Robotics Commons^™

A Comprehensive Mapping And Real-World Evaluation Of Multi-Object Tracking On Automated Vehicles, Alexander Bassett

Doctoral Dissertations and Master's Theses

Multi-Object Tracking (MOT) is a field critical to Automated Vehicle (AV) perception systems. However, it is large, complex, spans research fields, and lacks resources for integration with real sensors and implementation on AVs. Factors such those make it difficult for new researchers and practitioners to enter the field.

This thesis presents two main contributions: 1) a comprehensive mapping for the field of Multi-Object Trackers (MOTs) with a specific focus towards Automated Vehicles (AVs) and 2) a real-world evaluation of an MOT developed and tuned using COTS (Commercial Off-The-Shelf) software toolsets. The first contribution aims to give a comprehensive overview of …

Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams

LSU Master's Theses

This study presents an onboard sensor system for determining the relative positions of mobile robots, which is used in decentralized distance-based formation controllers for multi-agent systems. This sensor system uses infrared photodiodes and LEDs; its effective use requires coordination between the emitting and detecting robots. A technique is introduced for calculating the relative positions based on photodiode readings, and an automated calibration system is designed for future maintenance. By measuring the relative positions of their neighbors, each robot is capable of running an onboard formation controller, which is independent of both a centralized controller and a global positioning-like system (e.g., …

How The Power Of Machine – Machine Learning, Data Science And Nlp Can Be Used To Prevent Spoofing And Reduce Financial Risks, Sasibhushan Rao Chanthati

Harrisburg University Other Works

This paper discusses the potential of machine learning, data science, and natural language processing (NLP) in mitigating the incidence of spoofing and financial risks hinged on cyber threats. Another one is spoofing; it is the act of impersonating legitimate entities to gain unauthorized information and it is indeed a threat to the public and companies to some extent. The research introduces two primary methodologies to combat spoofing: an email filtering system using a machine learning algorithm and an encryption and decryption system using a Caesar Cipher and Python programming language. It distinguishes between approved domains and unapproved domains by using …

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 …

Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor

Electronic Theses and Dissertations

This thesis presents the design of the knee and ankle of Mithra, a new humanoid robot that aims to be an energy-efficient and highly agile machine. Mithra makes use of new optimization metrics for legged robots to develop a system capable of mimicking human movement. A series of low-impedance, high-torque actuator systems were developed with the goal of creating lightweight, powerful, and robust motion. The structure of Mithra's legs mimics the human structure in leg segment length and weight proportions. Detailed design and analysis were conducted in order to allow Mithra to be a robust and maintainable system. Mithra will …

Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon

Electronic Theses and Dissertations

A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed …

Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang

Graduate Theses, Dissertations, and Problem Reports (ETD)

In this dissertation, the problem about localization in GNSS-denied and challenging environments is addressed. Specifically, the challenging environments discussed in this dissertation include two different types, environments including only low-resolution features and environments containing moving objects. To achieve accurate pose estimates, the errors are always bounded through matching observations from sensors with surrounding environments. These challenging environments, unfortunately, would bring troubles into matching related methods, such as "fingerprint" matching, and ICP. For instance, in environments with low-resolution features, the on-board sensor measurements could match to multiple positions on a map, which creates ambiguity; in environments with moving objects included, the …

Imu-Based Estimation Of Body Posture In Commercial Fishing, Umme Kawsar Alam

Graduate Research Theses & Dissertations

According to the U.S. Bureau of Labor Statistics (BLS), work-related musculoskeletaldisorders (WMSDs) account for 33% of all occupational injuries and illnesses in the U.S. In addition, one of the most strenuous occupations in which musculoskeletal disorders are common is known to be commercial fishing. The first step to address this issue is to precisely measure the working postures of workers so that the relation between WMSDs and nonneutral working postures can be systematically investigated. Although the inertial measurement unit (IMU) has recently gained attention in posture measurement due to its portability, it is highly limited to the use as an …

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, this …

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. As …

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 …

Open-Source Tig-Based Metal 3d-Printing, Shane Oberloier

Dissertations, Master's Theses and Master's Reports

Metal 3-D printing has been relegated to high-cost proprietary high-resolution systems and low-resolution low-cost metal inert gas (MIG) systems. In order to provide a path to high-resolution, low-cost, metal 3-D printing, this manuscript proposes a new open source metal 3-D printer design based around a low-cost tungsten inert gas (TIG) welder coupled to a commercial open source self replicating rapid prototyper. Optimal printing parameters for the machine are acquired using a novel computational intelligence software. TIG has many advantages over MIG, such as having a low heat input, clean beads, and the potential for both high-resolution prints as well as …

Leveraging Chemical And Computational Biology To Probe The Cellulose Synthase Complex, B. Kirtley Amos

Theses and Dissertations--Plant and Soil Sciences

Cellular expansion in plants is a complex process driven by the constraint of internal cellular turgor pressure by an expansible cell wall. The main structural element of the cell wall is cellulose. Cellulose is vital to plant fitness and the protein complex that creates it is an excellent target for small molecule inhibition to create herbicides. In the following thesis many small molecules (SMs) from a diverse library were screened in search of new cellulose biosynthesis inhibitors (CBI). Loss of cellular expansion was the primary phenotype used to search for putative CBIs. As such, this was approached in a forward …

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 …

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) had consideration …

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-Aware Information-Theoretic Control Of Robotic Swarms, Rafal David Krzysiak

Graduate Research Theses & Dissertations

Robotic swarms provide a scalable and robust solution for monitoring large environments. In this context, the inclusion of a human has the potential advantage of incorporating prior knowledge about the target location or dynamics, thus increasing the overall efficiency of the task at hand. This is especially critical when dealing with time-intensive missions such as search and rescue. In this thesis we develop a general information-theoretic framework to control multiple autonomous robots in search and rescue missions that include a human teleoperator. Human prior knowledge is modeled to capture target location and dynamics, and a mutual information based control is …

Deep Learning Assisted Intelligent Visual And Vehicle Tracking Systems, Liang Xu

Theses and Dissertations

Sensor fusion and tracking is the ability to bring together measurements from multiple sensors of the current and past time to estimate the current state of a system. The resulting state estimate is more accurate compared with the direct sensor measurement because it balances between the state prediction based on the assumed motion model and the noisy sensor measurement. Systems can then use the information provided by the sensor fusion and tracking process to support more-intelligent actions and achieve autonomy in a system like an autonomous vehicle. In the past, widely used sensor data are structured, which can be directly …

Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran

College of Graduate Studies: Theses & 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 …

Detecting Interlocutor Confusion In Situated Human-Avatar Dialogue: A Pilot Study, Na Li, John D. Kelleher, Robert J. Ross

Conference papers

In order to enhance levels of engagement with conversational systems, our long term research goal seeks to monitor the confusion state of a user and adapt dialogue policies in response to such user confusion states. To this end, in this paper, we present our initial research centred on a user-avatar dialogue scenario that we have developed to study the manifestation of confusion and in the long term its mitigation. We present a new definition of confusion that is particularly tailored to the requirements of intelligent conversational system development for task-oriented dialogue. We also present the details of our Wizard-of-Oz based …