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Full-Text Articles in Engineering
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Robot Motion Planning In Dynamic Environments, Hao-Tien Lewis Chiang
Computer Science ETDs
Robot motion planning in dynamic environments is critical for many robotic applications, such as self-driving cars, UAVs and service robots operating in changing environments. However, motion planning in dynamic environments is very challenging as this problem has been shown to be NP-Hard and in PSPACE, even in the simplest case. As a result, the lack of safe, efficient planning solutions for real-world robots is one of the biggest obstacles for ubiquitous adoption of robots in everyday life. Specifically, there are four main challenges facing motion planning in dynamic environments: obstacle motion uncertainty, obstacle interaction, complex robot dynamics and noise, and …
A Comparison Of Contextual Bandit Approaches To Human-In-The-Loop Robot Task Completion With Infrequent Feedback, Matt Mcneill, Damian Lyons
A Comparison Of Contextual Bandit Approaches To Human-In-The-Loop Robot Task Completion With Infrequent Feedback, Matt Mcneill, Damian Lyons
Faculty Publications
Artificially intelligent assistive agents are playing an increased role in our work and homes. In contrast with currently predominant conversational agents, whose intelligence derives from dialogue trees and external modules, a fully autonomous domestic or workplace robot must carry out more complex reasoning. Such a robot must make good decisions as soon as possible, learn from experience, respond to feedback, and rely on feedback only as much as necessary. In this research, we narrow the focus of a hypothetical robot assistant to a room tidying task in a simulated domestic environment. Given an item, the robot chooses where to put …
Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop
Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop
Dissertations, Master's Theses and Master's Reports
The purpose of this research is to investigate the relationship between the mechanical impedance of the human ankle and the corresponding lower extremity muscle activity. Three experimental studies were performed to measure the ankle impedance about multiple degrees of freedom (DOF), while the ankle was subjected to different loading conditions and different levels of muscle activity. The first study determined the non-loaded ankle impedance in the sagittal, frontal, and transverse anatomical planes while the ankle was suspended above the ground. The subjects actively co-contracted their agonist and antagonistic muscles to various levels, measured using electromyography (EMG). An Artificial Neural Network …
Exploring Cyber-Physical Systems, Misbah Uddin Mohammed
Exploring Cyber-Physical Systems, Misbah Uddin Mohammed
Graduate Research Theses & Dissertations
The advances in IOT, Computer Vision, AI and Machine Learning have made these technologies ubiquitous to our daily lives. From Smart Phones to Connected Vehicles, Cyber Physical systems have been interspersed into everything we interact in today’s world. The aim or this thesis was to explore these advances in Cyber Physical Systems and analyze the different sectors they were affecting. We then hand-picked certain domains and explored further by carrying out practical projects using some of the latest software and hardware resources available. Technologies like Amazon Alexa services, NVIDIA Jetson boards, TensorFlow, OpenCV, NodeJS were heavily employed in our various …