Robotics Commons^™

System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha

Electronic Theses and Dissertations

The advancement in automation and sensory systems in recent years has led to an increase the demand of UAV missions. Due to this increase in demand, the research community has gained interest in investigating UAV performance enhancing systems. Circulation Control (CC), which is an active control flow method used to enhance UAV lift, is a performance enhancing system currently studied. In prior research, experimental studies have shown that Circulation Control wings (CCW) implemented on class-I UAVs can reduce take-off distance by 54%. Wind tunnel tests reveal that CC improves aircraft payload capabilities through lift enhancement. Increasing aircraft payload capabilities causes …

A Hierarchical Architectural Framework For Securing Unmanned Aerial Systems, Matthew Leccadito

Theses and Dissertations

Unmanned Aerial Systems (UAS) are becoming more widely used in the new era of evolving technology; increasing performance while decreasing size, weight, and cost. A UAS equipped with a Flight Control System (FCS) that can be used to fly semi- or fully-autonomous is a prime example of a Cyber Physical and Safety Critical system. Current Cyber-Physical defenses against malicious attacks are structured around security standards for best practices involving the development of protocols and the digital software implementation. Thus far, few attempts have been made to embed security into the architecture of the system considering security as a holistic problem. …

2d Vector Map And Database Design For Indoor Assisted Navigation, Luciano Caraciolo Albuquerque

Dissertations and Theses

In this paper we implemented a 2D Vector Map, map editor and Database design intended to provide an efficient way to convert cad files from indoor environments to a set of vectors representing hallways, doors, exits, elevators, and other entities embedded in a floor plan, and save them in a database for use by other applications, such as assisted navigation for blind people.

A graphical application as developed in C++ to allow the user to input a CAD DXF file, process the file to automatically obtain nodes and edges, and save the nodes and edges to a database for posterior …

Intelligent Ground Vehicle Competition, Austin R. Tyler, Chris R. Estock, Johnathan P. Johenning, Garrett W. Chonko, Allen C. Gilleland

Williams Honors College, Honors Research Projects

The Intelligent Ground Vehicle Competition (IGVC) draws teams from various universities to compete in the annual autonomous vehicle challenge at the Oakland University campus. To compete, a vehicle must be fully autonomous and can navigate a course designated by various obstacles and painted white lines. Some design challenges are motor control, navigation, environment sensing and safety. A complex navigation system will utilize several tools including a high-precision differential GPS. The vehicle’s surroundings will be mapped using a combination of Light Detection and Ranging (LiDAR) and computer-vision enabled imaging. To comply with IGVC rules, the vehicle must also follow several safety …

Omni-Directional Infrared 3d Reconstruction And Tracking Of Human Targets, Emrah Benli

Theses and Dissertations

Omni-directional (O-D) infrared (IR) vision is an effective capability for mobile systems in robotics, due to its advantages: illumination invariance, wide field-of-view, ease of identifying heat-emitting objects, and long term tracking without interruption. Unfortunately, O-D IR sensors have low resolution, low frame rates, high cost, sensor noise, and an increase in tracking time. In order to overcome these disadvantages, we propose an autonomous system application in indoor scenarios including 1) Dynamic 3D Reconstruction (D3DR) of the target view in real time images, 2) Human Behavior-based Target Tracking from O-D thermal images, 3) Thermal Multisensor Fusion (TMF), and 4) Visual Perception …

Ego-Localization Navigation For Intelligent Vehicles Using 360° Lidar Sensor For Point Cloud Mapping, Tyler Naes

College of Graduate Studies: Theses & Dissertations

With its prospects of reducing vehicular accidents and traffic in highly populated urban areas by taking the human error out of driving, the future in automobiles is leaning towards autonomous navigation using intelligent vehicles. Autonomous navigation via Light Detection And Ranging (LIDAR) provides very accurate localization within a predefined, a priori, point cloud environment that is not possible with Global Positioning System (GPS) and video camera technology. Vehicles may be able to follow paths in the point cloud environment if the baseline paths it must follow are known in that environment by referencing objects detected in the point cloud …

Heterogeneous Multi-Sensor Fusion For 2d And 3d Pose Estimation, Hanieh Deilamsalehy

Dissertations, Master's Theses and Master's Reports

Sensor fusion is a process in which data from different sensors is combined to acquire an output that cannot be obtained from individual sensors. This dissertation first considers a 2D image level real world problem from rail industry and proposes a novel solution using sensor fusion, then proceeds further to the more complicated 3D problem of multi sensor fusion for UAV pose estimation.

One of the most important safety-related tasks in the rail industry is an early detection of defective rolling stock components. Railway wheels and wheel bearings are two components prone to damage due to their interactions with the …

Using Lower Extremity Muscle Activations To Estimate Human Ankle Impedance In The External-Internal Direction, Lauren N. Knop

Dissertations, Master's Theses and Master's Reports

For millions of people, mobility has been afflicted by lower limb amputation. Lower extremity prostheses have been used to improve the mobility of an amputee; however, they often require additional compensation from other joints and do not allow for natural maneuverability. To improve upon the functionality of ankle-foot prostheses, it is necessary to understand the role of different muscle activations in the modulation of mechanical impedance of a healthy human ankle. This report presents the results of using artificial neural networks (ANN) to determine the functional relationship between lower extremity electromyography (EMG) signals and ankle impedance in the transverse plane. …

Evaluating Intention To Use Remote Robotics Experimentation In Programming Courses, Pericles Leng Cheng

Walden Dissertations and Doctoral Studies

The Digital Agenda for Europe (2015) states that there will be 825,000 unfilled vacancies for Information and Communications Technology by 2020. This lack of IT professionals stems from the small number of students graduating in computer science. To retain more students in the field, teachers can use remote robotic experiments to explain difficult concepts. This correlational study used the unified theory of acceptance and use of technology (UTAUT) to examine if performance expectancy, effort expectancy, social influence, and facilitating conditions can predict the intention of high school computer science teachers in Cyprus, to use remote robotic experiments in their classes. …

Safety Airway For Small Unmanned Aerial Vehicles Using A Gas Particles Behavior Analogy, Pablo Rangel

Open Access Theses & Dissertations

The United States Federal Aviation Administration (FAA) implemented the Part 107 legislation to allow the flight of Unmanned Aerial Vehicles (UAV) for commercial use (i.e. package deliveries, power transmission line inspections, etc.) in the National Airspace System (NAS). As a consequence of the newly introduced rules, there is an increased risk for accidents involving injured bystanders or damaged to property. The work within this document defines a UAV to UAV safety distance model that acts as a range sensor enabled "elastic bubble". The length of the UAV safety bubble contracts and expands upon changing airway wind speed conditions. It also …

Hands-On Learning Environment And Educational Curriculum On Collaborative Robotics, Ana Djuric, Jeremy L. Rickli, Vukica M. Jovanovic, Daniel Foster

Engineering Technology Faculty Publications

The objective of this paper is to describe teaching modules developed at Wayne State University integrate collaborative robots into existing industrial automation curricula. This is in alignment with Oakland Community College and WSU’s desire to create the first industry-relevant learning program for the use of emerging collaborative robotics technology in advanced manufacturing systems. The various learning program components will prepare a career-ready workforce, train industry professionals, and educate academicians on new technologies. Preparing future engineers to work in highly automated production, requires proper education and training in CoBot theory and applications. Engineering and Engineering Technology at Wayne State University offer …

Single Propeller Drone (Singrone): Inovasi Rancang Bangun Drone Single Propeller Sebagai Wahana Pemetaan Lahan Berbasis Unmaned Aerial Vehicle (Uav), Mohammad Giffari Anta Pradana

Elinvo (Electronics, Informatics, and Vocational Education)

Dewasa ini, teknologi sebagai faktor memberikan kontribusi yang signifikan dalam peningkatan
kualitas hidup manusia. Salah satu teknologi yang berkembang saat ini adalah drone. Drone adalah
pesawat tanpa awak yang dikendalikan dengan sebuah remote control , di lengkapi dengan GPS sebagai
navigasi, dan lock position. Pada umumnya drone digunakan untuk berbagai hal, seperti pemantauan lalu
lintas, pemetaan lahan, investigasi dan sebagainya. Namun penggunaan drone dengan menggunakan
banyak propeller merupakan salah satu masalah penggunaan drone. Semakin banyak propeller yang
digunakan, maka masa hidup drone di udara juga akan semakin berkurang. Hal ini diarenakan baterai
yang digunakan oleh wahana tersebut banyak digunakan untuk …

Robostock: Autonomous Inventory Tracking, Drew Christian Balthazor

Computer Engineering

No abstract provided.

Android Drone: Remote Quadcopter Control With A Phone, Aubrey John Russell

Computer Engineering

The purpose of the “Android Drone” project was to create a quadcopter that can be controlled by user input sent over the phone’s Wi-Fi connection or 4G internet connection. Furthermore, the purpose was also to be able to receive live video feedback over the internet connection, thus making the drone an inexpensive option compared to other, equivalent drones that might cost thousands of dollars. Not only that, but the Android phone also has a host of other useful features that could be utilized by the drone: this includes GPS, pathing, picture taking, data storage, networking and TCP/IP, a Java software …

Liquid Metal Particle Popping: Nanoscale To Macroscale, Trevor R. Lear

Open Access Theses

Liquid metal nanoparticles can be used to produce stretchable electronic devices. Understanding the mechanical properties of liquid metal nanoparticles is crucial to optimizing their use in various applications, especially printing of flexible, stretchable electronics. Smaller nanoparticles are desired for high-resolution printing and compatibility with existing scalable manufacturing methods; however, they contain less liquid metal and are more difficult to rupture than larger particles, making them less desirable for post-processing functionality. This study investigates the mechanics of liquid metal particle rupture as a function of particle size. We employ compression of particle films to characterize the composition of the particle core …

Design Of A Flexible Control Platform And Miniature In Vivo Robots For Laparo-Endoscopic Single-Site Surgeries, Lou P. Cubrich

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

Minimally-invasive laparoscopic procedures have proven efficacy for a wide range of surgical procedures as well as benefits such as reducing scarring, infection, recovery time, and post-operative pain. While the procedures have many advantages, there are significant shortcomings such as limited instrument motion and reduced dexterity. In recent years, robotic surgical technology has overcome some of these limitations and has become an effective tool for many types of surgeries. These robotic platforms typically have an increased workspace, greater dexterity, improved ergonomics, and finer control than traditional laparoscopic methods. This thesis presents the designs of both a four degree-of-freedom (DOF) and 5-DOF …

Autonomous Golf Cart Firmware, Gerik Kubiak

Computer Engineering

The Autonomous Golf Cart Project is a project sponsored by the Cal Poly Robotics Club. The multidisciplinary team is adding sensors and electronics to a regular golf cart with the goal to drive the golf cart around campus without and human input. This task requires a plethora of hardware and firmware to control that hardware. The firmware provides an interface for higher level software to then control the hardware and therefore drive the golf cart. This report is focused on the hardware modifications and the firmware used in order to drive the golf cart from a computer.

Electronic Deer Warning System, David Zhuo, Anlang Lu

Computer Engineering

Deer-vehicle collisions (DVCs) are extremely dangerous, often injuring or even killing drivers. Unfortunately, this form of automotive accident is commonplace in the United States. According to the NHTSA, DVCs result in 200 human deaths a year.2

Despite these deadly incidents, there currently are no deployed federal or state systems for preventing DVCs. There are many consumer electronic deer deterrent products, but their long-term effectiveness is questionable.3 In fact, there does not appear to be much research into electronic deer deterrent systems. Aside from constant audio output and electric shock, no other means of electronic deterrent exist. Even if fixed deterrents …

Psychophysiological Analysis Of A Pedagogical Agent And Robotic Peer For Individuals With Autism Spectrum Disorders., Mohammad Nasser Saadatzi

Electronic Theses and Dissertations

Autism spectrum disorder (ASD) is a neurodevelopmental disorder characterized by ongoing problems in social interaction and communication, and engagement in repetitive behaviors. According to Centers for Disease Control and Prevention, an estimated 1 in 68 children in the United States has ASD. Mounting evidence shows that many of these individuals display an interest in social interaction with computers and robots and, in general, feel comfortable spending time in such environments. It is known that the subtlety and unpredictability of people’s social behavior are intimidating and confusing for many individuals with ASD. Computerized learning environments and robots, however, prepare a predictable, …

Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez

Mechanical Engineering ETDs

Many robotic applications utilize a detailed map of the world and the algorithm used to produce such a map must take into consideration real-world constraints such as computational and memory costs. Traditional mesh-based environmental mapping algorithms receive data from the sensor, create a mesh surface from the data, and then append the surface to a growing global mesh. These algorithms do not provide a computationally efficient mechanism for reducing redundancies in the global mesh. MABDI is able to leverage the knowledge contained in the global mesh to find the difference between what we expect our sensor to see and what …