Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, 2010 University of Pennsylvania
Adaptive Algorithms For Coverage Control And Space Partitioning In Mobile Robotic Networks, Jerome Le Ny, George J. Pappas
Technical Reports (ESE)
We consider deployment problems where a mobile robotic network must optimize its configuration in a distributed way in order to minimize a steady-state cost function that depends on the spatial distribution of certain probabilistic events of interest. Three classes of problems are discussed in detail: coverage control problems, spatial partitioning problems, and dynamic vehicle routing problems. Moreover, we assume that the event distribution is a priori unknown, and can only be progressively inferred from the observation of the location of the actual event occurrences. For each problem we present distributed stochastic gradient algorithms that optimize the performance objective. The stochastic ...
Selection And Recognition Of Landmarks Using Terrain Spatiograms, 2010 Fordham University
Selection And Recognition Of Landmarks Using Terrain Spatiograms, Damian M. Lyons
A team of robots working to explore and map an area may need to share information about landmarks so as to register their local maps and to plan effective exploration strategies. In previous papers we have introduced a combined image and spatial representation for landmarks: terrain spatiograms. We have shown that for manually selected views, terrain spatiograms provide an effective, shared representation that allows for occlusion filtering and a combination of multiple views.
In this paper, we present a landmark saliency architecture (LSA) for automatically selecting candidate landmarks. Using a dataset of 21 outdoor stereo images generated by LSA, we ...
Nonlinear Control Strategy For A Cost Effective Myoelectric Prosthetic Hand, 2010 Louisiana Tech University
Nonlinear Control Strategy For A Cost Effective Myoelectric Prosthetic Hand, Cristian Federico Pasluosta
The loss of a limb tremendously impacts the life of the affected individual. In the past decades, researchers have been developing artificial limbs that may return some of the missing functions and cosmetics. However, the development of dexterous mechanisms capable of mimicking the function of the human hand is a complex venture. Even though myoelectric prostheses have advanced, several issues remain to be solved before an artificial limb may be comparable to its human counterpart. Moreover, the high cost of advanced limbs prevents their widespread use among the low-income population.
This dissertation presents a strategy for the low-level of control ...
Design Of A Transtibial Prosthesis Utilizing Active And Passive Components In Conjunction With A Four-Bar Mechanism, Bryan Bergelin
Master's Theses (2009 -)
This thesis outlines the design and testing of a powered ankle prosthesis which utilizes a four-bar mechanism in conjunction with a spiral torsion spring and a servo motor that mimics non-amputee (normal) ankle moments during the stance phase of gait. Previous research has shown that this novel approach is feasible, but the proof-of-concept prototype was not designed to be able to be worn by an amputee due to size, strength and mobility limitations.
The goal of this research was to redesign the transtibial prosthesis to fit the requirements of the targeted amputee population. A preliminary virtual prosthesis was designed using ...
Classification And Identification Of Environment Through Dynamic Coupling, 2010 University of Pennsylvania
Classification And Identification Of Environment Through Dynamic Coupling, Haldun Komsuoglu
Departmental Papers (ESE)
This paper presents a methodology enabling robotic systems to classify and identify their environment according to the mechanical properties of the local contact dynamics. Described approach employs existing proprioceptive sensors and requires no additional specialized hardware. Identification process is performed in real-time with temporal resolution of measurement updates determined by the periodicity of the limit behavior. While the basic concept has a wide application spectrum, our discussion focuses on terrestrial locomotion where contact properties, such a compliance, damping, sheer friction and surface topology, are important environmental markers. Accurate identification of environmental parameters enables two types of applications. In behavioral control ...
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, 2010 University of Denver
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li
Electronic Theses and Dissertations
Urban search and rescue (USAR) robots can benefit from small size as it facilitates movement in cramped quarters. Yet, small size limits actuator power, sensor payloads, computational capacity and battery life. We are alleviating these issues by developing the hardware and software infrastructure for high performance, heterogeneous, dynamically-reconfigurable miniature USAR robots, as well as a host of other relevant applications. In this thesis, a generic modular embedded system architecture based on the RecoNode multiprocessor is proposed, which consists of a set of hardware and software modules that can be configured to construct various types of robot systems for dynamic and ...
Multiple Robot Boundary Tracking With Phase And Workload Balancing, 2010 California Polytechnic State University, San Luis Obispo
Multiple Robot Boundary Tracking With Phase And Workload Balancing, Michael Jay Boardman
This thesis discusses the use of a cooperative multiple robot system as applied to distributed tracking and sampling of a boundary edge. Within this system the boundary edge is partitioned into subsegments, each allocated to a particular robot such that workload is balanced across the robots. Also, to minimize the time between sampling local areas of the boundary edge, it is desirable to minimize the difference between each robot’s progression (i.e. phase) along its allocated sub segment of the edge. The paper introduces a new distributed controller that handles both workload and phase balancing. Simulation results are used ...
Monocular Vision And Image Correlation To Accomplish Autonomous Localization, 2010 California Polytechnic State University, San Luis Obispo
Monocular Vision And Image Correlation To Accomplish Autonomous Localization, Matthew Paul Schlachtman
For autonomous navigation, robots and vehicles must have accurate estimates of their current state (i.e. location and orientation) within an inertial coordinate frame. If a map is given a priori, the process of determining this state is known as localization. When operating in the outdoors, localization is often assumed to be a solved problem when GPS measurements are available. However, in urban canyons and other areas where GPS accuracy is decreased, additional techniques with other sensors and filtering are required.
This thesis aims to provide one such technique based on monocular vision. First, the system requires a map be ...
Ultrasonic Shark-Tag Locator System For Iver2 Auv, 2010 California Polytechnic State University - San Luis Obispo
Ultrasonic Shark-Tag Locator System For Iver2 Auv, Nathaniel Garcia
The purpose of this project is to develop a system for tracking an ultrasonic underwater transmitter that can be integrated into an IVER2 AUV to allow it to follow and monitor tagged sharks in the ocean for scientific research.
The system consists of a four main components including a shark-tag, two hydrophones, a filter/amplifier & threshold detector circuit, and a microcontroller.
This project, while not completing field testing and integration with the IVER2, is a proof of concept of a system that utilizes passive sonar to determine a bearing from the system to a shark-tag transmitter. Additionally, it devised several ...
Control System Performance And Efficiency For A Mid-Depth Lagrangian Profiling Float, 2010 University of Rhode Island
Control System Performance And Efficiency For A Mid-Depth Lagrangian Profiling Float, B. Mcgilvray, C. Roman
Christopher N. Roman
This paper presents the development of a new mid-depth Lagrangian profiling float with a primary emphasis on the control system performance and efficiency. While deep water floats have demonstrated much success in open ocean environments, many are not suited for the additional challenges associated with coastal regions. To study these regions, which are often subject to varying bathymetry within the operating range and higher variations in water density, a more advanced system is required. This new design utilizes pressure and altitude feedback to drive a high volume auto-ballasting system (ABS). The main operating modes of this float include step inputs ...
Application Of Structured Light Imaging For High Resolution Mapping Of Underwater Archaeological Sites, 2010 University of Rhode Island
Application Of Structured Light Imaging For High Resolution Mapping Of Underwater Archaeological Sites, Chris Roman, Gabrielle Inglis, James Rutter
Graduate School of Oceanography Faculty Publications
This paper presents results from recent work using structured light laser profile imaging to create high resolution bathymetric maps of underwater archaeological sites. Documenting the texture and structure of submerged sites is a difficult task and many applicable acoustic and photographic mapping techniques have recently emerged. This effort was completed to evaluate laser profile imaging in comparison to stereo imaging and high frequency multibeam mapping. A ROV mounted camera and inclined 532 nm sheet laser were used to create profiles of the bottom that were then merged into maps using platform navigation data. These initial results show very promising resolution ...
Constrained Stereo Correspondence For 3d Sea-Floor Reconstruction, 2010 University of Rhode Island
Constrained Stereo Correspondence For 3d Sea-Floor Reconstruction, Gabrielle Inglis, Chris Roman
Christopher N. Roman
No abstract provided.
A Visual Imagination Approach To Cognitive Robotics, 2010 Fordham University
A Visual Imagination Approach To Cognitive Robotics, Damian M. Lyons, Sirhan Chaudhry, D. Paul Benjamin
No abstract provided.
Detection And Filtering Of Landmark Occlusions Using Terrain Spatiograms, 2010 Fordham University
Detection And Filtering Of Landmark Occlusions Using Terrain Spatiograms, Damian M. Lyons
A team of robots cooperating to quickly produce a map needs to share landmark information between members so that the local maps can be accurately merged. However, the appearance of landmarks as seen by members of the team can change dramatically due to the phenomenon of occlusion.
We have previously presented an approach to landmark representation using Terrain Spatiograms – an extension to image spatiograms in which the spatial information relates to the scene rather than the image. Because this representation preserves depth structure, it is possible to identify and filter potential occlusions.
We present an approach to identifying and filtering ...
Anomaly Detection In Unknown Environments Using Wireless Sensor Networks, 2010 University of Tennessee - Knoxville
Anomaly Detection In Unknown Environments Using Wireless Sensor Networks, Yuanyuan Li
This dissertation addresses the problem of distributed anomaly detection in Wireless Sensor Networks (WSN). A challenge of designing such systems is that the sensor nodes are battery powered, often have different capabilities and generally operate in dynamic environments. Programming such sensor nodes at a large scale can be a tedious job if the system is not carefully designed. Data modeling in distributed systems is important for determining the normal operation mode of the system. Being able to model the expected sensor signatures for typical operations greatly simplifies the human designer’s job by enabling the system to autonomously characterize the ...
Decentralized Coordination Of Multiple Autonomous Vehicles, 2010 Utah State University
Decentralized Coordination Of Multiple Autonomous Vehicles, Yongcan Cao
All Graduate Theses and Dissertations
This dissertation focuses on the study of decentralized coordination algorithms of multiple autonomous vehicles. Here, the term decentralized coordination is used to refer to the behavior that a group of vehicles reaches the desired group behavior via local interaction. Research is conducted towards designing and analyzing distributed coordination algorithms to achieve desired group behavior in the presence of none, one, and multiple group reference states. Decentralized coordination in the absence of any group reference state is a very active research topic in the systems and controls society. We first focus on studying decentralized coordination problems for both single-integrator kinematics and ...
Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, 2010 Utah State University
Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, Haiyang Chao
All Graduate Theses and Dissertations
This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with ...
A Computer Vision Application To Accurately Estimate Object Distance, 2010 Macalester College
A Computer Vision Application To Accurately Estimate Object Distance, Kayton B. Parekh
Mathematics, Statistics, and Computer Science Honors Projects
Scientists have been working to create robots that perform manual work for years. However, creating machines that can navigate themselves and respond to their environment has proven to be difficult. One integral task to such research is to estimate the position of objects in the robot's visual field.
In this project we examine an implementation of computer vision depth perception. Our application uses color-based object tracking combined with model-based pose estimation to estimate the depth of specific objects in the view of our Pioneer 2 and Power Wheels robots. We use the Camshift algorithm for color-based object tracking, which ...
Integrating Perception And Problem Solving To Predict Complex Object Behaviors, 2010 Fordham University
Integrating Perception And Problem Solving To Predict Complex Object Behaviors, Damian M. Lyons, Sirhan Chaudhry, Marius Agica, John Vincent Monaco
One of the objectives of Cognitive Robotics is to construct robot systems that can be directed to achieve realworld goals by high-level directions rather than complex, low-level robot programming. Such a system must have the ability to represent, problem-solve and learn about its environment as well as communicate with other agents. In previous work, we have proposed ADAPT, a Cognitive Architecture that views perception as top-down and goaloriented and part of the problem solving process.
Our approach is linked to a SOAR-based problem-solving and learning framework. In this paper, we present an architecture for the perceptive and world modelling components ...
Adaptive Robot Deployment Algorithms, 2010 University of Pennsylvania
Adaptive Robot Deployment Algorithms, Jerome Le Ny, George J. Pappas
Technical Reports (ESE)
In robot deployment problems, the fundamental issue is to optimize a steady state performance measure that depends on the spatial configuration of a group of robots. For static deployment problems, a classical way of designing high- level feedback motion planners is to implement a gradient descent scheme on a suitably chosen objective function. This can lead to computationally expensive deployment algorithms that may not be adaptive to uncertain dynamic environments. We address this challenge by showing that algorithms for a variety of deployment scenarios in stochastic environments and with noisy sensor measurements can be designed as stochastic gradient descent algorithms ...