Robotics Commons^™

Robotic Olfactory-Based Navigation With Mobile Robots, Lingxiao Wang

Doctoral Dissertations and Master's Theses

Robotic odor source localization (OSL) is a technology that enables mobile robots or autonomous vehicles to find an odor source in unknown environments. It has been viewed as challenging due to the turbulent nature of airflows and the resulting odor plume characteristics. The key to correctly finding an odor source is designing an effective olfactory-based navigation algorithm, which guides the robot to detect emitted odor plumes as cues in finding the source. This dissertation proposes three kinds of olfactory-based navigation methods to improve search efficiency while maintaining a low computational cost, incorporating different machine learning and artificial intelligence methods.

A. …

Dynamic Task Allocation In Partially Defined Environments Using A* With Bounded Costs, James Hendrickson

Doctoral Dissertations and Master's Theses

The sector of maritime robotics has seen a boom in operations in areas such as surveying and mapping, clean-up, inspections, search and rescue, law enforcement, and national defense. As this sector has continued to grow, there has been an increased need for single unmanned systems to be able to undertake more complex and greater numbers of tasks. As the maritime domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering …

A Comprehensive Mapping And Real-World Evaluation Of Multi-Object Tracking On Automated Vehicles, Alexander Bassett

Doctoral Dissertations and Master's Theses

Multi-Object Tracking (MOT) is a field critical to Automated Vehicle (AV) perception systems. However, it is large, complex, spans research fields, and lacks resources for integration with real sensors and implementation on AVs. Factors such those make it difficult for new researchers and practitioners to enter the field.

This thesis presents two main contributions: 1) a comprehensive mapping for the field of Multi-Object Trackers (MOTs) with a specific focus towards Automated Vehicles (AVs) and 2) a real-world evaluation of an MOT developed and tuned using COTS (Commercial Off-The-Shelf) software toolsets. The first contribution aims to give a comprehensive overview of …

Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, Sergey V. Drakunov, William Mackunis, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu

Publications

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous …

Magic Triangle – Human, Exoskeleton, And Collaborative Robot Scenario, R. A. Goehlich, M. H. Rutsch, I. Krohne

Publications

The incidence of musculoskeletal disorders in workplaces with difficult ergonomic conditions is increasing. Today, there is a growing market for technical support systems that avoid repetitive strain on the musculoskeletal system. We have been observing two (parallel) lines of development: on the one hand, the development of exoskeletons supporting shop floor operators and, on the other hand, the development of collaborative robots for the creation of hybrid teams. The focus of our research is the combined application of exoskeletons AND collaborative robots for shop floor operators in the aerospace industry. Our approach is to analyze various scenarios to understand which …

Trends. War On Personality And Personality And War: Comments On Nass And Lee (2002), Ibpp Editor

International Bulletin of Political Psychology

This Trends article discusses another article – Identity and deconstruction, by Clifford Nass and Kwan Min Yee – published in volume 3 (2002) of Archives of Psychiatry & Psychotherapy in which the authors demonstrate that people reliably attribute personality characteristics to computer-synthesized speech, exploring the ramifications in a political psychological context.