Open Access. Powered by Scholars. Published by Universities.®
- Institution
- Keyword
-
- Robotics (6)
- Adaptive algorithms (3)
- Conference Proceedings (3)
- Coverage control problems (3)
- Dynamic vehicle routing problems (3)
-
- Partitioning algorithms (3)
- Potential field methods (3)
- Stochastic approximation (3)
- Stochastic gradient algorithms (3)
- Stochastic gradient descent algorithms (3)
- Arduino (2)
- Active hand device (1)
- Actuators (1)
- Coiled shape memory alloy (1)
- Conveyor (1)
- Disaster Management (1)
- Global Positioning System (1)
- Hand (1)
- IR (1)
- Image processing (1)
- Integrated circuit design (1)
- Ionic Polymer Metallic Composite (1)
- Kalman filter (1)
- Large displacement compliant mechanisms (1)
- Legged millirobot (1)
- MEDIC (1)
- Marine radar (1)
- Mechatronic devices (1)
- Microassembly (1)
- Microsurgery (1)
- Publication
- Publication Type
- File Type
Articles 1 - 16 of 16
Full-Text Articles in Robotics
Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena
Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena
Electronic Thesis and Dissertation Repository
In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …
Contextualized Mobile Support For Learning By Doing In The Real World, Ray Bareiss, Natalie Linnell, Martin L. Griss
Contextualized Mobile Support For Learning By Doing In The Real World, Ray Bareiss, Natalie Linnell, Martin L. Griss
Martin L Griss
This research addresses the use of mobile devices with both embedded and external sensors to provide contextualized help, advice, and remediation to learners engaged in real-world learn-by-doing tasks. This work is situated within the context of learning a complex procedure, in particular emergency responders learning to conduct urban search and rescue operations. Research issues include the design and delivery of contextualized performance support and the inferring of learner actions and intentions from sensor data to ensure that the right support is delivered just in time, as it is relevant to what the learner is doing.
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Medic: A Legged Millirobot Utilizing Novel Obstacle Traversal, Nicholas Kohut, Aaron Hoover, Kevin Ma, Stanley Baek, Ronald Fearing
Aaron M. Hoover
This work presents the design, fabrication, capabilities, and obstacle traversal mechanics of MEDIC (MillirobotEnabled Diagnostic of Integrated Circuits), a small legged robot able to overcome a varied array of obstacles. MEDIC features a hull that keeps its body in contact with the ground at all times, and uses only four actuators to move forward, turn, mount obstacles, and move in reverse. The chassis is fabricated using a Smart Composite Microstructures (SCM) approach and the robot is actuated by coiled Shape Memory Alloy (SMA). MEDIC also features a camera which will be useful for navigation in the future.
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
A Rapidly Prototyped 2-Axis Positioning Stage For Microassembly Using Large Displacement Compliant Mechanisms, Aaron Hoover, Srinath Avadhanula, Richard Groff, Ronald Fearing
Aaron M. Hoover
Compliant mechanisms provide an attractive alternative to conventional rigid mechanisms in the design of ultra low-cost precision positioning systems. The desirable performance characteristics of these mechanisms including freedom from backlash, long life, light weight, and ease of fabrication/assembly make them an ideal solution to the problem of inexpensive precision positioning for microassembly. This paper presents a design for a 2 axis precision positioning system which makes use of large displacement compliant mechanisms, a room temperature and pressure molding fabrication process, commodity hardware, and a piecewise linear interpolation compensation scheme to achieve positioning performance suitable for automated assembly of sub-centimeter robotic …
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar, Elena Oleynikova, Nicole Lee, Andrew Barry, Joseph Holler, David Barrett
David Barrett
Perimeter patrol enhances the utility of autonomous surface vehicles (ASVs) by enabling many security and scientific missions, including harbor protection, water sampling, and geological survey. We present a novel approach to perimeter patrol that uses only two sensors: commercial off-the-shelf available marine radar and the heading information from a GPS. Our algorithm performs computer vision morphological operations on the radarimage to find a suitable path around shore and choose an appropriate next waypoint. Our method has proved robust to a variety of field conditions, allowing us to demonstrate the autonomous navigation of a 3.5 km perimeter lake.
Polygrasp: Reach; Myoelectric Prosthetic Hand Iteration, Devon Patrick Augustus, Mighells Blaed Deuel, Ian Noel Fraser, Nicholas Philip Moesser
Polygrasp: Reach; Myoelectric Prosthetic Hand Iteration, Devon Patrick Augustus, Mighells Blaed Deuel, Ian Noel Fraser, Nicholas Philip Moesser
Mechanical Engineering
Amputations are a common occurrence in soldiers returning home who have suffered the effects of IED and munitions explosions. For upper limb amputees, trans-radial amputations are the most common. Traditional hook devices do not offer an adequate level of normalcy for users, prompting the use of myoelectric devices. While current myoelectric devices do offer a more natural experience, they come with a host of other problems that makes their adoption by service personnel not desirable or not permitted by the VA. PolyGrasp Reach seeks to reduce weight and cost and improve performance. This addresses several of the issues with devices …
Robot X, Alan Truong, Alex Haag
Robot X, Alan Truong, Alex Haag
Computer Engineering
The following report outlines the design decisions behind Robot X for the 2012 Cal Poly Roborodentia competition held annually during Open House. This investigation includes detailed overview of Robot X's sensory system, driving system, conveyor belt system, and can compartment system. In addition, basic hardware and software design are explored.
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 Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
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 Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
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 Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
George J. Pappas
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms, …
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.
Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu
Adaptive Kriging Controller Design For Hypersonic Flight Vehicle Via Back-Stepping, Bin Xu
Bin Xu
No abstract provided.
Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu
Direct Neural Discrete Control Of Hypersonic Flight Vehicle, Bin Xu
Bin Xu
No abstract provided.