Engineering Commons^™

Programming Of Collaborative Robot (Cobot) To Selectively Disassemble Products To Obtain Critical Materials, Brittany Felder

Research Opportunities for Engineering Undergraduates (ROEU) Program 2018-19

End-of-life products that contain critical materials, such as rare earth magnets, are often discarded even though there is remaining value that can be fed back into a remanufacturing process. This research aims to develop high throughput and economic value recovery from electric machines using collaborative robotics.

Multirobot Confidence And Behavior Modeling: An Evaluation Of Telerobotic Performance And Efficiency, Nathan Lucas

Wayne State University Dissertations

There is considerable interest in multirobot systems capable of performing spatially distributed, hazardous, and complex tasks as a team. There is also growing interest in manned-unmanned teams leveraging the unique abilities of humans and automated machines working alongside each other. The limitations of human perception and cognition affect the ability of operators to integrate information from multiple mobile robots, switch between their spatial frames of reference, and divide attention among many sensory inputs and command outputs. Automation is necessary to help the operator manage increasing demands as the number of robots scales up. However, more automation does not necessarily equate …

Kinematic Modeling Of An Automated Laser Line Scanning System, Kiran Sunil Deshmukh

Wayne State University Theses

This research work describes the geometric coordinate transformation in an automated laser line scanning system caused by movements required for scanning a component surface. The elements of an automated laser scanning system (robot, laser line scanner, and the component coordinate system) function as a mechanical linkage to obtain a trajectory on a component surface. This methodology solves the forward kinematics, derives the component surface, and uses inverse kinematic equations to characterize the movement of the entire automated scanning system on point trajectory. To reach a point on the component, joint angles of robot have been calculated. As a result, trajectory …

Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase

Wayne State University Dissertations

The objective of this research is to compare barycenter offset based designs of spherical robots to control moment gyroscope (CMG) based designs in order to determine which approach is most effective. The first objective was to develop a list of current state of the art designs in order to gain an overall understanding of what the obstacles in this area of research were. The investigation showed that barycenter offset designs can produce a low, continuous output torque, whereas CMG based designs can usually only produce a high, momentary output torque. The second objective was to develop a CMG based design …

Development And Human Performance Evaluation Of Control Modes Of An Exo-Skeletal Assistive Robotic Arm (Esara), Umer Khalid

Wayne State University Dissertations

This research was conducted to assist with functional tasks for a targeted group of individuals with spinal cord injury (SCI); with C5 to C7 level of injury relating to upper extremity movement. The specific population was selected as the existing technology was either too expensive, too bulky or was unable to address their needs in regards to upper extremity mobility. In addition, no platforms allowed multimodal control options for customization or provided a methodology for this crucial evaluation. The motivation of this research was to provide a methodology for selecting the appropriate control of an assistive device based on the …

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 …

Optimal Port Placement And Automated Robotic Positioning For Instrumented Laparoscopic Biosensors, Brady King

Wayne State University Dissertations

OPTIMAL SURGICAL PORT PLACEMENT AND AUTOMATED ROBOTIC POSITIONING FOR RAMAN AND OTHER BIOSENSORS

by

BRADY KING

January 2011

Advisors: Dr. Abhilash Pandya, Dr. Darin Ellis, Dr. Le Yi Wang, and Dr. Greg Auner

Major: Computer Engineering

Degree: Doctor of Philosophy

Medical biosensors can provide new information during minimally invasive and robotic surgical procedures. However, these biosensors have significant physical limitations that make it difficult to find optimal port locations and place them in vivo. This dissertation explores the application of robotics and virtual/augmented reality to biosensors to enable their optimal use in vivo.

In the first study, human …

Development And Human Performance Evaluation Of A Ground Vehicle Robotic Force-Feedback Tele-Operation System, Ankur Saraf

Wayne State University Theses

ABSTRACT

DEVELOPMENT AND HUMAN PERFORMANCE EVALUATION OF A GROUND VEHICLE ROBOTIC FORCE-FEEDBACK TELE-OPERATION SYSTEM

by

ANKUR SARAF

May 2011

Advisor: Dr. Abhilash K. Pandya.

Major: Electrical Engineering.

Degree: Master of Science.

Modern tele-operation systems are trying to take into account haptic and audio information in addition to visual data to provide as feedback to the tele-operator.This research emphasizes on the development of hardware and software architecture to enhance the tele-operation capabilities of omni-directional inspection robot (ODIS). The system enhances the tele-operation capabilities by introducing force-feedback to the tele-operators. The conventional joystick is replaced with Novint Falcon haptic joystick which gets …

Control Of A Single Ground Vehicle Using Aerial And Onboard Camera Views, Vishal Lowalekar

Wayne State University Theses

Controlling a ground vehicle using only onboard and aerial camera views, can be a tedious task, as it is challenging for the operator to estimate information about the robots location and orientation using only these view. However the visual data can be sufficient for computerized calculation of this information even in the absence of other sensors. This approach is of interest to the military because the use of passive sensors instead of active sensors (e.g. LIDAR) would be easier and more reliable and would not give off detectable signatures.

The goal of this research was to control a ground vehicle …

Augmented Reality Navigation Interfaces Improve Human Performance In End-Effector Controlled Telerobotics, Keshav Chintamani

Wayne State University Dissertations

On the International Space Station (ISS) and space shuttles, the National Aeronautics and Space Administration (NASA) has used robotic manipulators extensively to perform payload handling and maintenance tasks. Teleoperating robots require expert skills and optimal performance is crucial to mission completion and crew safety. Degradation in performance is observed when manual control is mediated through remote camera views, resulting in poor end-effector navigation quality and extended task completion times. This thesis explores the application of three-dimensional augmented reality (AR) interfaces specifically designed to improve human performance during end-effector controlled teleoperations. A modular telerobotic test bed was developed for this purpose …

Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt

Wayne State University Dissertations

The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust …