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Articles 181 - 201 of 201
Full-Text Articles in Robotics
Multi-Tier Exploration Concept Demonstration Mission, Jeremy Straub
Multi-Tier Exploration Concept Demonstration Mission, Jeremy Straub
Jeremy Straub
A multi-tier, multi-craft mission architecture has been proposed but, despite its apparent promise, limited use and testing of the architecture has been conducted. This paper proposes and details a mission concept and its implementation for testing this architecture in the terrestrial environment. It is expected that this testing will allow significant refinement of the proposed architecture as well as providing data on its suitability for use in both terrestrial and extra-terrestrial applications. Logistical and technical challenges with this testing are discussed.
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
George J. Pappas
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic …
Operating Software, Donovan Torgerson, Miyuru Arangala, Michael Hlas, David Bullock, Dayln Limesand, Cameron Kerbaugh, Daniel Schuler, Mitchell Fossen, Edwin Carlson, Atif Mohammad, Josh Berk, Jeremy Straub
Operating Software, Donovan Torgerson, Miyuru Arangala, Michael Hlas, David Bullock, Dayln Limesand, Cameron Kerbaugh, Daniel Schuler, Mitchell Fossen, Edwin Carlson, Atif Mohammad, Josh Berk, Jeremy Straub
Jeremy Straub
No abstract provided.
Cubesat Software Architecture, Christoffer Korvald, Atif Mohammad, Jeremy Straub, Josh Berk
Cubesat Software Architecture, Christoffer Korvald, Atif Mohammad, Jeremy Straub, Josh Berk
Jeremy Straub
No abstract provided.
Payload Software, Christoffer Korvald, Jeremy Straub, Atif Mohammad, Josh Berk
Payload Software, Christoffer Korvald, Jeremy Straub, Atif Mohammad, Josh Berk
Jeremy Straub
No abstract provided.
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Kernelized Locality-Sensitive Hashing For Fast Image Landmark Association, Mark A. Weems
Theses and Dissertations
As the concept of war has evolved, navigation in urban environments where GPS may be degraded is increasingly becoming more important. Two existing solutions are vision-aided navigation and vision-based Simultaneous Localization and Mapping (SLAM). The problem, however, is that vision-based navigation techniques can require excessive amounts of memory and increased computational complexity resulting in a decrease in speed. This research focuses on techniques to improve such issues by speeding up and optimizing the data association process in vision-based SLAM. Specifically, this work studies the current methods that algorithms use to associate a current robot pose to that of one previously …
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements, Carlos Rafael Neninger
USF Tampa Graduate Theses and Dissertations
With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent …
Developing An Effective And Efficient Real Time Strategy Agent For Use As A Computer Generated Force, Kurt Weissgerber
Developing An Effective And Efficient Real Time Strategy Agent For Use As A Computer Generated Force, Kurt Weissgerber
Theses and Dissertations
Computer Generated Forces (CGF) are used to represent units or individuals in military training and constructive simulation. The use of CGF significantly reduces the time and money required for effective training. For CGF to be effective, they must behave as a human would in the same environment. Real Time Strategy (RTS) games place players in control of a large force whose goal is to defeat the opponent. The military setting of RTS games makes them an excellent platform for the development and testing of CGF. While there has been significant research in RTS agent development, most of the developed agents …
Evaluation Of Robocode As A Teaching Tool For Computer Programming, Arnold Hensman
Evaluation Of Robocode As A Teaching Tool For Computer Programming, Arnold Hensman
Conference Papers
Robocode began as an educational tool to aid in learning Java programming. It has since evolved into something of a phenomenon, as the prospect of creating simple to complex virtual tanks appears to pose an attractive challenge to both novice and expert programmers alike. What started out as a teaching tool has grown into a worldwide network of competitors, all keen to prove that their ‘bot’ stands out from the crowd. Competitions are well organised and many Robocode events are a PR dream for the computing companies that sponsor them. Without a doubt, this easy to use application has sparked …
A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons
A Cognitive Robotics Approach To Comprehending Human Language And Behaviors, Deryle W. Lonsdale, D. Paul Benjamin, Damian Lyons
Faculty Publications
The ADAPT project is a collaboration of researchers in linguistics, robotics and artificial intelligence at three universities. We are building a complete robotic cognitive architecture for a mobile robot designed to interact with humans in a range of environments, and which uses natural language and models human behavior. This paper concentrates on the HRI aspects of ADAPT, and especially on how ADAPT models and interacts with humans.
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge
Mechanical Engineering Faculty Research
Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …
Extracting User Intent In Mixed Initiative Teleoperator Control, Andrew H. Fagg, Michael Rosenstein, Robert Platt Jr., Roderic Grupen
Extracting User Intent In Mixed Initiative Teleoperator Control, Andrew H. Fagg, Michael Rosenstein, Robert Platt Jr., Roderic Grupen
Roderic Grupen
User fatigue is common with robot teleoperation interfaces. Mixed initiative control approaches attempt to reduce this fatigue by allowing control responsibility to be shared between the user and an intelligent control system. A critical challenge is how the user can communicate her intentions to the control system in an intuitive manner as possible. In the context of control of a humanoid robot, we propose an interface that uses the movement currently commanded by the user to assess the intended outcome. Specifically, given the observation of the motion of the teleoperated robot for a given period of time, we would like …
Trends. War On Personality And Personality And War: Comments On Nass And Lee (2002), Ibpp Editor
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.
Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia
Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia
Mechanical Engineering Faculty Presentations
The paper suggests that fuzzy logic controllers present a computationally efficient and robust alternative to conventional controllers. The paper presents two possible structures for the distributed fuzzy logic controller of a single-link flexible manipulator. A linear quadratic regulator method is used to prove the effectiveness of fuzzy logic controllers.
Book Review: Reasoning Agents In A Dynamic World: The Frame Problem. Kenneth M. Ford And Patrick J. Hayes, Eds.,, Jozsef A. Toth
Book Review: Reasoning Agents In A Dynamic World: The Frame Problem. Kenneth M. Ford And Patrick J. Hayes, Eds.,, Jozsef A. Toth
Jozsef A Toth Ph.D.
No abstract provided.
Impact Of Automation On Process Control Decision-Making, Steven M. Miller, Susan R. Bereiter
Impact Of Automation On Process Control Decision-Making, Steven M. Miller, Susan R. Bereiter
Research Collection School Of Computing and Information Systems
This paper investigates changes in the process control of a vehicle assembly plant which had been modernized from a principally manual procedure to one that uses programmable automation extensively. Process control is defined as the information flow and decision-making required to perform basic process operations. We investigate the effects of implementing a computer-integrated production system on the amount and types of process control decision-making and on the distribution of process control decision-making between humans and machines. After automation, the emphasis on decisions regarding product quality specifications increased and the emphasis on decisions related to flexibility in handling a variety of …
Impacts Of Robotics And Flexible Manufacturing Technologies On Manufacturing Costs And Employment, Steven M. Miller
Impacts Of Robotics And Flexible Manufacturing Technologies On Manufacturing Costs And Employment, Steven M. Miller
Research Collection School Of Computing and Information Systems
The issues analyzed in this paper are the extent to which unit costs and production labor requirements might be reduced in manufacturing industries if there is more widespread use of industrial robots and flexible systems. The analysis is reported in detail in Miller (1983). These issues are analyzed from two different perspectives. The technological focus of the first perspective is narrowly confined to the use of robotic manipulators. It is assumed that robotic manipulators will be “retrofitted” into existing production facilities without making major changes in the organization of production within the factory, other than modifying individual work stations so …
Robotic Realities: Near Term Prospects And Problems, Robert U. Ayres, Steven M. Miller
Robotic Realities: Near Term Prospects And Problems, Robert U. Ayres, Steven M. Miller
Research Collection School Of Computing and Information Systems
Industrial robots are automation, but with a difference. Other machine tools are extensions of human capabilities, while robots are seen mainly as substitutes for human workers. Robots will find most of their industrial applications during the next decade or two in the metal-working sectors, where they will begin to displace semiskilled machine operatives in medium to large batch production operations. They cannot substitute for skilled machinists or other workers doing nonroutine jobs, or specialized, dedicated hard automation used in mass production. The current generation of robots, lacking sensory data processing and interpretation capabilities, can potentially replace up to 1.3 million …
Robotics And The Conservation Of Human Resources, Robert U. Ayres, Steven M. Miller
Robotics And The Conservation Of Human Resources, Robert U. Ayres, Steven M. Miller
Research Collection School Of Computing and Information Systems
Due to rapid expansion in the field of robotics, policy issues have arisen in regard to developing human skills to deal with the new technology and to deal with the obsolescent human skills which are the inevitable result of this growth pattern. Industrialists, educators, union leaders, and government officials must work cooperatively to insure that the coming changes are made with minimum disruption. Improved training methods and courses have to be developed for the skills needed to control, manage and supervise the new machines. Some of the ways in which this can be accomplished are through offering financial incentives for …