Robotics Commons^™

Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control With Application To Unmanned Aircraft Systems, David William Kun

Open Access Theses

Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known …

Hybrid Power System For Micro Air Vehicles, Bakytgul Khaday

Open Access Theses

Today Micro Air Vehicles are in need of a good power source that would enable them longer flight time and various functionalities. This work is focused on to this problem. A possible solution that is offered in this study is implementing a hybrid power system consisting of battery and supercapacitor (SCAP). The proposed hybrid power system was tested on an existing MAV platform (Cheerson CX-10). A separate hybrid power printed circuit board (PCB) was designed and manufactured. For experimental and system verification purposes, the PCB was not sized for on-board flight. The hybrid power PCB was connected to MAV through …

Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster

Theses and Dissertations

The newly acquired 6-DOF Motion Test Apparatus (MTA) was installed to perform dynamic wind tunnel testing in the AFIT Low Speed Wind Tunnel. Several complex motions revealed that the overall performance of the test rig needed improvement especially during small motions. The motions exposed that further enhancements would need to be performed individually for each joint. This research effort focused on the improvement of the MTA wrist roll motor and controller using a pitch oscillation. The controller software was improved using position feedback because the MTA wrist roll motor and controller exhibited reduced signal bias and amplitude attenuation. The enhanced …

Dynamic Modeling, Parameter Estimation And Control Of A Leg Prosthesis Test Robot, Hanz Richter, Daniel J. Simon, William A. Smith, Sergey Samorezov

Electrical and Computer Engineering Faculty Publications

Robotic testing can facilitate the development of new concepts, designs and control systems for prosthetic limbs. Human subject test clearances, safety and the lack of repeatability associated with human trials can be reduced or eliminated with automated testing, and test modalities are possible which are dangerous or inconvenient to attempt with patients. This paper describes the development, modeling, parameter estimation and control of a robot capable of reproducing two degree-of-freedom hip motion in the sagittal plane. Hip vertical displacement and thigh angle motion profiles are applied to a transfemoral prosthesis attached to the robot. A treadmill is used as walking …

Thorough Exploration Of Complex Environments With A Space-Based Potential Field, Kenealy Alina, Nicholas Primiano, Alex Keyes, Lyons Damian

Faculty Publications

Robotic exploration, for the purposes of search and rescue or explosive device detection, can be improved by using a team of multiple robots. Potential field navigation methods offer natural and efficient distributed exploration algorithms in which team members are mutually repelled to spread out and cover the area efficiently. However, they also suffer from field minima issues. Liu and Lyons proposed a Space-Based Potential Field (SBPF) algorithm that disperses robots efficiently and also ensures they are driven in a distributed fashion to cover complex geometry. In this paper, the approach is modified to handle two problems with the original SBPF …

Homing With Stereovision, Paramesh Nirmal, Damian Lyons

Faculty Publications

Visual Homing is a navigation method based on comparing a stored image of a goal location to the current image to determine how to navigate to the goal location. It is theorized that insects such as ants and bees employ visual homing techniques to return to their nest or hive, and inspired by this, several researchers have developed elegant robot visual homing algorithms. Depth information, from visual scale, or other modality such as laser ranging, can improve the quality of homing. While insects are not well equipped for stereovision, stereovision is an effective robot sensor. We describe the challenges involved …

Evaluation Of Parallel Reduction Strategies For Fusion Of Sensory Information From A Robot Team., Damian M. Lyons, Joseph Leroy

Faculty Publications

The advantage of using a team of robots to search or to map an area is that by navigating the robots to different parts of the area, searching or mapping can be completed more quickly. A crucial aspect of the problem is the combination, or fusion, of data from team members to generate an integrated model of the search/mapping area. In prior work we looked at the issue of removing mutual robots views from an integrated point cloud model built from laser and stereo sensors, leading to a cleaner and more accurate model. This paper addresses a further challenge: Even …

Leveraging Area Bounds Information For Autonomous Decentralized Multi-Robot Exploration, Tsungming Liu, Damian Lyons

Faculty Publications

This paper proposes a simple and uniform, decentralized approach to the problem of dispersing a team of robots to explore an area quickly. The Decentralized Space-Based Potential Field (D-SBPF) algorithm is a potential field approach that leverages knowledge of the overall bounds of the area to be explored. It includes a monotonic coverage factor in the potential field to avoid minima, realistic sensor bounds, and a distributed map exchange protocol. The D-SBPF approach yields a simple potential field control strategy for all robots but nonetheless has good dispersion and overlap performance in exploring areas with convex geometry while avoiding potential …

Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal

Faculty Publications

Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …

Probabilistic Verification Of Multi-Robot Missions In Uncertain Environments, Damian M. Lyons, Ronald Arkin, Shu Jiang, Dagan Harrington, Feng Tang, Peng Tang

Faculty Publications

The effective use of autonomous robot teams in highly-critical missions depends on being able to establish performance guarantees. However, establishing a guarantee for the behavior of an autonomous robot operating in an uncertain environment with obstacles is a challenging problem. This paper addresses the challenges involved in building a software tool for verifying the behavior of a multi-robot waypoint mission that includes uncertain environment geometry as well as uncertainty in robot motion. One contribution of this paper is an approach to the problem of a-priori specification of uncertain environments for robot program verification. A second contribution is a novel method …

Visual Slam And Surface Reconstruction For Abdominal Minimally Invasive Surgery, Bingxiong Lin

USF Tampa Graduate Theses and Dissertations

Depth information of tissue surfaces and laparoscope poses are crucial for accurate surgical guidance and navigation in Computer Assisted Surgeries (CAS). Intra-operative Three Dimensional (3D) reconstruction and laparoscope localization are therefore two fundamental tasks in CAS. This dissertation focuses on the abdominal Minimally Invasive Surgeries (MIS) and presents laparoscopic-video-based methods for these two tasks.

Different kinds of methods have been presented to recover 3D surface structures of surgical scenes in MIS. Those methods are mainly based on laser, structured light, time-of-flight cameras, and video cameras. Among them, laparoscopic-video-based surface reconstruction techniques have many significant advantages. Specifically, they are non-invasive, provide …

Reducing The Control Burden Of Legged Robotic Locomotion Through Biomimetic Consonance In Mechanical Design And Control, Caitrin Elizabeth Eaton

USF Tampa Graduate Theses and Dissertations

Terrestrial robots must be capable of negotiating rough terrain if they are to become autonomous outside of the lab. Although the control mechanism offered by wheels is attractive in its simplicity, any wheeled system is confined to relatively flat terrain. Wheels will also only ever be useful for rolling, while limbs observed in nature are highly multimodal. The robust locomotive utility of legs is evidenced by the many animals that walk, run, jump, swim, and climb in a world full of challenging terrain.

On the other hand, legs with multiple degrees of freedom (DoF) require much more complex control and …

Preparing Students For The Advanced Manufacturing Environment Through Robotics, Mechatronics, And Automation Training, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris

Engineering Technology Faculty Publications

Automation is one of the key areas for modern manufacturing systems. It requires coordination of different machines to support manufacturing operations in a company. Recent studies show that there is a gap in the STEM workforce preparation in regards to highly automated production environments. Industrial robots have become an essential part of these semi-automated and automated manufacturing systems. Their control and programming requires adequate education and training in robotics theory and applications. Various engineering technology departments offer different courses related to the application of robotics. These courses are a great way to inspire students to learn about science, math, engineering, …

Autonomous Robot Sphere, Robert Haver, Melissa Haver, Daniel Madden, Noah Robertson

Williams Honors College, Honors Research Projects

The Autonomous Robot Sphere is an interactive robot toy meant to entertain kids. The robot will locate its target and execute algorithms to autonomously evade or chase a child. The sphere will contain a platform equipped with four omni-wheels, which will allow the sphere to maneuver and change direction almost instantaneously. The robot will be configured to maintain a fixed distance from the transmitter, allowing it to chase or evade the child in response to their movement. The primary advantage of our design lies in its capability to quickly adapt to changes in direction.

Generalized Mapping And Object Removal, Duncan Campbell

Williams Honors College, Honors Research Projects

Simultaneous localization and mapping (SLAM) is a problem that has been explored for the past few decades. SLAM deals with the concept of a robot being introduced into an environment in which it has no prior knowledge. Then, through the use of sensors, the robot is able to map its environment while simultaneously determining its position within the given area. While there has been extensive research into the development of methods by which this problem can be solved, not much has been done on what to do with the resulting maps once they are produced. The research conducted deals with …

Using Robots As Therapeutic Agents To Teach Children With Autism Recognize Facial Expression, Seyedmohammad Mavadati, Huanghao Feng, Peyten B. Sanger, S. Silver, Anibal Gutierrez, Mohammad H. Mahoor

Electrical and Computer Engineering: Graduate Student Scholarship

Background: Recognizing and mimicking facial expressions are important cues for building great rapport and relationship in human-human communication. Individuals with Autism Spectrum Disorder (ASD) have often deficits in recognizing and mimicking social cues, such as facial expressions. In the last decade several studies have shown that individuals with ASD have superior engagement toward objects and particularly robots (i.e. humanoid and non-humanoid). However, majority of the studies have focused on investigating robot’s appearances and the engineering design concepts and very few research have been done on the effectiveness of robots in therapeutic and treatment applications. In fact, the critical question that …

E-Quality Design Of Experiments For Structural Electronics, Oscar Murga

Open Access Theses & Dissertations

Additive Manufacturing (AM) is a technology utilized for creating complex parts by adding layers of material in order to create a three dimensional functional part. This technology has been pushed to a new level of functionality where mechanical parts are combined with electronic components to create Three-Dimensional Structural Electronics (3DSE) systems. This new technology has been used to replace Printed Circuit Boards (PCB), for 3D SE are light weight and can be created in any desired shape. Computer Aided Design (CAD) software is used to design the part and a Fused Deposition Modeling (FDM) machine is used to 3D print …

Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.

Open Access Theses & Dissertations

Since the rise of additive manufacturing (AM), innovation has been at the forefront. Additive Manufacturing systems that incorporate complex processes are steadily being developed. One example is the Multi3D System, which was designed to integrate the ability to print multi-material parts with that of embedding electronics. To achieve this automated process, the Multi3D incorporates a six-axis robotic arm to transfer a build platform containing a printed part, to various manufacturing stations (two fused deposition modeling (Stratasys, FDM400mc) systems and a computer numerical control router (Techno CNC Router). The robot is a Yaskawa Motoman MH50 chosen for its payload capacity of …

A Kinect-Based System For Automatic Recording Of Some Pigeon Behaviors, Damian Lyons, James Macdonall, Kelly Cunningham

Faculty Publications

Contact switches and touch screens are the state of the art for recording pigeons’ pecking behavior. Recording other behavior, however, requires a different sensor for each behavior, and some behaviors cannot easily be recorded. We present a flexible and inexpensive image-based approach to detecting and counting pigeon behaviors that is based on the Kinect sensor from Microsoft. Although the system is as easy to set up and use as the standard approaches, it is more flexible because it can record behaviors in addition to key pecking. In this article, we show how both the fast, fine motion of key pecking …

Development Of Workforce Skills: Student Perceptions Of Mentoring In First Robotics, Katie Joan Veal Wallace

Dissertations

In today’s global economy, new workforce competencies are needed for success at both individual and societal levels. The new workforce skills extend beyond basic reading, writing, and arithmetic to include higher order processes such as critical thinking and problem solving. Technical job opportunities have grown by approximately 17%, yet the United States continues to decline in science, technology, engineering and mathematics (STEM) disciplines. Further, U.S. students earn average or below average test scores when compared to other developed countries. Researchers cite the need to incorporate the learning of workplace skills into secondary education curriculum, and advocates call for new teaching …