Robotics Commons^™

Hey Google: Does Environmental Beliefs And Perceived Privacy Risk Influence Potential User’S Intention To Use A Smart Home System In Indonesia?, Adrian Adhe Elian, Imam Salehudin

Smart City

Automation technology has grown in a rapid pace recently. One of the technology that is growing rapidly right now is the Internet of Things or IoT. IoT consist of many devices, and one of the IoT device that are popular right now is called the smart home device. This smart home device can be use to make the house of the user be smart and can be use to save energy for efficiency for the daily life of the user, such as electricity and water that kan provide a negative impact on the environment if used extensively. This smart home …

Reduced Fuel Emissions Through Connected Vehicles And Truck Platooning, Paul D. Brummitt

Electronic Theses and Dissertations

Vehicle-to-infrastructure (V2I) and vehicle-to-vehicle (V2V) communication enable the sharing, in real time, of vehicular locations and speeds with other vehicles, traffic signals, and traffic control centers. This shared information can help traffic to better traverse intersections, road segments, and congested neighborhoods, thereby reducing travel times, increasing driver safety, generating data for traffic planning, and reducing vehicular pollution. This study, which focuses on vehicular pollution, used an analysis of data from NREL, BTS, and the EPA to determine that the widespread use of V2V-based truck platooning—the convoying of trucks in close proximity to one another so as to reduce air drag …

Ocean Wave Prediction And Characterization For Intelligent Maritime Transportation, Pujan Pokhrel

University of New Orleans Theses and Dissertations

The national Earth System Prediction (ESPC) initiative aims to develop the predictions
for the next generation predictions of atmosphere, ocean, and sea-ice interactions in the scale of days to decades. This dissertation seeks to demonstrate the methods we can use to improve the ESPC models, especially the ocean prediction model. In the application side of the weather forecasts, this dissertation explores imitation learning with constraints to solve combinatorial optimization problems, focusing on the weather routing of surface vessels. Prediction of ocean waves is essential for various purposes, including vessel routing, ocean energy harvesting, agriculture, etc. Since the machine learning approaches …

Task-Oriented Manipulation Planning: Teaching Robot Manipulators To Learn Trajectory Tasks, Yan Li

Doctoral Dissertations

As robot manipulator applications are conducted in more complex tasks and unstructured environments, traditional manual programming cannot match the growing requirements. However, human experts usually know how to operate robot manipulators to complete tasks, but they do not know how to manually program the robot for automatically executing tasks. From a general point of view, a robot manipulation task is composed of a series of consecutive robot actions and environment states which we call it trajectory task. Imitation learning, an emerging and popular technique of robot behavior programming, is a good way to tackle this line of work but still …

Integrating Plcs With Robot Motion Control In Engineering Capstone Courses, Sanjeevi Chitikeshi, Shirshak K. Dhali, Vukica Jovanovic

Engineering Technology Faculty Publications

Robotic motion control methods and Programmable Logic Controllers (PLCs) are critical in engineering automation and process control applications. In most manufacturing and automation processes, robots are used for moving parts and are controlled by industrial PLCs. Proper integration of external I/O devices, sensors and actuating motors with PLC input and output cards is very important to run the process smoothly without any faults and/or safety concerns. Most traditional electrical and computer engineering (ECE) programs offer high level of motion theory and controls but little hands-on exposure to PLCs which are the main industrial controllers. This paper provides a framework for …

Collaborative Robotics Strategies For Handling Non-Repetitive Micro-Drilling Tasks Characterized By Low Structural Mechanical Impedance, Xiangyu Wang

Mechanical & Aerospace Engineering Theses & Dissertations

Mechanical micro-drilling finds widespread use in diverse applications ranging from advanced manufacturing to medical surgery. This dissertation aims to develop techniques that allow programming of robots to perform effective micro-drilling tasks. Accomplishing this goal is faced with several challenges. Micro-drills suffer from frequent breakage caused from variations in drill process parameters. Micro-drilling tasks afford extremely low feed rates and almost zero tolerance for any feed rate variations. The accompanying robot programming task is made difficult as mathematical models that capture the micro-drilling process complexities and sensitive variations in micro-drill parameters are highly difficult to obtain. Therefore, an experimental approach is …

Finding Approximate Pythagorean Triples (And Applications To Lego Robot Building), Ronald I. Greenberg, Matthew Fahrenbacher, George K. Thiruvathukal

Computer Science: Faculty Publications and Other Works

This assignment combines programming and data analysis to determine good combinations of side lengths that approximately satisfy the Pythagorean Theorem for right triangles. This can be a standalone exercise using a wide variety of programming languages, but the results are useful for determining good ways to assemble LEGO pieces in robot construction, so the exercise can serve to integrate three different units of the Exploring Computer Science high school curriculum: "Programming", "Computing and Data Analysis", and "Robotics". Sample assignment handouts are provided for both Scratch and Java programmers. Ideas for several variants of the assignment are also provided.

Credit Card Fraud Detection Using Machine Learning Techniques, Nermin Samy Elhusseny, Shimaa Mohamed Ouf, Amira M. Idrees Ami

Future Computing and Informatics Journal

This is a systematic literature review to reflect the previous studies that dealt with credit card fraud detection and highlight the different machine learning techniques to deal with this problem. Credit cards are now widely utilized daily. The globe has just begun to shift toward financial inclusion, with marginalized people being introduced to the financial sector. As a result of the high volume of e-commerce, there has been a significant increase in credit card fraud. One of the most important parts of today's banking sector is fraud detection. Fraud is one of the most serious concerns in terms of monetary …

A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian M. Lyons, James Finocchiaro, Misha Novitzky, Chris Korpela

Faculty Publications

Robot software developed in simulation often does not be- have as expected when deployed because the simulation does not sufficiently represent reality - this is sometimes called the `reality gap' problem. We propose a novel algorithm to address the reality gap by injecting real-world experience into the simulation. It is assumed that the robot program (control policy) is developed using simulation, but subsequently deployed on a real system, and that the program includes a performance objective monitor procedure with scalar output. The proposed approach collects simulation and real world observations and builds conditional probability functions. These are used to generate …

A Monte Carlo Framework For Incremental Improvement Of Simulation Fidelity, Damian Lyons, James Finocchiaro, Misha Novitsky, Chris Korpela

Faculty Publications

Robot software developed in simulation often does not be- have as expected when deployed because the simulation does not sufficiently represent reality - this is sometimes called the `reality gap' problem. We propose a novel algorithm to address the reality gap by injecting real-world experience into the simulation. It is assumed that the robot program (control policy) is developed using simulation, but subsequently deployed on a real system, and that the program includes a performance objective monitor procedure with scalar output. The proposed approach collects simulation and real world observations and builds conditional probability functions. These are used to generate …

Cutting-Edge Technologies To Achieve A Higher Level Of Modular Construction – Literature Review, Seungtaek Lee, Jin Ouk Choi, Seung Song

Civil and Environmental Engineering and Construction Faculty Research

Cost overruns, schedule delays, and a shortage of skilled labor are common problems the construction industry is currently experiencing. Modularization and standardization strategies have the potential to resolve the various problems mentioned above and have been applied for various construction applications for a long time. However, the level of modularization remains low, and modular construction projects have not been getting the full benefits. Thus, this review investigated the cutting-edge technologies currently being utilized to develop the modular construction field. For this paper, qualified research papers were identified using predetermined keywords from previous related research papers. Identified literature was then filtered …

The Current State And Future Directions Of Industrial Robotic Arms In Modular Construction, Seung Ho Song, Jin Ouk Choi, Seungtaek Lee

Civil and Environmental Engineering and Construction Faculty Research

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized …

Dual-Axis Precision Imager, Gary Huarng

Computer Engineering

The Dual-Axis Precision Imager (DAPI) is a drawing robot that processes images and draws them on a whiteboard. The system has two modes: a Sobel filter mode that finds the edges of the input image with a Sobel filter, and a tri-tone grayscale mode that approximates the shading of the input image with the colors white, gray, and black. The DAPI consists of an Arduino-controlled XY gantry system with a pen mounted on the gantry head, and a Processing IDE program that processes the original image, converts the processed image into gantry instructions, and sends them to the Arduino for …

The Poly Rover Project, Eric Lei, Alla Alamsi, Neil Patel, Diego Ramos

Computer Engineering

The Polyver Project is an idea born from the curiosity of a few students who wondered what the interaction between a physical person and a rover as the host of random internet users would look like. It is also an experiment to enhance the exploration of real world sites in real time while also having the power of interaction.

The goal of the Polyver Project is to build the foundation for a system that can serve as the interface between the internet and a fleet of rovers. Each rover is equipped with at least a camera, microphone, and a speaker …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Therapeutic Mechanical Horse, Cade M. Liberty, Aleya Dolorfino, Peter Philips, Zuzanna Dominik, Luke Watts

Mechanical Engineering

Jack's Helping Hand and its hippotherapy participants required a device to serve as an alternative to a live horseback riding experience that could also increase the range of riders. This would provide more clients with equine-assisted therapy that has proven to better the lives of people with both physical and mental disabilities. Horses can be unpredictable, tall, and sometimes anxiety-inducing, especially for new riders. Our group’s aim was to develop a mechanical horse that will be able to reduce these issues for equine therapy centers and the riders they help. When a rider gets to practice sitting on the horse …

Mars Rover Mechanical Arm & Turret, Kendall C. Chappell, Kyle D. Peterson, Rodrigo Gonzalez, Sam Cole

Mechanical Engineering

The Rover Mechanical Arm and Turret (RAT) team was originally tasked with designing and building a mechanical arm to attach to the Exo Mars rover: a project headed by Cal Poly professor, Rich Murray. The rover will be the 3rd in a series of rovers sponsored by Murray. Through ideation, comparison studies, research, and prototyping, the RAT team determined a design capable of fulfilling the sponsor’s specifications. The concept design is lightweight, durable, and capable of 4 degrees of freedom. With two links and a mechanical claw, the rover arm has the capability to retrieve small rock samples from Mars's …

Smartphone Control Of Rc Cars, Weston R. Fitzgerald

Electrical Engineering

The smartphone-controlled RC (remote-controlled) car is an inexpensive remote-controlled car designed to be fast and portable. Instead of manufacturing, packaging, and shipping a separate controller, the remote control is implemented in a phone application, which saves time and money in both the design process and the manufacturing process. Utilizing the user’s smartphone is more cost-effective since mobile devices are a common recurrence, and packaging fewer devices results in overall better portability of the product.

This smartphone-controlled car is speedy and intuitive to learn for typical smartphone users. The user can change the car’s speed and direction wirelessly using their phone; …

Low-Cost Uav Swarm For Real-Time Object Detection Applications, Joel Valdovinos Miranda

Master's Theses

With unmanned aerial vehicles (UAVs), also known as drones, becoming readily available and affordable, applications for these devices have grown immensely. One type of application is the use of drones to fly over large areas and detect desired entities. For example, a swarm of drones could detect marine creatures near the surface of the ocean and provide users the location and type of animal found. However, even with the reduction in cost of drone technology, such applications result costly due to the use of custom hardware with built-in advanced capabilities. Therefore, the focus of this thesis is to compile an …

Outdoor Operations Of Multiple Quadrotors In Windy Environment, Deepan Lobo

Dissertations

Coordinated multiple small unmanned aerial vehicles (sUAVs) offer several advantages over a single sUAV platform. These advantages include improved task efficiency, reduced task completion time, improved fault tolerance, and higher task flexibility. However, their deployment in an outdoor environment is challenging due to the presence of wind gusts. The coordinated motion of a multi-sUAV system in the presence of wind disturbances is a challenging problem when considering collision avoidance (safety), scalability, and communication connectivity. Performing wind-agnostic motion planning for sUAVs may produce a sizeable cross-track error if the wind on the planned route leads to actuator saturation. In a multi-sUAV …