Logic Is Undeniable”: Replicating The Brain For Ideal Artificial Intelligence, Samuel C. Adams Apr 2016

“My Logic Is Undeniable”: Replicating The Brain For Ideal Artificial Intelligence, Samuel C. Adams

Senior Honors Theses

Alan Turing asked if machines can think, but intelligence is more than logic and reason. I ask if a machine can feel pain or joy, have visions and dreams, or paint a masterpiece. The human brain sets the bar high, and despite our progress, artificial intelligence has a long way to go. Studying neurology from a software engineer’s perspective reveals numerous uncanny similarities between the functionality of the brain and that of a computer. If the brain is a biological computer, then it is the embodiment of artificial intelligence beyond anything we have yet achieved, and its architecture is ...


Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage Jan 2016

Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage

Electronic Theses and Dissertations

The main goals of this research were to enhance a commercial off the shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field testing. Developing this platform will enhance the U. S. Army Engineering Research and Development Center’s (ERDC’s) current capabilities and create a safe and efficient autonomous vehicle to perform the following functions within tunnels: (1) localization (e.g., position tracking) and mapping of its environment, (2) traversing varied terrains, (3) sensing the environment for objects ...


Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang Sep 2015

Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang

Graduate Theses and Dissertations

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will ...


Roborodentia Robot 2015, Travis Stuever Jun 2015

Roborodentia Robot 2015, Travis Stuever

Computer Engineering

The Roborodentia 2015 competition was a ring based challenge that had participants move PVC rings from one side of a course to another all within 3 minutes. In order to succeed in this competition there needs to be a good robotic design, thought out use cases, and good solid software.


Indoor And Outdoor Real Time Information Collection In Disaster Scenario, Dongyi Yang Jan 2015

Indoor And Outdoor Real Time Information Collection In Disaster Scenario, Dongyi Yang

Masters Theses

A disaster usually severely harms human health and property. After a disaster, great amount of information of a disaster area is needed urgently. The information not only indicates the severity of the disaster, but also is crucial for an efficient search and rescue process. In order to quickly and accurately collect real time information in a disaster scenario, a mobile platform is developed for an outdoor scenario and a localization and navigation system for responders is introduced for an indoor scenario.

The mobile platform has been integrated to the DIORAMA system. It is built with a 6-wheel robot chassis along ...


Robot Localization Obtained By Using Inertial Measurements, Computer Vision, And Wireless Ranging, William Baker Jan 2015

Robot Localization Obtained By Using Inertial Measurements, Computer Vision, And Wireless Ranging, William Baker

Graduate College Dissertations and Theses

Robots have long been used for completing tasks that are too difficult, dangerous, or distant to be accomplished by humans. In many cases, these robots are highly specialized platforms - often expensive and capable of completing every task related to a mission's objective. An alternative approach is to use multiple platforms, each less capable in terms of number of tasks and thus significantly less complex and less costly. With advancements in embedded computing and wireless communications, multiple such platforms have been shown to work together to accomplish mission objectives. In the extreme, collections of very simple robots have demonstrated emergent ...


Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel Jun 2014

Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel

Mechanical Engineering

This project is the second iteration of an automated foosball table for Yaskawa America as a trade show display. The table is meant to provide an interactive experience which highlights the speed and precision of the Yaskawa hardware. The first iteration of the project was mainly focused on creating the physical hardware for the system and to begin the basic programming for the system. This phase of the project was focused on finalizing the physical hardware of the system, implementing the vision system and to continue the basic programing of the system AI. A third team will be assigned to ...


Robotic Book Scanner, Tobias Samuel Elder, Cynthia Marie Wong Jun 2014

Robotic Book Scanner, Tobias Samuel Elder, Cynthia Marie Wong

Computer Engineering

Digitizing books has been an issue tackled by companies to allow people to read off Kindles and iPads rather than the traditional paperback. Companies like Google have spent more than $1000 on machines to convert books into electronic copies readable on devices. Yet, not much effort has been made into the invention of an automatic book scanner for consumers. This project seeks to determine a cost-effective approach to robotic book scanning to create PDFs from physical books. This project serves as a proof of concept for a reasonably priced automatic book scanner accessible to consumers. Potentially, the device may be ...


Evolving Soft Robots With Vibration Based Movement, Andrew Danise Jun 2014

Evolving Soft Robots With Vibration Based Movement, Andrew Danise

Honors Theses

Creating effective designs for soft robots is extremely difficult due to the large number of different possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is difficult to know where along the ontogenic trajectory resides the phenotype with the highest fitness. The two ...


Flarebot - Analysis Of An Autonomous Robot, Sanat S. Sahasrabudhe Jun 2013

Flarebot - Analysis Of An Autonomous Robot, Sanat S. Sahasrabudhe

Computer Engineering

Autonomous robots are increasing in popularity for educational, research, and household purposes. This report analyzes the design and functionality of one such example, called FlareBot, which is designed to self-navigate and stack cans. Specifically, the robot is designed to follow a fixed path for navigation, and stack any cans it comes across. Once a maximum number of cans is stacked, the robot releases them and restarts the process. The design is achieved using three DC motors, two servo motors, one line sensor, and one infrared sensor. Designing autonomous robots is a strong test of the engineering design process, which includes ...


The Design Of A Maneuverable Rolling Robot, David Carabis Jun 2013

The Design Of A Maneuverable Rolling Robot, David Carabis

Honors Theses

The purpose of this project was to design, fabricate, and test a maneuverable rolling robot. Although some other rolling robots were researched for this project, a novel approach was taken to design a unique, cheap robot that could turn and was fully enclosed by a rotating outer shell. The design and research phase of this project included the evaluation of several designs, the development of a mathematical model detailing forward motion of the robot, and the derivation of several design equations. Of the possible designs, an interior counterweight was chosen to provide a torque to the outside shell and move ...