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Full-Text Articles in Computer Engineering
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Electronic Theses and Dissertations
The use of mobile manipulators in service industries as both agents in physical Human Robot Interaction (pHRI) and for social interactions has been on the increase in recent times due to necessities like compensating for workforce shortages and enabling safer and more efficient operations amongst other reasons. Collaborative robots, or co-bots, are robots that are developed for use with human interaction through direct contact or close proximity in a shared space with the human users. The work presented in this dissertation focuses on the design, implementation and analysis of components for the next-generation collaborative human machine interfaces (CHMI) needed for …
A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire
A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire
Honors Theses
Reinforcement learning is thought to be a promising branch of machine learning that has the potential to help us develop an Artificial General Intelligence (AGI) machine. Among the machine learning algorithms, primarily, supervised, semi supervised, unsupervised and reinforcement learning, reinforcement learning is different in a sense that it explores the environment without prior knowledge, and determines the optimal action. This study attempts to understand the concept behind reinforcement learning, the mathematics behind it and see it in action by deploying the trained model in Amazon's DeepRacer car. DeepRacer, a 1/18th scaled autonomous car, is the agent which is trained …
Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams
Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams
LSU Master's Theses
This study presents an onboard sensor system for determining the relative positions of mobile robots, which is used in decentralized distance-based formation controllers for multi-agent systems. This sensor system uses infrared photodiodes and LEDs; its effective use requires coordination between the emitting and detecting robots. A technique is introduced for calculating the relative positions based on photodiode readings, and an automated calibration system is designed for future maintenance. By measuring the relative positions of their neighbors, each robot is capable of running an onboard formation controller, which is independent of both a centralized controller and a global positioning-like system (e.g., …
On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae
On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae
Electrical and Computer Engineering Faculty Publications
Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity …
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Electronic Theses and Dissertations
A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed …