Robotics Commons^™

Autonomous Shipwreck Detection & Mapping, William Ard

LSU Master's Theses

This thesis presents the development and testing of Bruce, a low-cost hybrid Remote Operated Vehicle (ROV) / Autonomous Underwater Vehicle (AUV) system for the optical survey of marine archaeological sites, as well as a novel sonar image augmentation strategy for semantic segmentation of shipwrecks. This approach takes side-scan sonar and bathymetry data collected using an EdgeTech 2205 AUV sensor integrated with an Harris Iver3, and generates augmented image data to be used for the semantic segmentation of shipwrecks. It is shown that, due to the feature enhancement capabilities of the proposed shipwreck detection strategy, correctly identified areas have a 15% …

Chatgpt As Metamorphosis Designer For The Future Of Artificial Intelligence (Ai): A Conceptual Investigation, Amarjit Kumar Singh (Library Assistant), Dr. Pankaj Mathur (Deputy Librarian)

Library Philosophy and Practice (e-journal)

Abstract

Purpose: The purpose of this research paper is to explore ChatGPT’s potential as an innovative designer tool for the future development of artificial intelligence. Specifically, this conceptual investigation aims to analyze ChatGPT’s capabilities as a tool for designing and developing near about human intelligent systems for futuristic used and developed in the field of Artificial Intelligence (AI). Also with the helps of this paper, researchers are analyzed the strengths and weaknesses of ChatGPT as a tool, and identify possible areas for improvement in its development and implementation. This investigation focused on the various features and functions of ChatGPT that …

Neuromorphic Computing Applications In Robotics, Noah Zins

Dissertations, Master's Theses and Master's Reports

Deep learning achieves remarkable success through training using massively labeled datasets. However, the high demands on the datasets impede the feasibility of deep learning in edge computing scenarios and suffer from the data scarcity issue. Rather than relying on labeled data, animals learn by interacting with their surroundings and memorizing the relationships between events and objects. This learning paradigm is referred to as associative learning. The successful implementation of associative learning imitates self-learning schemes analogous to animals which resolve the challenges of deep learning. Current state-of-the-art implementations of associative memory are limited to simulations with small-scale and offline paradigms. Thus, …

Human Tracking Function For Robotic Dog, Andrew Sharkey

Williams Honors College, Honors Research Projects

With the increase the increase in automation and humans and robots working side by side, there is a need for a more organic way of controlling robots. The goal of this project is to create a control system for Boston dynamics robotic dog Spot that implements human tracking image software to follow humans using computer vision as well as using hand tracking image software to allow for control input through hand gestures.

Enabling The Human Perception Of A Working Camera In Web Conferences Via Its Movement, Anish Shrestha

LSU Master's Theses

In recent years, video conferencing has seen a significant increase in its usage due to the COVID-19 pandemic. When casting user’s video to other participants, the videoconference applications (e.g. Zoom, FaceTime, Skype, etc.) mainly leverage 1) webcam’s LED-light indicator, 2) user’s video feedback in the software and 3) the software’s video on/off icons to remind the user whether the camera is being used. However, these methods all impose the responsibility on the user itself to check the camera status, and there have been numerous cases reported when users expose their privacy inadvertently due to not realizing that their camera is …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Learning Robot Motion From Creative Human Demonstration, Charles C. Dietzel

Theses and Dissertations

This thesis presents a learning from demonstration framework that enables a robot to learn and perform creative motions from human demonstrations in real-time. In order to satisfy all of the functional requirements for the framework, the developed technique is comprised of two modular components, which integrate together to provide the desired functionality. The first component, called Dancing from Demonstration (DfD), is a kinesthetic learning from demonstration technique. This technique is capable of playing back newly learned motions in real-time, as well as combining multiple learned motions together in a configurable way, either to reduce trajectory error or to generate entirely …

Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry

Walden Dissertations and Doctoral Studies

Certain factors can influence the capabilities of a robot–human team by affecting their social and behavioral dynamics in a work environment. But these factors were not known due to the progressive nature of human–robot partnerships and a lack of peer-reviewed literature on the topic. This e-Delphi study aimed to identify and understand these unknown influential factors based on the participants’ insights. The overarching research question asked about the need to determine factors that might influence the effectiveness of managing human-robot teams. The basis for the conceptual framework for this study was the theory of communication used in organizational management. Twelve …

A Human-Embodied Drone For Dexterous Aerial Manipulation, Dongbin Kim

UNLV Theses, Dissertations, Professional Papers, and Capstones

Current drones perform a wide variety of tasks in surveillance, photography, agriculture, package delivery, etc. However, these tasks are performed passively without the use of human interaction. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply sensing it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drill into surfaces, and sealing cracks via a drone. This integration with drones will henceforth be known as dexterous aerial manipulation.

Our recent work integrated the worker’s experience into …

Data-Driven Learning For Robot Physical Intelligence, Leidi Zhao

Dissertations

The physical intelligence, which emphasizes physical capabilities such as dexterous manipulation and dynamic mobility, is essential for robots to physically coexist with humans. Much research on robot physical intelligence has achieved success on hyper robot motor capabilities, but mostly through heavily case-specific engineering. Meanwhile, in terms of robot acquiring skills in a ubiquitous manner, robot learning from human demonstration (LfD) has achieved great progress, but still has limitations handling dynamic skills and compound actions. In this dissertation, a composite learning scheme which goes beyond LfD and integrates robot learning from human definition, demonstration, and evaluation is proposed. This method tackles …

Object Manipulation With Modular Planar Tensegrity Robots, Maxine Perroni-Scharf

Dartmouth College Undergraduate Theses

This thesis explores the creation of a novel two-dimensional tensegrity-based mod- ular system. When individual planar modules are linked together, they form a larger tensegrity robot that can be used to achieve non-prehensile manipulation. The first half of this dissertation focuses on the study of preexisting types of tensegrity mod- ules and proposes different possible structures and arrangements of modules. The second half describes the construction and actuation of a modular 2D robot com- posed of planar three-bar tensegrity structures. We conclude that tensegrity modules are suitably adapted to object manipulation and propose a future extension of the modular 2D …

Using Taint Analysis And Reinforcement Learning (Tarl) To Repair Autonomous Robot Software, Damian Lyons, Saba Zahra

Faculty Publications

It is important to be able to establish formal performance bounds for autonomous systems. However, formal verification techniques require a model of the environment in which the system operates; a challenge for autonomous systems, especially those expected to operate over longer timescales. This paper describes work in progress to automate the monitor and repair of ROS-based autonomous robot software written for an a-priori partially known and possibly incorrect environment model. A taint analysis method is used to automatically extract the data-flow sequence from input topic to publish topic, and instrument that code. A unique reinforcement learning approximation of MDP utility …

A Comprehensive And Modular Robotic Control Framework For Model-Less Control Law Development Using Reinforcement Learning For Soft Robotics, Charles Sullivan

Open Access Theses & Dissertations

Soft robotics is a growing field in robotics research. Heavily inspired by biological systems, these robots are made of softer, non-linear, materials such as elastomers and are actuated using several novel methods, from fluidic actuation channels to shape changing materials such as electro-active polymers. Highly non-linear materials make modeling difficult, and sensors are still an area of active research. These issues have rendered typical control and modeling techniques often inadequate for soft robotics. Reinforcement learning is a branch of machine learning that focuses on model-less control by mapping states to actions that maximize a specific reward signal. Reinforcement learning has …

Robot Simulation Analysis, Jacob Miller, Jeremy Evert

Student Research

• Simulate virtual robot for test and analysis

• Analyze SLAM solutions using ROS

• Assemble a functional Turtlebot

• Emphasize projects related to current research trajectories for NASA, and general robotics applications

Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal

Computer Science: Faculty Publications and Other Works

This paper presents progress in developing exercises for high school students incorporating level-appropriate mathematics into robotics activities. We assume mathematical foundations ranging from algebra to precalculus, whereas most prior work on integrating mathematics into robotics uses only very elementary mathematical reasoning or, at the other extreme, is comprised of technical papers or books using calculus and other advanced mathematics. The exercises suggested are relevant to any differerential-drive robot, which is an appropriate model for many different varieties of educational robots. They guide students towards comparing a variety of natural navigational strategies making use of typical movement primitives. The exercises align …

Communication Capability For A Simulation-Based Test And Evaluation Framework For Autonomous Systems, Ntiana Sakioti

Computational Modeling & Simulation Engineering Theses & Dissertations

The design and testing process for collaborative autonomous systems can be extremely complex and time-consuming, so it is advantageous to begin testing early in the design. A Test & Evaluation (T&E) Framework was previously developed to enable the testing of autonomous software at various levels of mixed reality. The Framework assumes a modular approach to autonomous software development, which introduces the possibility that components are not in the same stage of development. The T&E Framework allows testing to begin early in a simulated environment, with the autonomous software methodically migrating from virtual to augmented to physical environments as component development …

Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin

Honors Projects

A 3D printed hand and arm prosthetic was created from the idea of adding bionic elements while keeping the cost low. It was designed based on existing models, desired functions, and materials available. A tilt sensor keeps the hand level, two motors move the wrist in two different directions, a limit switch signals the fingers to open and close, and another motor helps open and close the fingers. All sensors and motors were built on a circuit board, programmed using an Arduino, and powered by a battery. Other supporting materials include metal brackets, screws, guitar strings, elastic bands, small clamps, …

Exploring The Behavior Repertoire Of A Wireless Vibrationally Actuated Tensegrity Robot, Zongliang Ji

Honors Theses

Soft robotics is an emerging field of research due to its potential to explore and operate in unstructured, rugged, and dynamic environments. However, the properties that make soft robots compelling also make them difficult to robustly control. Here at Union, we developed the world’s first wireless soft tensegrity robot. The goal of my thesis is to explore effective and efficient methods to explore the diverse behavior our tensegrity robot. We will achieve that by applying state-of-art machine learning technique and a novelty search algorithm.

Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg

George K. Thiruvathukal

This paper shows how students can be guided to integrate elementary mathematical analyses with motion planning for typical educational robots. Rather than using calculus as in comprehensive works on motion planning, we show students can achieve interesting results using just simple linear regression tools and trigonometric analyses. Experiments with one robotics platform show that use of these tools can lead to passable navigation through dead reckoning even if students have limited experience with use of sensors, programming, and mathematics.

Integrating Mathematics And Educational Robotics: Simple Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal, Sara T. Greenberg

Computer Science: Faculty Publications and Other Works

This paper shows how students can be guided to integrate elementary mathematical analyses with motion planning for typical educational robots. Rather than using calculus as in comprehensive works on motion planning, we show students can achieve interesting results using just simple linear regression tools and trigonometric analyses. Experiments with one robotics platform show that use of these tools can lead to passable navigation through dead reckoning even if students have limited experience with use of sensors, programming, and mathematics.

Exploring Cyber-Physical Systems, Misbah Uddin Mohammed

Graduate Research Theses & Dissertations

The advances in IOT, Computer Vision, AI and Machine Learning have made these technologies ubiquitous to our daily lives. From Smart Phones to Connected Vehicles, Cyber Physical systems have been interspersed into everything we interact in today’s world. The aim or this thesis was to explore these advances in Cyber Physical Systems and analyze the different sectors they were affecting. We then hand-picked certain domains and explored further by carrying out practical projects using some of the latest software and hardware resources available. Technologies like Amazon Alexa services, NVIDIA Jetson boards, TensorFlow, OpenCV, NodeJS were heavily employed in our various …

Multi-Robot Coordination And Scheduling For Deactivation & Decommissioning, Sebastian A. Zanlongo

FIU Electronic Theses and Dissertations

Large quantities of high-level radioactive waste were generated during WWII. This waste is being stored in facilities such as double-shell tanks in Washington, and the Waste Isolation Pilot Plant in New Mexico. Due to the dangerous nature of radioactive waste, these facilities must undergo periodic inspections to ensure that leaks are detected quickly. In this work, we provide a set of methodologies to aid in the monitoring and inspection of these hazardous facilities. This allows inspection of dangerous regions without a human operator, and for the inspection of locations where a person would not be physically able to enter.

First, …

Integration Of Robotic Perception, Action, And Memory, Li Yang Ku

Doctoral Dissertations

In the book "On Intelligence", Hawkins states that intelligence should be measured by the capacity to memorize and predict patterns. I further suggest that the ability to predict action consequences based on perception and memory is essential for robots to demonstrate intelligent behaviors in unstructured environments. However, traditional approaches generally represent action and perception separately---as computer vision modules that recognize objects and as planners that execute actions based on labels and poses. I propose here a more integrated approach where action and perception are combined in a memory model, in which a sequence of actions can be planned based on …

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

Ronald Greenberg

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.

Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg

Ronald Greenberg

Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to …

Development Of A Locomotion And Balancing Strategy For Humanoid Robots, Emile Bahdi

Electronic Theses and Dissertations

The locomotion ability and high mobility are the most distinguished features of humanoid robots. Due to the non-linear dynamics of walking, developing and controlling the locomotion of humanoid robots is a challenging task. In this thesis, we study and develop a walking engine for the humanoid robot, NAO, which is the official robotic platform used in the RoboCup Spl. Aldebaran Robotics, the manufacturing company of NAO provides a walking module that has disadvantages, such as being a black box that does not provide control of the gait as well as the robot walk with a bent knee. The latter disadvantage, …

Formal Performance Guarantees For An Approach To Human In The Loop Robot Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into the formal performance guarantees for the mission. We present a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration. Our approach allows us to model different skill levels directly in terms of the behavior of the lumped, robot plus operator, system.

Using MissionLab and VIPARS (a behavior-based robot mission verification …

Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank

Computer Science Faculty Research and Scholarship

This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find …

Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken

Doctoral Dissertations

Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …

A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, Craig Christensen

MS in Computer Science Project Reports

Robotic arms have been in common use for a several decades now in many areas from manufacturing and industrial uses to hobby projects and amusement park rides. However, there have been very few attempts to make an inexpensive robot arm with a software stack for use in higher education. This paper will outline a control and interfacing software stack built on the Robot Operating System (ROS) and a simulation of the 5 degree of freedom (DoF) robotic arm.