Robotics Commons^™

Data-Driven Predictive Modeling To Enhance Search Efficiency Of Glowworm-Inspired Robotic Swarms In Multiple Emission Source Localization Tasks, Payal Nandi

Mechanical & Aerospace Engineering Theses & Dissertations

In time-sensitive search and rescue applications, a team of multiple mobile robots broadens the scope of operational capabilities. Scaling multi-robot systems (< 10 agents) to larger robot teams (10 – 100 agents) using centralized coordination schemes becomes computationally intractable during runtime. One solution to this problem is inspired by swarm intelligence principles found in nature, offering the benefits of decentralized control, fault tolerance to individual failures, and self-organizing adaptability. Glowworm swarm optimization (GSO) is unique among swarm-based algorithms as it simultaneously focuses on searching for multiple targets. This thesis presents GPR-GSO—a modification to the GSO algorithm that incorporates Gaussian Process Regression (GPR) based data-driven predictive modeling—to improve the search efficiency of robotic swarms in multiple emission source localization tasks. The problem formulation and methods are presented, followed by numerical simulations to illustrate the working of the algorithm. Results from a comparative analysis show that the GPR-GSO algorithm exceeds the performance of the benchmark GSO algorithm on evaluation metrics of swarm size, search completion time, and travel distance.

Accurate Orientation Control Of Tendon Driven Continuum Robots That Exhibit Elasticity, Manu Srivastava

All Dissertations

This dissertation makes new contributions to the modeling and implementation of Tendon Driven Continuum Robots (TDCRs). Specifically, motivated by 3D printing of concrete using a continuum hose robot in construction applications, we focus on TDCRs featuring compliance in the robot backbone and actuating tendons, e.g. surgical robots/endoscopes/catheters with tendon actuation. We expand previous mechanics-based models to show how and why such compliance significantly restricts performance when traditional kinematics-based planning and control techniques are applied.

The main contribution of this work is a new Elasticity Compensation(EC) model that explains why the ad hoc approach of preloading/pretensioning the tendons compensates for compliance …

The Heterogeneous Vehicle Routing Problem With Multiple Time Windows For The E-Waste Collection Problem, Aldy Gunawan, Minh P.K Nguyen, Vincent F. Yu, Dang Viet Anh Nguyen

Research Collection School Of Computing and Information Systems

Waste from electrical and electronic equipment (WEEE) or e-waste describes end-of-life electronic products that are discarded. Due to their toxic and negative impacts to humans' health, many publications have been proposed to handle, however, studies related to e-waste collection and transportation to waste disposal sites are not widely studied so far. This study proposes a mixed integer linear programming (MILP) model to solve the e-waste collecting problem by formulating it as the heterogeneous vehicle routing problem with multiple time windows (HVRPMTW). The model is validated with newly developed benchmark instances that are solved by commercial software, CPLEX. The model is …

Robust Control Of Contact-Rich Robots Via Neural Bayesian Inference, Nardos Ayele Ashenafi

Boise State University Theses and Dissertations

We provide several data-driven control design frameworks for contact-rich robotic systems. These systems exhibit continuous state flows and discrete state transitions, which are governed by distinct equations of motion. Hence, it is difficult to design a single policy that can control the system in all modes. Typically, hybrid systems are controlled by multi-modal policies, each manually triggered based on observed states. However, as the number of potential contacts increase, the number of policies can grow exponentially and the control-switching scheme becomes too complicated to parameterize. To address this issue, we design contact-aware data-driven controllers given by deep-net mixture of experts. …

An Enhanced Adaptive Learning System Based On Microservice Architecture, Abdelsalam Helmy Ibrahim, Mohamed Eliemy, Aliaa Abdelhalim Youssif

Future Computing and Informatics Journal

This study aims to enhance Adaptive Learning Systems (ALS) in Petroleum Sector in Egypt by using the Microservice Architecture and measure the impact of enhancing ALS by participating ALS users through a statistical study and questionnaire directed to them if they accept to apply the Cloud Computing Service “Microservices” to enhance the ALS performance, quality and cost value or not. The study also aims to confirm that there is a statistically significant relationship between ALS and Cloud Computing Service “Microservices” and prove the impact of enhancing the ALS by using Microservices in the cloud in Adaptive Learning in the Egyptian …

Visual Question Answering: A Survey, Gehad Assem El-Naggar

Future Computing and Informatics Journal

Visual Question Answering (VQA) has been an emerging field in computer vision and natural language processing that aims to enable machines to understand the content of images and answer natural language questions about them. Recently, there has been increasing interest in integrating Semantic Web technologies into VQA systems to enhance their performance and scalability. In this context, knowledge graphs, which represent structured knowledge in the form of entities and their relationships, have shown great potential in providing rich semantic information for VQA. This paper provides an abstract overview of the state-of-the-art research on VQA using Semantic Web technologies, including knowledge …

Human-Machine Communication: Complete Volume. Volume 6

Human-Machine Communication

This is the complete volume of HMC Volume 6.

Valenced Media Effects On Robot-Related Attitudes And Mental Models: A Parasocial Contact Approach, Jan-Philipp Stein, Jaime Banks

Human-Machine Communication

Despite rapid advancements in robotics, most people still only come into contact with robots via mass media. Consequently, robot-related attitudes are often discussed as the result of habituation and cultivation processes, as they unfold during repeated media exposure. In this paper, we introduce parasocial contact theory to this line of research— arguing that it better acknowledges interpersonal and intergroup dynamics found in modern human–robot interactions. Moreover, conceptualizing mediated robot encounters as parasocial contact integrates both qualitative and quantitative aspects into one comprehensive approach. A multi-method experiment offers empirical support for our arguments: Although many elements of participants’ beliefs and attitudes …

Triggered By Socialbots: Communicative Anthropomorphization Of Bots In Online Conversations, Salla-Maaria Laaksonen, Kaisa Laitinen, Minna Koivula, Tanja Sihvonen

Human-Machine Communication

This article examines communicative anthropomorphization, that is, assigning of humanlike features, of socialbots in communication between humans and bots. Situated in the field of human-machine communication, the article asks how socialbots are devised as anthropomorphized communication companions and explores the ways in which human users anthropomorphize bots through communication. Through an analysis of two datasets of bots interacting with humans on social media, we find that bots are communicatively anthropomorphized by directly addressing them, assigning agency to them, drawing parallels between humans and bots, and assigning emotions and opinions to bots. We suggest that socialbots inherently have anthropomorphized characteristics and …

Disentangling Two Fundamental Paradigms In Human-Machine Communication Research: Media Equation And Media Evocation, Margot J. Van Der Goot, Katrin Etzrodt

Human-Machine Communication

In this theoretical paper, we delineate two fundamental paradigms in how scholars conceptualize the nature of machines in human-machine communication (HMC). In addition to the well-known Media Equation paradigm, we distinguish the Media Evocation paradigm. The Media Equation paradigm entails that people respond to machines as if they are humans, whereas the Media Evocation paradigm conceptualizes machines as objects that can evoke reflections about ontological categories. For each paradigm, we present the main propositions, research methodologies, and current challenges. We conclude with theoretical implications on how to integrate the two paradigms, and with a call for mixed-method research that includes …

List Of 121 Papers Citing One Or More Skin Lesion Image Datasets, Neda Alipour

Other resources

No abstract provided.

The Potential Of The Implementation Of Offline Robotic Programming Into Automation-Related Pedagogy, Max Rios Carballo, Xavier Brown

Publications and Research

In this study, the offline programming tool RoboDK is used to program industrial robots for the automation sector. The study explores the feasibility of using this non-disruptive robot programming software for classroom use; assesses how well RoboDK can be used to program various robots used in the industry; creates and tests various applications; and pinpoints technical obstacles that prevent a smooth link between offline programming and actual robots. Initial results indicate that RoboDK is an effective tool for deploying its offline programming code to a Universal Robot, UR3e. There are many potential for advanced applications. The goal of the project …

Introducing Ros-Projects To Undergraduate Robotic Curriculum, Lili Ma, Yu Wang, Chen Xu, Xiaohai Li

Publications and Research

This paper describes three MATLAB-ROS-based simulation projects developed for an undergraduate robotics course. The Robot Operating System (ROS) is an open-source framework that helps researchers and developers build and reuse code between robotics applications. Adoption of ROS in the undergraduate curricula is still rare due to its demanding requirements of C++/Python/Java programming skills and familiarity with Linux. Recently, MathWorks released its ROS Toolbox, making it easier to interact with simulators like the Gazebo and ROS-supported physical robots. The MATLAB-ROS-Gazebo simulation platform allows students to utilize other MATLAB Toolboxes, such as Image Processing, Computer Vision, Visualization, and Navigation Toolboxes, for fast …

Development Of A Raspberry Pi-Controlled Vex Robot For A Robotics Technology Course, Lili Ma, Justin Bartholomew, Yu Wang, Xiaohai Li

Publications and Research

This paper describes the development of a Raspberry PI-controlled VEX robot for an undergraduate robotic course. The Raspberry PI controls the mobile base built using the VEX robotics kit without using the Cortex micro-controller that comes with the kit. The aim is to create a physical robot that is manageable, easily replicable, and capable of performing advanced robotic control tasks such as vision-based control.

The constructed robot adopts the great features of the PI and the VEX hardware. Firstly, the VEX hardware consists of various sensors and actuators for students to practice the construction and assembly of an autonomous robot. …

Only Pick Once-Multi-Object Picking Algorithms For Picking Exact Number Of Objects Efficiently, Zihe Ye

USF Tampa Graduate Theses and Dissertations

Picking up multiple objects at once is a grasping skill that makes a human worker efficient in many domains. However, the State of Arts Robot Grasping skill has not developed such ability to compete with human.This paper presents a system to pick a requested number of objects by only picking once (OPO). The proposed Only-Pick-Once System (OPOS) contains several graph-based algorithms that convert the layout of objects into a graph, cluster nodes in the graph, rank and select candidate clusters based on their topology. OPOS also has a multi-object picking predictor based on a convolutional neural network for estimating how …

Underwater Robot Path Planning In An Intermittent Communication System, Hunter Gallant

Dartmouth College Master’s Theses

Sunflower, a novel cross-medium localization system between an aerial drone and an underwater robot, has not yet been implemented in a multi-robot exploration system. This project’s aim was to simulate various configurations of multi-robot systems, and to create an algorithm, called AdjustPath, to improve exploration and avoid inter- robot collisions. With three, five, seven, and ten simulated underwater robots, there was significant improvement when the AdjustPath algorithm was used. Knowing this, future hardware using the Sunflower system could use this proposed algorithm to increase efficiency and avoid more collisions.

In-Situ Mechanical Tester, Andrrew Murach, Gustavo Marquez, Kosimo Tonn, Jake Vormbaum

Mechanical Engineering

Over the course of the 2022-23 Cal Poly SLO school year, a small tensile tester device was developed specifically for Dr. Long Wang to test thin film materials under a microscope and generate accurate force versus displacement graphs. A tensile tester was manufactured using purchased and machined components, electronics were consolidated in a separate box and connected, and a program and user interface were written to control the motion, provide custom inputs, and organize useful data for the researcher. Tests were conducted to compare the performance of the device to universal tensile testers available in the Composites lab. The device …

Using An Embedded System For A Quality Cup Of Coffee, Evan Powers, Joshua Stermer, Tsion Yohannes

2023 Symposium

Many coffee lovers spend up to $5 on a cup of coffee everyday. To save money one could make them at home, but a quality machine with PIDs start at $1000. Using an embedded system one could spend less than $50 and a few hours implement PIDs into an existing $400 machine that will last a lifetime. microcontroller. Learning C language combined with hardware implementation applied to cheap and simple everyday objects can improve everyday quality of life and save money.

This is challenging because we have to incorporate the additional circuitry into a pre established circuit with limited space, …

Robot Learning To Pour Solid Objects Accurately, Juan Wilches, Yu Sun

Florida Conference on Recent Advances in Robotics

Pouring is an efficient way to transfer objects from
one container to another. This abstract summarizes a method
to accurately pour solid objects, such as ice cubes. It leverages
visual and proprioceptive feedback together with contextual
information to control the forward and backward rotation of the
pouring container. These feedback signals are fed to a recurrent
neural network that produces the control signal. The proposed
approach can achieve a human-like pouring accuracy in both a
simulation and a real setup.

Multi-Object Grasping -- Stochastic Grasping From A Pile, Tianze Chen, Adheesh Shenoy, Yu Sun

Florida Conference on Recent Advances in Robotics

Grasping multiple objects at once from a pile is common for humans. It makes us efficient in pick and transfer tasks. It is essential for a robot to gain multi-object grasping capability (MOG). This paper defines the multi-object grasping problem and introduces several novel multi-object grasping techniques. These techniques include probability-based pre-grasp potential calculation, a stochastic flexing/extending routine, obtaining end-grasp types, and estimating the number of objects in a grasp. It also proposes a new stochastic grasping strategy for grasping a desired number of objects.