On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, 2021 University of Kentucky
On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae
Electrical and Computer Engineering Faculty Publications
Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity ...
Light Loaded Automated Guided Vehicle, 2021 The University of Akron
Light Loaded Automated Guided Vehicle, Marcus Radtka, Nazar Paramashchuk, Lawrence Shevock
Williams Honors College, Honors Research Projects
The objective of the locomotion system was to design and implement the mechanical, electrical, and software related functions to ensure the LLAGV had the capability of maneuvering its surroundings. The LLAGV’s motors were represented in an open loop transfer function to utilize RPM feedback and a compensator when needed. The modeled compensator helped control the LLAGV’s speed and acceleration, enabling further control of the LLAGV. The internal circuitry has the means to properly distributed power to all components and allowed the user to control the LLAGV to their desire. The application software within the LLAGV locomotion system (LLAGV-LS ...
Ping Pong Ball Collecting Robot, 2021 The University of Akron
Ping Pong Ball Collecting Robot, Gina Lanese, Jason Colonna, Sarah Kuchcinski, Johndavid Rogers
Williams Honors College, Honors Research Projects
The ping pong ball collecting robot will collect ping pong balls in a ping pong arena, such as after a game or practice session. Ball collection is now typically done by a human, collecting the balls either by hand or with a net. A robot, autonomously collecting the ping pong balls from the floor, would allow for the time spent playing or practicing to be maximized. The team will design the software and hardware for the robot, including the mechanical system, the software, and circuit boards. This robot will serve as a capstone project for the senior design team consisting ...
Development Of An Autonomous Navigation System For The Shuttle Car In Underground Room & Pillar Coal Mines, 2021 University of Kentucky
Development Of An Autonomous Navigation System For The Shuttle Car In Underground Room & Pillar Coal Mines, Vasileios Androulakis
Theses and Dissertations--Mining Engineering
In recent years, autonomous solutions in the multi-disciplinary field of the mining engineering have been an extremely popular applied research topic. The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust ...
The Rise Of The Machine: How Industrial Robots Will Revolutionize U.S. Manufacturing, 2021 Elizabethtown College
The Rise Of The Machine: How Industrial Robots Will Revolutionize U.S. Manufacturing, Alexander Koontz
Engineering: Student Scholarship & Creative Works
Automation has become a term to symbolize many different movements in today’s world. It could represent anything from the blind, preprogrammed robotic arm in an automotive assembly plant to the increasing prevalence of driverless cars on the road. It could be used as a word of praise in the chase of more efficiency and optimization, or as a curse against the aspect of the obsolescence of humans as their roles are rendered redundant by robotic laborers. However, the lack of clarity of the term stems from a lack of understanding about its historical connotations, precisely how it applies today ...
Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, 2021 Michigan Technological University
Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, Chinmay Kondekar
Dissertations, Master's Theses and Master's Reports
Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems.
The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI.
Standardized programming blocks ...
Toward Intelligent Welding By Building Its Digital Twin, 2021 University of Kentucky
Toward Intelligent Welding By Building Its Digital Twin, Qiyue Wang
Theses and Dissertations--Electrical and Computer Engineering
To meet the increasing requirements for production on individualization, efficiency and quality, traditional manufacturing processes are evolving to smart manufacturing with the support from the information technology advancements including cyber-physical systems (CPS), Internet of Things (IoT), big industrial data, and artificial intelligence (AI). The pre-requirement for integrating with these advanced information technologies is to digitalize manufacturing processes such that they can be analyzed, controlled, and interacted with other digitalized components. Digital twin is developed as a general framework to do that by building the digital replicas for the physical entities. This work takes welding manufacturing as the case study to ...
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, 2021 South Dakota State University
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan
Electronic Theses and Dissertations
The number of robotic systems in the world is growing rapidly. However, most industrial robots are isolated in caged environments for the safety of users. There is an urgent need for human-in-the-loop collaborative robotic systems since robots are very good at performing precise and repetitive tasks but lack the cognitive ability and soft skills of humans. To fill this need, a key challenge is how to enable a robot to interpret its human co-worker’s motion and intention. This research addresses this challenge by developing a collaborative human-robot interface via innovations in computer vision, robotics, and system integration techniques. Specifically ...
Designs And Practical Control Methods For Soft Parallel Robots, 2021 West Virginia University
Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo
Graduate Theses, Dissertations, and Problem Reports
The use of soft robotics is becoming an increasingly researched topic, since they can provide more flexibility in movements and increase safety when working with humans. However, they are more susceptible to modeling and manufacturing errors in the design.
The objective of this thesis is two-fold, the first objective is to determine the benefits and limitations of using calibration tables that rely on the PWM signals instead of modeling as a control method. If calibration tables are not adequate to achieve a high level of precision. The second objective is to determine if using a tethered mobile robot in unison ...
Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, 2021 Georgia Southern University
Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran
Electronic Theses and Dissertations
Measuring student engagement has emerged as a significant factor in the process of learning and a good indicator of the knowledge retention capacity of the student. As synchronous online classes have become more prevalent in recent years, gauging a student's attention level is more critical in validating the progress of every student in an online classroom environment. This paper details the study on profiling the student attentiveness to different gradients of engagement level using multiple machine learning models. Results from the high accuracy model and the confidence score obtained from the cloud-based computer vision platform - Amazon Rekognition were then ...
Human-Robot Interaction For Assistive Robotics, 2020 New Jersey Institute of Technology
Human-Robot Interaction For Assistive Robotics, Jiawei Li
This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and ...
A Generalized Bayesian Approach For Localizing Static Natural Obstacles On Unpaved Roads, Yoshito Kinoshita, Josiah Steckenrider, Ioannis Papakis, Tomonari Furukawa
West Point Research Papers
This paper presents an approach that implements sensor fusion and recursive Bayesian estimation (RBE) to improve a vehicle's ability to perform obstacle detection and localization in unpaved road environments. The proposed approach utilizes RADAR, LiDAR and stereovision fully for sensor fusion to detect and localize static natural obstacles. Each sensor is characterized by a probabilistic sensor model which quantifies level of confidence (LOC) and probability of detection (POD) associatively. Deploying these sensor models enables the fusion of heterogeneous sensors without extensive formulations and with the incorporation of each sensor's strengths. An Extended Kalman filter (EKF) is formulated and ...
The Ftc And Ai Governance: A Regulatory Proposal, 2020 Seattle University School of Law
The Ftc And Ai Governance: A Regulatory Proposal, Michael Spiro
Seattle Journal of Technology, Environmental & Innovation Law
No abstract provided.
Reinforcement Learning Approach For Inspect/Correct Tasks, 2020 Louisiana State University and Agricultural and Mechanical College
Reinforcement Learning Approach For Inspect/Correct Tasks, Hoda Nasereddin
LSU Doctoral Dissertations
In this research, we focus on the application of reinforcement learning (RL) in automated agent tasks involving considerable target variability (i.e., characterized by stochastic distributions); in particular, learning of inspect/correct tasks. Examples include automated identification & correction of rivet failures in airplane maintenance procedures, and automated cleaning of surgical instruments in a hospital sterilization processing department. The location of defects and the corrective action to be taken for each varies from task episode. What needs to be learned are optimal stochastic strategies rather than optimization of any one single defect type and location. RL has been widely applied in ...
Design And Implementation Of Intuitive Human-Robot Teleoperation Interfaces, 2020 University of South Florida
Design And Implementation Of Intuitive Human-Robot Teleoperation Interfaces, Lei Wu
Graduate Theses and Dissertations
We have designed and implemented a novel human-robot teleoperation interface based on an intuitive reference frame and hybrid inverse kinematics to perform activities of daily living(ADL) using multiple input devices.
Persons with disabilities often rely on caregivers or family members to assist in their daily living activities. Providing robotic assistants with easy and intuitive user interfaces to assist with ADL can improve their quality of life and lift some of the burdens on caregivers and family members. Current human-robot interface solutions, such as joysticks, Kinect based gesture recognition, and touchscreen-based solutions, including smartphones, are still far from being able ...
Cooperative Aerial Search And Localization Using Lissajous Patterns, 2020 United States Military Academy
Cooperative Aerial Search And Localization Using Lissajous Patterns, Josiah Steckenrider, Spencer Leamy, Tomonari Furukawa
West Point Research Papers
This paper presents a cooperative aerial search-and-localization framework for applications where knowledge about the target of concern is minimal. The proposed framework leverages the sweeping oscillatory properties of Lissajous curves to improve an agent's chances of encountering a target. To accurately estimate the states of cooperative search drones, a discrete-time linear Lissajous motion model approximation is presented in such a way that uncertainty in physical model parameters can be accounted for. These uncertainties are propagated through estimation formulas to improve both agent and target localization relative to a static base station. Numerous experiments conducted in a physics-driven simulation environment ...
Extending The Functional Subnetwork Approach To A Generalized Linear Integrate-And-Fire Neuron Model, 2020 West Virginia University
Extending The Functional Subnetwork Approach To A Generalized Linear Integrate-And-Fire Neuron Model, Nicholas Szczecinski, Roger Quinn, Alexander J. Hunt
Mechanical and Materials Engineering Faculty Publications and Presentations
Engineering neural networks to perform specific tasks often represents a monumental challenge in determining network architecture and parameter values. In this work, we extend our previously-developed method for tuning networks of non-spiking neurons, the “Functional subnetwork approach” (FSA), to the tuning of networks composed of spiking neurons. This extension enables the direct assembly and tuning of networks of spiking neurons and synapses based on the network’s intended function, without the use of global optimization ormachine learning. To extend the FSA, we show that the dynamics of a generalized linear integrate and fire (GLIF) neuronmodel have fundamental similarities to those ...
We Need Fuzzy Techniques To Design Successful Human-Like Robots, 2020 University of Texas at El Paso
We Need Fuzzy Techniques To Design Successful Human-Like Robots, Vladik Kreinovich, Olga Kosheleva, Laxman Bokati
Departmental Technical Reports (CS)
In this chapter, we argue that to make sure that human-like robots exhibit human-like behavior, we need to use fuzzy techniques -- and we also provide details of this usage. The chapter is intended both for researchers and practitioners who are very familiar with fuzzy techniques and also for researchers and practitioners who do not know these techniques -- but who are interested in designing human-like robots.
Control Of A Human Arm Robotic Unit Using Augmented Reality And Optimized Kinematics, 2020 University of South Florida
Control Of A Human Arm Robotic Unit Using Augmented Reality And Optimized Kinematics, Carlo Canezo
Graduate Theses and Dissertations
There are more than 350000 amputees in the US who suffer loss of functionality in their daily living activities, and roughly 100000 of them are upper arm amputees. Many of these amputees use prostheses to compensate part of their lost arm function, including power prostheses. Research on 6-7 degree of freedom powered prostheses is still relatively new, and most commercially available powered prostheses are typically limited to 1 to 3 degrees of freedom. Due to the myriad of possible options for various powered protheses from different manufacturers, each configuration is governed by a distinct control scheme typically specific to the ...
3d-Printed Leg Design And Modification For Improved Support On A Quadruped Robot, 2020 Portland State University
3d-Printed Leg Design And Modification For Improved Support On A Quadruped Robot, Jasmin S. Collins
Undergraduate Research & Mentoring Program
The Agile and Adaptive Robotics Lab aims to uncover the biological and physiological complexities in animal agility and adaptive control, which can be replicated through robotics and provide further applications in biology and medicine. One project within the lab focuses on understanding structure, actuation, and control through the modeling of a canine quadruped robot.
The AARL has developed a full-body quadruped robot with artificial muscles that control limb movement and a body that is built from 3D-printed parts. This specific project involved modification of these existing parts to (a) minimize deflections in the front legs, causing unwanted lateral and abduction ...