Robotics Commons^™

Humanoid Robots Supporting Children’S Learning In An Early Childhood Setting, Helen Crompton, Kristen Gregory, Diane Burke

Teaching & Learning Faculty Publications

This qualitative study explored the affordances provided by the integration of the NAO humanoid robot in three preschool classrooms. Using the Head Start Early Learning Outcomes Framework as a lens, the researchers qualitatively analyzed data from focus groups, observations, field notes and student artifacts, using grounded coding to uncover language and communication, physical, cognitive and social–emotional learning experiences for children. The researchers also examined interactions between the robot, children and teachers to identify successes and challenges experienced during the integration. Findings indicate the robot provided opportunities for student development in all learning domains. Students were intellectually curious about the robot; …

Gender Effects Of Robotics Programs On Stem-Related Self-Efficacy Of High School Students, Sandra Hall-Lay

Walden Dissertations and Doctoral Studies

Lack of STEM-related self-efficacy has impeded the growth of women in STEM fields. Out of school (OST) robotics programs and other STEM-related OST programs provide secondary students with opportunities to work in groups, brainstorm, and formulate ideas that require communication and teamwork. The purpose of this quantitative, quasi-experimental study was to compare STEM-related self-efficacy scores among male and female students who participated in OST robotics programs or other OST STEM-related programming. Independent variables were type of OST STEM program and gender. The dependent variable was students' STEM-related self-efficacy as measured by the Coping Self-Efficacy Scale. Responses from 149 students in …

Review Of Deep Learning Methods In Robotic Grasp Detection, Shehan Caldera, Alexander Rassau, Douglas Chai

Research outputs 2014 to 2021

For robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged to securely grab an object and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods …

Resource Optimization In Wireless Sensor Networks For An Improved Field Coverage And Cooperative Target Tracking, Husam Sweidan

Dissertations, Master's Theses and Master's Reports

There are various challenges that face a wireless sensor network (WSN) that mainly originate from the limited resources a sensor node usually has. A sensor node often relies on a battery as a power supply which, due to its limited capacity, tends to shorten the life-time of the node and the network as a whole. Other challenges arise from the limited capabilities of the sensors/actuators a node is equipped with, leading to complication like a poor coverage of the event, or limited mobility in the environment. This dissertation deals with the coverage problem as well as the limited power and …

Soft Foam Robot With Caterpillar-Inspired Gait Regimes For Terrestrial Locomotion, Cassandra M. Donatelli, Zachary T. Serlin, Piers Echols-Jones, Anthony E. Scibelli, Alexandra Cohen, Jeanne-Marie Musca, Shane Rozen-Levy, David Buckingham, Robert White, Barry A. Trimmer

Engineering Faculty Articles and Research

Caterpillars are the soft bodied larvae of lepidopteran insects. They have evolved to occupy an extremely diverse range of natural environments and to locomote in complex three-dimensional structures without articulated joint or hydrostatic control. These animals make excellent bio-inspiration for the field of soft robotics because of their diversity and adaptability. In this paper, we present SquMA Bot, a caterpillar-inspired soft robot. The robot's body is primarily composed of a soft viscoelastic foam, and it is actuated using a motor-tendon system. SquMA Bot is able to mimic the inching gait of a caterpillar and can use its flexible body to …

Real Time And High Fidelity Quadcopter Tracking System, Tyler Mckay Hall

Computer Engineering

This project was conceived as a desired to have an affordable, flexible and physically compact tracking system for high accuracy spatial and orientation tracking. Specifically, this implementation is focused on providing a low cost motion capture system for future research. It is a tool to enable the further creation of systems that would require the use of accurate placement of landing pads, payload acquires and delivery. This system will provide the quadcopter platform a coordinate system that can be used in addition to GPS.

Field research with quadcopter manufacturers, photographers, agriculture and research organizations were contact and interviewed for information …

An Unmanned Aerial System For Prescribed Fires, Evan M. Beachly

School of Computing: Dissertations, Theses, and Student Research

Prescribed fires can lessen wildfire severity and control invasive species, but some terrains may be difficult, dangerous, or costly to burn with existing tools. This thesis presents the design of an unmanned aerial system that can ignite prescribed fires from the air, with less cost and risk than with aerial ignition from a manned aircraft. The prototype was evaluated in-lab and successfully used to ignite interior areas of two prescribed fires. Additionally, we introduce an approach that integrates a lightweight fire simulation to autonomously plan safe flight trajectories and suggest effective fire lines. Both components are unique in that they …

Applied Deep Learning: Automated Segmentation Of White Matter Hyperintensities (Wmh) On Brain Mr Images, Matt Berseth

DHI Digital Projects Showcase

Small vessel disease plays a crucial role in stroke, dementia, and ageing. White matter hyperintensities (WMH) of vascular origin are one of the main consequences of small vessel disease and well visible on brain MR images. Quantification of WMH volume, location, and shape is of key importance in clinical research studies and likely to find its way into clinical practice; supporting diagnosis, prognosis, and monitoring of treatment for dementia and other neurodegenerative diseases. It has been noted that visual rating of WMH has important limitations and hence a more detailed segmentation of WMH is preferred. Various automated WMH segmentation techniques …

Development Trends In Robotics, Peter Kopacek

UBT International Conference

Robots are always a frequently used as an example for Mechatronic Systems. Currently the field of robotics is very fast growing. Therefore the overview is definitely not actual and have to be improved. The main goal of this contribution is to make some additional remarks to the existing kinds of robots and introduce some new with special emphasis to Mechatronic Systems like manufacturing automation by Production 4.0.

State Feedback Of Complex Systems Using Fuzzy Cognitive Maps, Vassiliki Mpelogianni, Ioannis Arvanitakis, Peter P. Groumpos

UBT International Conference

Complex systems have become a research area with increasing interest over the last years. The emergence of new technologies, the increase in computational power with reduced resources and cost, the integration of the physical world with computer based systems has created the possibility of significantly improving the quality of life of humans. While a significant degree of automation within these systems exists and has been provided in the past decade with examples of the smart homes and energy efficient buildings, a paradigm shift towards autonomy has been noted. The need for autonomy requires the extraction of a model; while a …

Emerging Role Of Robot-Assisted Occupational Therapy For Children With Down Syndrome, Venera Krasniqi, Nevena Ackovska, Katerina Zdravkova

UBT International Conference

Robotic technology is becoming increasingly popular as a platform for both education and entertainment. It also provides us with new conceptual directions which might have incredibly positive impact on children with physical growth delays and intellectual disabilities. In this research project, the educational robot Roamer Too from Valiant Technologies has been used to explore the development of social skills of children with Down syndrome. In conjunction with an interactive collaborative environment, this device represents a unique opportunity for these children to fully engage in learning, play, communication, build relationships and have fun. The results of this study indicate that educational …

Answering Food Insecurity: Serving The Community With Food And Knowledge Using Technology, Courtney Simpson

Purdue Journal of Service-Learning and International Engagement

The courses of Tech120, CGT110, and ENGT 180/181 and Red Gold at Purdue collaborated to design a robot that would plant and water a garden for a local community charter school. The students centered the project on the users’ needs for fresh food, nutrition education, and early exposure to STEM for children. The school, Anderson Preparatory Academy (APA), is comprised of many children who come from low-income families and are in the free or reduced lunch program. Inspired from “Farm Bot,” a similar system that allows for almost hands-free gardening, the “Boiler Bot” is designed to be scalable so children …

Implementation Of The Tickbot: Results And Implications For Modeling, Alexis White, Armin Bahrani, Amanda Devleeschower, Holly Gaff

Annual Symposium on Biomathematics and Ecology Education and Research

No abstract provided.

Formal Performance Guarantees For An Approach To Human In The Loop Robot Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into the formal performance guarantees for the mission. We present a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration. Our approach allows us to model different skill levels directly in terms of the behavior of the lumped, robot plus operator, system.

Using MissionLab and VIPARS (a behavior-based robot mission verification …

Rate Based Impact Analysis, Nishant Sharma

School of Computing: Dissertations, Theses, and Student Research

Impact Analysis (IA) identifies control and data dependencies to determine the system components that could be affected by a change. Changes to robotic systems as they are updated often alter the flow of control and sensor data. Changes to the rates at which data is published from sensors, controllers, and other parts of the system are particularly subtle and difficult to detect. These rate changes, even if minor (e.g. lowering the frame rate of a camera), can propagate throughout the system and have broad impacts. However, for robotic systems, these changes in flow rate cannot be precisely tracked by just …

Event And Time-Triggered Control Module Layers For Individual Robot Control Architectures Of Unmanned Agricultural Ground Vehicles, Tyler Troyer

Department of Agricultural and Biological Systems Engineering: Dissertations, Theses, and Student Research

Automation in the agriculture sector has increased to an extent where the accompanying methods for unmanned field management are becoming more economically viable. This manifests in the industry’s recent presentation of conceptual cab-less machines that perform all field operations under the high-level task control of a single remote operator. A dramatic change in the overall workflow for field tasks that historically assumed the presence of a human in the immediate vicinity of the work is predicted. This shift in the entire approach to farm machinery work provides producers increased control and productivity over high-level tasks and less distraction from operating …

Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank

Computer Science Faculty Research and Scholarship

This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find …

Ani-Bot: A Mixed-Reality Ready Modular Robotics System, Zhuangying Xu, Yuanzhi Cao

The Summer Undergraduate Research Fellowship (SURF) Symposium

DIY modular robotics has always had a strong appeal to makers and designers; being able to quickly design, build, and animate their own robots opens the possibility of bringing imaginations to life. However, current interfaces to control and program the DIY robot either lacks connection and consistency between the users and target (Graphical User Interface) or suffers from limited control capabilities due to the lack of versatility and functionality (Tangible User interface). We present Ani-Bot, a modular robotics system that allows users to construct Do-It-Yourself (DIY) robots and use mixed-reality approach to interact with them instantly. Ani-Bot enables novel user …

An Interactive Interface For Nursing Robots., Ankita Sahu

Electronic Theses and Dissertations

Physical Human-Robot Interaction (pHRI) is inevitable for a human user while working with assistive robots. There are various aspects of pHRI, such as choosing the interface, type of control schemes implemented and the modes of interaction. The research work presented in this thesis concentrates on a health-care assistive robot called Adaptive Robot Nursing Assistant (ARNA). An assistive robot in a health-care environment has to be able to perform routine tasks and be aware of the surrounding environment at the same time. In order to operate the robot, a teleoperation based interaction would be tedious for some patients as it would …

Cyber-Physical System Characterization And Co-Regulation Of A Quadrotor Uas, Seth E. Doebbeling

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

An Unmanned Aircraft System (UAS) is a Cyber-Physical System (CPS) in which a host of real-time computational tasks contending for shared resources must be cooperatively managed to obtain mission objectives. Traditionally, control of the UAS is designed assuming a fixed, high sampling rate in order to maintain reliable performance and margins of stability. But emerging methods challenge this design by dynamically allocating resources to computational tasks, thereby affecting control and mission performance. To apply these emerging strategies, a characterization and understanding of the effects of timing on control and trajectory following performance is required. Going beyond traditional control evaluation techniques, …