Engineering Commons^™

Chatgpt As Metamorphosis Designer For The Future Of Artificial Intelligence (Ai): A Conceptual Investigation, Amarjit Kumar Singh (Library Assistant), Dr. Pankaj Mathur (Deputy Librarian)

Library Philosophy and Practice (e-journal)

Abstract

Purpose: The purpose of this research paper is to explore ChatGPT’s potential as an innovative designer tool for the future development of artificial intelligence. Specifically, this conceptual investigation aims to analyze ChatGPT’s capabilities as a tool for designing and developing near about human intelligent systems for futuristic used and developed in the field of Artificial Intelligence (AI). Also with the helps of this paper, researchers are analyzed the strengths and weaknesses of ChatGPT as a tool, and identify possible areas for improvement in its development and implementation. This investigation focused on the various features and functions of ChatGPT that …

Lifelong Deep Learning-Based Control Of Robot Manipulators, Irfan Ganie, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

This study proposes a lifelong deep learning control scheme for robotic manipulators with bounded disturbances. This scheme involves the use of an online tunable deep neural network (DNN) to approximate the unknown nonlinear dynamics of the robot. The control scheme is developed by using a singular value decomposition-based direct tracking error-driven approach, which is utilized to derive the weight update laws for the DNN. To avoid catastrophic forgetting in multi-task scenarios and to ensure lifelong learning (LL), a novel online LL scheme based on elastic weight consolidation is included in the DNN weight-tuning laws. Our results demonstrate that the resulting …

On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae

Electrical and Computer Engineering Faculty Publications

Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity …

Advanced Mechatronics, Hao Su

Open Educational Resources

Project-based course on the design of mechatronic devices to address needs identified by hospital-based clinicians and industry. Students work in teams to develop a mechatronic prototype. The lectures will cover the design of medical devices and robotics including sensors, actuators, and robots. The students will communicate with customers to understand design needs, then conduct study on prior art, intellectual property, due diligence, and idea conceptualization. Students will present ideas in class and to a broad audience from local industry. Students will also write a publication-quality final report, which they will be encouraged for publication submission.

Engineering Design I, Hao Su

Open Educational Resources

Introduction to robotics

Autonomous Control Of A Line Follower Robot Using A Q-Learning Controller, Sepehr Saadatmand, Sima Azizi, Mohammadamir Kavousi, Donald C. Wunsch

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, a MIMO simulated annealing (SA)-based Q-learning method is proposed to control a line follower robot. The conventional controller for these types of robots is the proportional (P) controller. Considering the unknown mechanical characteristics of the robot and uncertainties such as friction and slippery surfaces, system modeling and controller designing can be extremely challenging. The mathematical modeling for the robot is presented in this paper, and a simulator is designed based on this model. The basic Q-learning methods are based pure exploitation and the ε -greedy methods, which help exploration, can harm the controller performance after learning completion …

Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin

Honors Projects

A 3D printed hand and arm prosthetic was created from the idea of adding bionic elements while keeping the cost low. It was designed based on existing models, desired functions, and materials available. A tilt sensor keeps the hand level, two motors move the wrist in two different directions, a limit switch signals the fingers to open and close, and another motor helps open and close the fingers. All sensors and motors were built on a circuit board, programmed using an Arduino, and powered by a battery. Other supporting materials include metal brackets, screws, guitar strings, elastic bands, small clamps, …

Designing A Robotic Platform For Investigating Swarm Robotics, Jonathan Gray

Senior Honors Theses

This paper documents the design and subsequent construction of a low-cost, flexible robotic platform for swarm robotics research, and the selection of appropriate swarm algorithms for the implementation of a swarm focused predominantly on target location. The design described herein is intended to allow for the construction of robots large enough to meaningfully interact with their environment while maintaining a low per-robot cost of materials and a low assembly time. The design process is separated into three stages: mechanical design, electrical design, and software design. All major design components are described in detail under the appropriate design section. The BOM …

2019 Ieee Southeastcon Hardware Competition: A Systems Engineering Approach, Emily Sage

Mahurin Honors College Capstone Experience/Thesis Projects

The Institute for Electrical and Electronics Engineers (IEEE) Huntsville section invites college students to participate in their annual SoutheastCon Conference. Western Kentucky University sends a team of engineering students to the hardware competition, an opportunity for students to design and build autonomous robots. The 2019 hardware competition called for students to develop a robot that could collect and sort debris by color. This thesis outlines the project lifecycle of the WKU 2019 SoutheastCon robot with an emphasis on implemented systems engineering tools and techniques. Systems Engineering is an interdisciplinary approach to project management that focuses on treating the overall project …

Multi-Target Extension For Beacon Foraging Methods, Christopher Sanford, Ziong Jiao, Jae Oh

Electrical Engineering and Computer Science - All Scholarship

Robotic foraging is a complex problem that encompasses both the problem of exploring an area and retrieval of targets. To solve this, biologically inspired algorithms have been proposed that handle the scenario when only one target exists, but requires extension to multiple targets. In both scenarios there exists problems of robot allocation and congestion, and we analyze ways of optimizing both allocation and minimizing congestion for our algorithms. We demonstrate the results through parameterized metrics and compare the improvements in each scenario.

This is a technical report on artificial intelligence, 2017, written by Sanford, Jiao, and Oh.

Visual Multiple Target Tracking From A Descending Aerial Platform, Parker C. Lusk, Randal Beard

Student Works

A real-time visual multiple target tracker is demonstrated onboard a descending multirotor. Measurements of moving ground targets are generated using the Kanade-Lucas-Tomasi (KLT) tracking method. Homography-based image registration is used to align the measurements into the same coordinate frame, allowing for the detection of independently moving objects. The recently developed Recursive-RANSAC algorithm uses the visual measurements to estimate targets in clutter. Altitude-dependent tuning increases track continuity and coverage during the descent of the vehicle. The algorithm requires no operator interaction and increases the situation awareness of the unmanned aerial system. Real-time tracking efficiency is analyzed on GPUs and CPUs. Tracking …

Agricultural Field Robotics For Plant Data Acquisition, Jeremy S. Blackford, Jared Werner, Tyler A. Troyer, Ethan Nutter

UCARE Research Products

As the demand for food increases, we are presented with the challenge of producing food more efficiently. With the help of agricultural robots it will be possible to achieve greater yields by the application of seeds, fertilizers and chemicals in the most efficient way possible. With more advanced robotic systems accurate crop data can be obtained to improve farming products and techniques.

Flex-Row is a medium sized agricultural robotic platform built for autonomously traversing through rough fields during multiple crop growing stages. This platform consisting of a flexible frame with the ability to vary both width and height will initially …

Modeling A Sensor To Improve Its Efficacy, Nabin K. Malakar, Daniil Gladkov, Kevin H. Knuth

Physics Faculty Scholarship

Robots rely on sensors to provide them with information about their surroundings. However, high-quality sensors can be extremely expensive and cost-prohibitive. Thus many robotic systems must make due with lower-quality sensors. Here we demonstrate via a case study how modeling a sensor can improve its efficacy when employed within a Bayesian inferential framework. As a test bed we employ a robotic arm that is designed to autonomously take its own measurements using an inexpensive LEGO light sensor to estimate the position and radius of a white circle on a black field. The light sensor integrates the light arriving from a …

Procedural Wound Geometry And Blood Flow Generation For Medical Training Simulators, Rifat Aras, Yuzhong Shen, Jiang Li, David R. Holmes Iii (Ed.), Kenneth H. Wong (Ed.)

Electrical & Computer Engineering Faculty Publications

Efficient application of wound treatment procedures is vital in both emergency room and battle zone scenes. In order to train first responders for such situations, physical casualty simulation kits, which are composed of tens of individual items, are commonly used. Similar to any other training scenarios, computer simulations can be effective means for wound treatment training purposes. For immersive and high fidelity virtual reality applications, realistic 3D models are key components. However, creation of such models is a labor intensive process. In this paper, we propose a procedural wound geometry generation technique that parameterizes key simulation inputs to establish the …

An Interdisciplinary Team-Based Mobile Robots Design Course For Engineering, Fernando Rios-Gutierrez, Rocio Alba-Flores

Department of Electrical & Computer Engineering Faculty Research & Publications

An Interdisciplinary, Team-Based Mobile Robots Design Course for Engineering TechnologyAbstractThis work describes the educational experience gained during a new course in mobile robotics, a fourthyear elective course in the undergraduate Electrical Engineering Technology program at our University.The main topic of this course is concentrated on team-based, one semester-long robotics projects in whichstudents design and build mobile robots for different applications. A mobile robot is a system that contains mechanical and electronic parts that can be programmed toperform some specific functions, responding to sensory inputs under the control of an internal or externalcomputer. The reasons to use mobile robots as the …

Analysis Of A Current-Regulated Brushless Dc Drive, Keith Corzine, S. D. Sudhoff, H. J. Hegner

Electrical and Computer Engineering Faculty Research & Creative Works

Current-regulated brushless DC machines are used in a wide variety of applications including robotics, actuators, electric vehicles, and ship propulsion systems. When conducting system analysis of this or any other type of drive, average-value reduced-order models are invaluable since they provide a means of rapidly predicting the electromechanical dynamics and are readily linearized for control system synthesis. In this paper, a highly accurate average-value reduced-order model of a hysteresis current-regulated brushless DC drive is set forth. In so doing it is demonstrated that the drive exhibits five distinct operating modes. The physical cause of each of these modes is explained …

Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh

Electrical & Computer Engineering Faculty Research

We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.