Robotics Commons^™

The Social Presence Of Jibo, Parisa Farhadi

Graduate Research Theses & Dissertations

This research is an attempt to investigate how a social robot is perceived by users at the first encounter. And to find out whether a social robot like Jibo is understood merely as a kind of a technological object or a social entity. Previous studies in Human-Robot Interaction have considered social presence as a mediator in users’ social responses toward robots; however, the focus of this study is the social presence itself and investigates whether Jibo produces a sense of presence during initial encounters. To this end, the current study examines individuals’ perceptions of and responses to Jibo. Participants (N=8) …

Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi

Graduate Theses, Dissertations, and Problem Reports (ETD)

In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about …

Exploring Cyber-Physical Systems, Misbah Uddin Mohammed

Graduate Research Theses & Dissertations

The advances in IOT, Computer Vision, AI and Machine Learning have made these technologies ubiquitous to our daily lives. From Smart Phones to Connected Vehicles, Cyber Physical systems have been interspersed into everything we interact in today’s world. The aim or this thesis was to explore these advances in Cyber Physical Systems and analyze the different sectors they were affecting. We then hand-picked certain domains and explored further by carrying out practical projects using some of the latest software and hardware resources available. Technologies like Amazon Alexa services, NVIDIA Jetson boards, TensorFlow, OpenCV, NodeJS were heavily employed in our various …

Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma

Doctoral Dissertations

“A more efficient and increasingly popular volumetric error compensation method for machine tools is to compute compensation tables in axis space with tool tip volumetric measurements. However, machine tools have high-order geometric errors and some workspace is not reachable by measurement devices, the compensation method suffers a curve-fitting challenge, overfitting measurements in measured space and losing accuracy around and out of the measured space. Paper I presents a novel method that aims to uniformly interpolate and extrapolate the compensation tables throughout the entire workspace. By using a uniform constraint to bound the tool tip error slopes, an optimal model with …

Hydrogen Fuel Cell Gasket Handling And Sorting With Machine Vision Integrated Dual Arm Robot, Devin C. Fowler

College of Graduate Studies: Theses & Dissertations

Recently demonstrated robotic assembling technologies for fuel cell stacks used fuel cell components manually pre-arranged in stacks (presenters), all oriented in the same position. Identifying the original orientation of fuel cell components and loading them in stacks for a subsequent automated assembly process is a difficult, repetitive work cycle which if done manually, deceives the advantages offered by automated fabrication technologies of fuel cell components and by robotic assembly processes. We present an innovative robotic technology which enables the integration of automated fabrication processes of fuel cell components with robotic assembly of fuel cell stacks into a fully automated fuel …

Big Five Technologies In Aeronautical Engineering Education: Scoping Review, Ruth Martinez-Lopez

International Journal of Aviation, Aeronautics, and Aerospace

The constant demands that technology creates in aerospace engineering also influence education. The identification of the technologies with practical application in aerospace engineering is of current interest to decision makers in both universities and industry. A social network approach enhances this scoping review of the research literature to identify the main topics using the Big Five technologies in aerospace engineering education. The conceptual structure of the dataset (n=447) was analyzed from different approaches: at macro-level, a comparative of the digital technology identified by cluster analysis with the number of co-words established in 3 and 8 and, a keyword central structure …

Real-Time Classification Of Multivariate Olfaction Data Using Spiking Neural Networks, Arnup Vanarse, Adam Osseiran, Alexander Rassau, Therese O'Sullivan, Jonny Lo, Amanda Devine

Research outputs 2014 to 2021

Recent studies in bioinspired artificial olfaction, especially those detailing the application of spike-based neuromorphic methods, have led to promising developments towards overcoming the limitations of traditional approaches, such as complexity in handling multivariate data, computational and power requirements, poor accuracy, and substantial delay for processing and classification of odors. Rank-order-based olfactory systems provide an interesting approach for detection of target gases by encoding multi-variate data generated by artificial olfactory systems into temporal signatures. However, the utilization of traditional pattern-matching methods and unpredictable shuffling of spikes in the rank-order impedes the performance of the system. In this paper, we present an …

Effective Plant Discrimination Based On The Combination Of Local Binary Pattern Operators And Multiclass Support Vector Machine Methods, Vi N T Le, Beniamin Apopei, Kamal Alameh

Research outputs 2014 to 2021

Accurate crop and weed discrimination plays a critical role in addressing the challenges of weed management in agriculture. The use of herbicides is currently the most common approach to weed control. However, herbicide resistant plants have long been recognised as a major concern due to the excessive use of herbicides. Effective weed detection techniques can reduce the cost of weed management and improve crop quality and yield. A computationally efficient and robust plant classification algorithm is developed and applied to the classification of three crops: Brassica napus (canola), Zea mays (maize/corn), and radish. The developed algorithm is based on the …

Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle

Graduate Theses, Dissertations, and Problem Reports (ETD)

This thesis presents Virtual Morphology (VM), a method that explores a different perspective on the design of robot autonomy using inspiration from morphological computing and programmed computation. Morphological computation offers physical solutions that solve complex tasks, like robotic grasping of unknown objects, with relative ease. Unfortunately, these physical solutions are difficult to adjust post-development, and are usually designed to complete only one or a few specific tasks. Programmed computational approaches are more flexible because they can be implemented and adjusted through software, but unfortunately, these approaches can become rather complex as tasks become more difficult. This thesis explores the potential …

Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop

Dissertations, Master's Theses and Master's Reports

The purpose of this research is to investigate the relationship between the mechanical impedance of the human ankle and the corresponding lower extremity muscle activity. Three experimental studies were performed to measure the ankle impedance about multiple degrees of freedom (DOF), while the ankle was subjected to different loading conditions and different levels of muscle activity. The first study determined the non-loaded ankle impedance in the sagittal, frontal, and transverse anatomical planes while the ankle was suspended above the ground. The subjects actively co-contracted their agonist and antagonistic muscles to various levels, measured using electromyography (EMG). An Artificial Neural Network …

A Hardware-Deployable Neuromorphic Solution For Encoding And Classification Of Electronic Nose Data, Anup Vanarse, Alexander Rassau, Peter Van Der Made

Research outputs 2014 to 2021

In several application domains, electronic nose systems employing conventional data processing approaches incur substantial power and computational costs and limitations, such as significant latency and poor accuracy for classification. Recent developments in spike-based bio-inspired approaches have delivered solutions for the highly accurate classification of multivariate sensor data with minimized computational and power requirements. Although these methods have addressed issues related to efficient data processing and classification accuracy, other areas, such as reducing the processing latency to support real-time application and deploying spike-based solutions on supported hardware, have yet to be studied in detail. Through this investigation, we proposed a spiking …

Audio To Architecture: House Music As A Form Generator, Polina Timchenko

Architecture Undergraduate Honors Theses

Contemporary music undergoes similar process of creation to that of the design process through computation and variation. House music as a representation of contemporary culture has a layered structure that allows specific characteristics to identify it as house music. Song components can vary and mix in different orders that form new dynamic compositions. I am going to explore the idea that every house music component can be translated into geometry with the use of parametric design techniques.

Localization Using Convolutional Neural Networks, Shannon D. Fong

Computer Engineering

With the increased accessibility to powerful GPUs, ability to develop machine learning algorithms has increased significantly. Coupled with open source deep learning frameworks, average users are now able to experiment with convolutional neural networks (CNNs) to solve novel problems. This project sought to train a CNN capable of classifying between various locations within a building. A single continuous video was taken while standing at each desired location so that every class in the neural network was represented by a single video. Each location was given a number to be used for classification and the video was subsequently titled locX. These …

Autonomous Collision Avoidance In Small Scale Vehicles, Justin T. Sharpe

Honors Theses

The undergraduate research performed in this study focused on autonomous collision avoidance in small scale vehicles. The goal of this study was to find equipment to build a fully autonomous small scale vehicle for use in different applications. Radio frequency communication, ultrasonic sensors, and single board computers were used to create an autonomous vehicle for multiple applications. Different communication protocols and sensors were investigated, and an explanation was specified concerning the hardware choice. The main communication protocol tested was Long Range Wide Area Network, and the main electronics tested and used were ultrasonic sensors, First Person View cameras, and the …

A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson

Computer Science and Computer Engineering Undergraduate Honors Theses

Cooperative 3D printing is an emerging technology that aims to increase the 3D printing speed and to overcome the size limit of the printable object by having multiple mobile 3D printers (printhead-carrying mobile robots) work together on a single print job on a factory floor. It differs from traditional layer-by-layer 3D printing due to requiring multiple mobile printers to work simultaneously without interfering with each other. Therefore, a new approach for slicing a digital model and generating commands for the mobile printers is needed, which has not been discussed in literature before. We propose a chunk-by-chunk based slicer that divides …

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Graduate Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists …

“New” Subjects In Mechatronics Management Education, Peter Kopacek

International Journal of Business and Technology

Process – and manufacturing automation as well as robotics are currently one of the fast growing fields in automation. Advanced process control, cyber-physical systems, industry 4.0 and “advanced robots” are no longer a headline. They are in realization. As a consequence of these developments new social, ethical and human questions appear.

Therefore this contribution is a first report about the continuous “modernization” of the Mechatronics Management BSc and MSc programs which are successful running at UBT. Both programs were developed in the framework of two TEMPUS projects from an international consortium from 2006 to 2009. Since that time new “buzzwords” …

Optimal Control Of Dc Motors Using Pso Algorithm For Tuning Pid Controller, Arnisa Myrtellari, Petrika Marango, Margarita Gjonaj

International Journal of Business and Technology

The DC motors are widely used in the mechanisms that require control of speed. Different speed can be obtained by changing the field voltage and the armature voltage. The classic PID controllers are widely used in industrial process for speed control. But they aren’t suitable for high performance cases, because of the low robustness of PID controller. So many researchers have been studying various new control techniques in order to improve the system performance and tuning PID controllers. This paper presents particle swarm optimization (PSO) method for determining the optimal PID controller parameters to find the optimal parameters of DC …

Cloud Oriented Additive Technology Use For Fast Prototype Development, Betim Shabani, Vladimir Dukovski

UBT International Conference

Digitalization has already affected every segment of the industry and especially manufacturing. Based on market requires that are more specific and faster than ever, there is a need to use some of the online platform packages called Cloud Manufacturing (CM). CM operate through the digital data then here comes the expression CAD models or in particular STL files that are currently adequate for Additive Technologies (AT). On the other hand, there is a rapid increase in the measurement aspects via non-contact forms (3D scanners) where their data are stored in various digital formats: IGES, OBJ, PLY, etc.). Those formats can …

The Importance Of Cad/Cae Systems In Development Of Product Design And Process Of Optimization, Fatmir Azemi, Xhemajl Mehmeti, Bekim Maloku

UBT International Conference

Computer Aided Design (CAD) and Computer Aided Engineering (CAE) are the most important technology tools that today designers are using in development of product (design and in process of optimization). Thus, this study is carried out to present the importance of CAD/CAE system on process of design and process of optimization of spur gear. The paper presents the usage of CAD system for modeling parts and CAE software for analysis of stress-strain of spur gear and the results of calculation of pair spur-gears that it used in the gearbox transmission of the bucket wheel excavator located in “Bardhi i Madh …