Robotics Commons^™

The Creation Of A Robotics Based Human Upper Body Model For Predictive Simulation Of Prostheses Performance, Derek James Lura

USF Tampa Graduate Theses and Dissertations

This work focuses on the use of 3D motion capture data to create and optimize a robotic human body model (RHBM) to predict the inverse kinematics of the upper body. The RHBM is a 25 degrees of freedom (DoFs) upper body model with subject specific kinematic parameters. The model was developed to predict the inverse kinematics of the upper body in the simulation of a virtual person, including persons with functional limitations such as a transradial or transhumeral amputation. Motion data were collected from 14 subjects: 10 non-amputees control subjects, 1 person with a transradial amputation, and 3 persons with …

An Approach To Stereo-Point Cloud Registration Using Image Homographies, Damian M. Lyons, Stephen D. Fox

Faculty Publications

No abstract provided.

Characterizing Performance Guarantees For Real-Time Multiagent Systems Operating In Noisy And Uncertain Environments, Damian M. Lyons, Ronald Arkin, Stephen Fox, Shu Jiang, Prem Nirmal, Munzir Zafar

Faculty Publications

Autonomous robots offer the potential to conduct Counter-Weapons of Mass Destruction (C-WMD) missions in an efficient and robust manner. However, to leverage this potential, a mission designer needs to be able to determine how well a robot system will operate in the noisy and uncertain environments that a C-WMD mission may require. We are developing a software framework for verification of performance guarantees for C-WMD missions based on the MissionLab software system and a novel process algebra approach to representing robot programs and operating environments.

In this paper, we report on our initial research for the Defense Threat Reduction Agency …

Sensor-Based Robotic Learning System For The Rehabilitation Of Arm, Chethan Ramachandra Keladi

Open Access Theses & Dissertations

In recent studies, the neurological studies has shown that the neurological disorders like Stroke, Parkinson's disease, Dystonia, Spinal Cord Injury (SCI), Cerebral Palsy (CP), etc., cause the disability of upper limb and one of the major issues with the neurological injuries is motor impairment. This issue is caused by the lack of interaction between the central nervous system (CNS) and muscles [1] and can be cured by the intensive training which includes repetitive and reaching tasks. The intensive training can be performed using conventional therapy and robot-assisted therapy, but the research has shown additional effects on motor recovery and functional …

Techniques For Sensor-Integrated Robotic Systems: Raman Spectra Analysis, Image Guidance, And Kinematic Calibration, Luke Anthony Reisner

Wayne State University Dissertations

Robotics and sensor technology have made impressive advancements over the years. There are now robotic systems that help perform surgeries or explore the surface of Mars, and there are sensors that detect trace amounts of explosives or identify diseased human tissue. The most powerful systems integrate robots and sensors, which are natural complements to each other. Sensors can provide information that might otherwise be unavailable due to indirect robotic manipulation (e.g., images of the target environment), and robots can provide suitably precise positioning of an analytical sensor.

To have an effective sensor-integrated robotic system, multiple capabilities are needed in the …

Effects Of Visual Interaction Methods On Simulated Unmanned Aircraft Operator Situational Awareness, Brent A. Terwilliger

Publications

The limited field of view of static egocentric visual displays employed in unmanned aircraft controls introduces the soda straw effect on operators, which significantly affects their ability to capture and maintain situational awareness by not depicting peripheral visual data. The problem with insufficient operator situational awareness is the resulting increased potential for error and oversight during operation of unmanned aircraft, leading to accidents and mishaps costing United States taxpayers between $4 million to $54 million per year. The purpose of this quantitative experimental completely randomized design study was to examine and compare use of dynamic eyepoint to static visual interaction …

Robotic Manufacturing Cell: An Analysis Of Variables Affecting Performance, Elvis Alicic

Dissertations and Theses @ UNI

Analyzing the performance of manufacturing cells is a well established concept. The justification for conducting thorough analyses of manufacturing cells comes from the known advantages it can provide, including performance improvement and production planning improvement, both current and future. This study focuses on assessing the variables affecting performance of a robotic manufacturing cell through the measure of throughput. Initially, simulation modeling is utilized to model an existing robotic cell and compare the output to actual production output from the same cell. Additionally, general regression modeling is employed to analyze the following variables and their effect on throughput: machine downtime, off-plan …

Detection Of Diffuse Sea Floor Venting Using Structured Light Imaging, Gabrielle Inglis, Clara Smart, Christopher Roman, Steven Carey

Graduate School of Oceanography Faculty Publications

Efficiently identifying and localizing diffuse sea floor venting at hydrothermal and cold seep sites is often difficult. Actively venting fluids are usually identified by a temperature induced optical shimmering seen during direct visual inspections or in video data collected by vehicles working close to the sea floor. Relying on such direct methods complicates establishing spatial relations between areas within a survey covering a broad area. Our recent work with a structured light laser system has shown that venting can also be detected in the image data in an automated fashion. A structured light laser system consists of a camera and …

Remote Analysis Of Grain Size Characteristic In Submarine Pyroclastic Deposits From Kolumbo Volcano, Greece, Clara Smart, D. P. Whitesell, Christopher N. Roman, Steven Carey

Graduate School of Oceanography Faculty Publications

Grain size characteristics of pyroclastic deposits provide valuable information about source eruption energetics and depositional processes. Maximum size and sorting are often used to discriminate between fallout and sediment gravity flow processes during explosive eruptions. In the submarine environment the collection of such data in thick pyroclastic sequences is extremely challenging and potentially time consuming. A method has been developed to extract grain size information from stereo images collected by a remotely operated vehicle (ROV). In the summer of 2010 the ROV Hercules collected a suite of stereo images from a thick pumice sequence in the caldera walls of Kolumbo …

Mapping Device With Wireless Communication, Xiangyu Liu

Electrical Engineering Undergraduate Honors Theses

Wireless communication is one of the most powerful communication methods that people use nowadays. The key advantage of wireless communications is that it can cover large distances without having to run any cables from one end to the other. Based on this advantage, wireless communication has many important applications, such as remote controls, cell phones, and global positioning system (GPS). This senior design project is developed to use wireless communication technology to map the geographic characteristics of an unknown place. It contains two wireless communication modules with Atmega1281 microprocessor, two robots with the 8051 microcontroller, six pairs of infrared transmitters …

A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri

All Theses

ABSTRACT
In this thesis, a new approach for developing practically realizable dynamic models for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for analyzing the capabilities of continuum manipulators to be employed in various real world applications has also been proposed and developed.
A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). It is shown that this model, although an approximation to a continuum structure, can be used to conveniently analyze the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively simple model …

Robotic Turret, Daniel Romero, Matthew (Matt) Martelle, Scott Mullens, Rachel Diamant

Mechanical Engineering

No abstract provided.

The Design Of A Haptic Device For Training And Evaluating Surgeon And Novice Laparoscopic Movement Skills, Ryan Bontreger

All Theses

As proper levels of force application are necessary to ensure patient safety, and training hours with an expert on live subjects are difficult, enhanced computer-based training is needed to teach the next generation of surgeons. Considering the role of touch in surgery, there is a need for a device capable of discerning the haptic ability of surgical trainees. This need is amplified by minimally invasive surgical techniques where a surgeon's sense of tissue properties comes not directly through their own hands but indirectly through the tools. A haptic device capable of producing a realistic range of forces and motions that …

Concept Tests For A New Wire Flying Vehicle Designed To Achieve High Horizontal Resolution Profiling In Deep Water, Chris Roman, Dave Hebert

Graduate School of Oceanography Faculty Publications

Efficiently profiling the water column to achieve both high vertical and horizontal resolution from a moving vessel in deep water is difficult. Current solutions, such as CTD tow-yos, moving vessel profilers, and undulating tow bodies, are limited by ship speed or water depth. As a consequence, it is difficult to obtain oceanographic sections with sufficient resolution to identify many relevant scales over the deeper sections of the water column. This paper presents a new concept for a profiling vehicle that slides up and down a towed wire in a controlled manner using the lift created by wing foils. The wings …

A Study Of A Novel Modular Variable Geometry Frame Arranged As A Robotic Surface, Christopher James Salisbury

UNLV Theses, Dissertations, Professional Papers, and Capstones

The novel concept of a "variable geometry frame" is introduced and explored through a three-dimensional robotic surface which is devised and implemented using triangular modules. The link design is optimized using surplus motor dimensions as firm constraints, and round numbers for further arbitrary constraints. Each module is connected by a passive six-bar mechanism that mimics the constraints of a spherical joint at each triangle intersection. A three dimensional inkjet printer is used to create a six-module prototype designed around surplus stepper motors powered by an old computer power supply as a proof-of-concept example.

The finite element method is applied to …

State Estimation For Tracking Of Tagged Sharks With An Auv, Christina Forney

Master's Theses

Presented is a method for estimating the planar position, velocity, and orientation states of a tagged shark. The method is designed for implementation on an Autonomous Underwater Vehicle (AUV) equipped with a stereo-hydrophone and receiver system that detects acoustic signals transmitted by a tag. The particular hydrophone system used here provides a measurement of relative bearing angle to the tag, but does not provide the sign (+ or -) of the bearing angle. A particle filter was used for fusing measurements over time to produce a state estimate of the tag location. The particle filter combined with an active control …

Fitness Biasing For The Box Pushing Task, Gary Parker, Jim O'Connor

Computer Science Faculty Publications

Anytime Learning with Fitness Biasing has been shown in previous works to be an effective tool for evolving hexapod gaits. In this paper, we present the use of Anytime Learning with Fitness Biasing to evolve the controller for a robot learning the box pushing task. The robot that was built for this task, was measured to create an accurate model. The model was used in simulation to test the effectiveness of Anytime Learning with Fitness Biasing for the box pushing task. This work is the first step in new research where an automated system to test the viability of Fitness …

Dynamics And Control Of The Shoot-The-Moon Tabletop Game, Peng Xu

All Theses

The classic table-top game Shoot-the-Moon has interesting dynamics despite its simple structure, consisting of a steel ball rolling on two cylindrical rods. The two sloped rods are hinged at the lower ends and allowed to freely slide in a slot at the higher end. The ball can amazingly roll upward along the rods under carefully manipulation of the rods. There is also an interaction between ball rotation and translation that cause the ball to ``shoot'' (quickly accelerate).
In this thesis, the kinematics are developed for Shoot-the-Moon and then equations of motion are derived using both Lagrangian and Newtonian approaches. The …

Cyberknife Radiation Modeling: Effects Of Relaxed Translational And Rotational Constraints On Healthy Tissue Irradiation, Sudha Bhavaroop Potineni

Electrical & Computer Engineering Theses & Dissertations

The Cyberknife system is a robotic radio surgery instrument that is used to treat cancers in different parts of the human body. Because of its accuracy and precision, it has become one of the best radio surgery systems in the world. However, even with Cyberknife the treatment time for one session takes from 30 minutes up to 120 minutes depending on the size, shape, and position of the tumor in the human body. In this research, a solution is presented to aid in reducing this long treatment time. An algorithm is developed which simulates the amount of the healthy tissue …

Evolving Machine Morality Strategies Through Multiagent Simulations, David Burke

Systems Science Friday Noon Seminar Series

There is a general consensus among robotics researchers that the world of the future will be filled with autonomous and semi-autonomous machines. There is less of a consensus, though, on the best approach to instilling a sense of 'machine morality' in these systems so that they will be able to have effective interactions with humans in an increasingly complex world. In my talk, we take a brief look at some existing approaches to computational ethics, and then describe work we've undertaken creating multiagent simulations involving moral decision-making during strategic interactions. In these simulations, agents make choices about whether to cooperate …