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Articles 1 - 6 of 6
Full-Text Articles in Engineering
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Collaborative Human-Machine Interfaces For Mobile Manipulators., Shamsudeen Olawale Abubakar
Electronic Theses and Dissertations
The use of mobile manipulators in service industries as both agents in physical Human Robot Interaction (pHRI) and for social interactions has been on the increase in recent times due to necessities like compensating for workforce shortages and enabling safer and more efficient operations amongst other reasons. Collaborative robots, or co-bots, are robots that are developed for use with human interaction through direct contact or close proximity in a shared space with the human users. The work presented in this dissertation focuses on the design, implementation and analysis of components for the next-generation collaborative human machine interfaces (CHMI) needed for …
Motion And Emotion Estimation For Robotic Autism Intervention., Jacob M Berdichevsky
Motion And Emotion Estimation For Robotic Autism Intervention., Jacob M Berdichevsky
Electronic Theses and Dissertations
Robots have recently emerged as a novel approach to treating autism spectrum disorder (ASD). A robot can be programmed to interact with children with ASD in order to reinforce positive social skills in a non-threatening environment. In prior work, robots were employed in interaction sessions with ASD children, but their sensory and learning abilities were limited, while a human therapist was heavily involved in “puppeteering” the robot. The objective of this work is to create the next-generation autism robot that includes several new interactive and decision-making capabilities that are not found in prior technology. Two of the main features that …
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan
Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan
Electronic Theses and Dissertations
The number of robotic systems in the world is growing rapidly. However, most industrial robots are isolated in caged environments for the safety of users. There is an urgent need for human-in-the-loop collaborative robotic systems since robots are very good at performing precise and repetitive tasks but lack the cognitive ability and soft skills of humans. To fill this need, a key challenge is how to enable a robot to interpret its human co-worker’s motion and intention. This research addresses this challenge by developing a collaborative human-robot interface via innovations in computer vision, robotics, and system integration techniques. Specifically, this …
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Design Of Lower Legs Of Mithra, A High-Performance Backdrivable Humanoid Robot, Drake Taylor
Electronic Theses and Dissertations
This thesis presents the design of the knee and ankle of Mithra, a new humanoid robot that aims to be an energy-efficient and highly agile machine. Mithra makes use of new optimization metrics for legged robots to develop a system capable of mimicking human movement. A series of low-impedance, high-torque actuator systems were developed with the goal of creating lightweight, powerful, and robust motion. The structure of Mithra's legs mimics the human structure in leg segment length and weight proportions. Detailed design and analysis were conducted in order to allow Mithra to be a robust and maintainable system. Mithra will …
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Design, Manufacture, And Test Of A Hybrid Aerial-Ground Robotic Platform, William Garrett Willmon
Electronic Theses and Dissertations
A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed …
Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran
Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran
Electronic Theses and Dissertations
Measuring student engagement has emerged as a significant factor in the process of learning and a good indicator of the knowledge retention capacity of the student. As synchronous online classes have become more prevalent in recent years, gauging a student's attention level is more critical in validating the progress of every student in an online classroom environment. This paper details the study on profiling the student attentiveness to different gradients of engagement level using multiple machine learning models. Results from the high accuracy model and the confidence score obtained from the cloud-based computer vision platform - Amazon Rekognition were then …