Mechanical Design And Development Of A Compliant 5-Dof Manipulator Using Magneto-Rheological Actuators, Sergey Pisetskiy

Electronic Thesis and Dissertation Repository

Compliance in robotic systems became a very important and desirable characteristic in recent years. Existing compliant actuation approaches have either limited performance or significant mechanical and control complexity. Keeping high performance while maintaining the necessary level of compliance at low cost and minimum complexity is a challenging goal that should be achieved to boost the propagation of human-safe robots and systems capable to perform delicate tasks in an unknown environment.

This study presents a novel five degrees-of-freedom compliant manipulator. The compliancy of the manipulator is achieved using antagonistically working pairs of magneto-rheological (MR) clutches in each joint of the robot. …

Visual Cues For Semi-Autonomous Control Of Transradial Prosthetics, Mena S.A. Kamel

Electronic Thesis and Dissertation Repository

Upper-limb prosthetics are typically driven exclusively by biological signals, mainly electromyography (EMG), where electrodes are placed on the residual part of an amputated limb. In this approach, amputees must control each arm joint iteratively, in a proportional manner. Research has shown that sequential control of prosthetics usually imposes a cognitive burden on amputees, leading to high abandonment rates. This thesis presents a control system for upper-limb prosthetics, leveraging a computer vision module capable of simultaneously predicting objects in a scene, their segmentation mask, and a ranked list of the optimal grasping locations. The proposed system shares control with an amputee, …

How Ai Is Socialized To Exhibit Bias, Andrew Treece

Sociology Student Work Collection

Artificial intelligence is becoming a more prevalent part of our society. This presentation seeks to explore some of the dangers of AI in relation to gender and racial bias from the sociological perspective.

Helical Dielectric Elastomer Actuator, Daewon Kim

Publications

A helical dielectric elastomer actuator (HDEA) can include a first dielectric region comprising an elastomer defining a helix. In an example, a dielectric material can be deposited, and a compliant conductive material can be deposited, such as using an additive manufacturing approach, to provide an HDEA. In an example where the HDEA has multiple mechanical degrees of freedom, at least two compliant conductive regions can be located on a first surface of the first dielectric region and at least one compliant conductive region can be located on an opposite second surface of the first dielectric region. For such an example, …

Sensor Fusion For Object Detection And Tracking In Autonomous Vehicles, Mohamad Ramin Nabati

Doctoral Dissertations

Autonomous driving vehicles depend on their perception system to understand the environment and identify all static and dynamic obstacles surrounding the vehicle. The perception system in an autonomous vehicle uses the sensory data obtained from different sensor modalities to understand the environment and perform a variety of tasks such as object detection and object tracking. Combining the outputs of different sensors to obtain a more reliable and robust outcome is called sensor fusion. This dissertation studies the problem of sensor fusion for object detection and object tracking in autonomous driving vehicles and explores different approaches for utilizing deep neural networks …

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 …

Design And Simulation Of A Supervisory Control System For Hybrid Manufacturing, Michael Buckley

Masters Theses

The research teams of Dr. Bill Hamel, Dr. Bradley Jared and Dr. Tony Schmitz were tasked by the Office of Naval Research to create a hybrid manufacturing process for a reduced scale model of a naval ship propeller. The base structure of the propeller is created using Wire Arc Additive Manufacturing (WAAM), which is then scanned to compare created geometry to desired geometry. The propeller is then machined down to match the desired geometry. This process is iterated upon until the final product meets design tolerances. Due to the complex nature and numerous industrial machines used in the process, it …

Snr: Software Library For Introductory Robotics, Spencer F. Shaw

Master's Theses

This thesis introduces "SNR," a Python library for programming robotic systems in the context of introductory robotics courses. Greater demand for roboticists has pressured educational institutions to expand robotics curricula. Students are now more likely to take robotics courses earlier and with less prior programming experience. Students may be attempting to simultaneously learn a systems programming language, a library API, and robotics concepts. SNR is written purely in Python to present familiar semantics, eliminating one of these learning curves. Industry standard robotics libraries such as ROS often require additional build tools and configuration languages. Students in introductory courses frequently lack …

Connecting Islamic Technology And The History Of Robotics In Wikidata Via Wikidatabot, Anchalee Panigabutra-Roberts

UT Libraries Faculty: Other Publications and Presentations

My current study is on the connection between the history of robotics and Islamic technology. I focused on early Muslim inventors, such as al-Jazari, from Artuqid Dynasty of Jazira in Mesopotamia (modern day Iraq, Syria and Turkey) who is considered to be the father of robotics. He wrote the Book of Knowledge of Ingenious Mechanical Devices, the manuscript treaty published after his passing in 1206, translated by Donald R. Hill, a British engineer and scholar on Islamic technology, in 1974. The manuscript in Arabic (MS. Greaves 27) is archived at the Bodleian Library, University of Oxford, United Kingdom. In …

Review Of Data Mining Techniques For Detecting Churners In The Telecommunication Industry, Mahmoud Ewieda, Mohamed Ismail Roushdy, Essam Shaaban

Future Computing and Informatics Journal

The telecommunication sector has been developed rapidly and with large amounts of data obtained as a result of increasing in the number of subscribers, modern techniques, data-based applications, and services. As well as better awareness of customer requirements and excellent quality that meets their satisfaction. This satisfaction raises rivalry between firms to maintain the quality of their services and upgrade them. These data can be helpfully extracted for analysis and used for predicting churners. Researchers around the world have conducted important research to understand the uses of Data mining (DM) that can be used to predict customers' churn. This …

Airborne Counter-Uncrewed Systems With Runtime Assurance Control, Isaac J. Seslar

Mechanical Engineering ETDs

This thesis develops a response to the increase in the availability of the commercially available uncrewed aerial systems and is dedicated to the detection, classification, and tracking required to successfully neutralize when determined malicious. A requirement of actively avoiding obstacles using runtime assurance is addressed and designed to keep the hardware safe in potentially dangerous situations. This work will elaborate on the several components the test bed is comprised of, specifically the hardware and software portions that successfully solve the problem. The software encompasses the simulation, the multiple algorithms required for the tracking, and the machine learning required for detection …

A Meta-Level Approach For Multilingual Taint Analysis, Damian Lyons, Dino Becaj

Faculty Publications

It is increasingly common for software developers to leverage the features and ease-of-use of different languages in building software systems. Nonetheless, interaction between different languages has proven to be a source of software engineering concerns. Existing static analysis tools handle the software engineering concerns of monolingual software but there is little general work for multilingual systems despite the increasing visibility of these systems. While recent work in this area has greatly extended the scope of multilingual static analysis systems, the focus has still been on a primary, host language interacting with subsidiary, guest language functions. In this paper we propose …

Computational Frameworks For Multi-Robot Cooperative 3d Printing And Planning, Laxmi Prasad Poudel

Graduate Theses and Dissertations

This dissertation proposes a novel cooperative 3D printing (C3DP) approach for multi-robot additive manufacturing (AM) and presents scheduling and planning strategies that enable multi-robot cooperation in the manufacturing environment. C3DP is the first step towards achieving the overarching goal of swarm manufacturing (SM). SM is a paradigm for distributed manufacturing that envisions networks of micro-factories, each of which employs thousands of mobile robots that can manufacture different products on demand. SM breaks down the complicated supply chain used to deliver a product from a large production facility from one part of the world to another. Instead, it establishes a network …

Wall Detection Via Imu Data Classification In Autonomous Quadcopters, Jason Hughes, Damian Lyons

Faculty Publications

Abstract—An autonomous drone flying near obstacles needs to be able to detect and avoid the obstacles or it will collide with them. In prior work, drones can detect and avoid walls using data from camera, ultrasonic or laser sensors mounted either on the drone or in the environment. It is not always possible to instrument the environment, and sensors added to the drone consume payload and power - both of which are constrained for drones. This paper studies how data mining classification techniques can be used to predict where an obstacle is in relation to the drone based only on …

Modernization Of Scienttific Mathematics Formula In Technology, Iwasan D. Kejawa Ed.D, Prof. Iwasan D. Kejawa Ed.D

Department of Mathematics: Faculty Publications

Abstract
Is it true that we solve problem using techniques in form of formula? Mathematical formulas can be derived through thinking of a problem or situation. Research has shown that we can create formulas by applying theoretical, technical, and applied knowledge. The knowledge derives from brainstorming and actual experience can be represented by formulas. It is intended that this research article is geared by an audience of average knowledge level of solving mathematics and scientific intricacies. This work details an introductory level of simple, at times complex problems in a mathematical epidermis and computability and solvability in a Computer Science. …

Fasten: An Iot Platform For Supply Chain Management In A Covid-19 Pandemic Scenario, Fernando Lemos, Thays Do Nascimento, Gustavo Dalmarco

Markets, Globalization & Development Review

This paper points out the major disruptions caused by the COVID-19 pandemic. It proposes an automated Internet-of-Things (IoT) based manufacturing and supply chain system, termed FASTEN, that can deal with such severe disruptions.

Three Degrees Of Freedom Robotic Arm And Its Digital Twin Using Simulink – A Bibliometric Analysis, Bharath Suthar Mr., Arunkumar Bongale Dr, Satish Kumar Dr, Anupkumar Bongale Dr

Library Philosophy and Practice (e-journal)

The 3-degree Digital Twin robotic arm for freedom can diagnose the joints off-board by placing a torque in the robotic arm joint. MATLAB, Simulink®, SimscapeTM, and Simscape Multibody were the basis of this model. Virtual space with a virtual robot arm was connected to a physical space that was a 3D printed replica of the virtual space and robot arm, built using Unity (a modern Game Engine). The arm in the Digital Twin model was created using the hardware prototype’s dimensions, which were then used to simulate a real-world situation. With its revolute joints, the arm has a certain degree …

Object Manipulation With Modular Planar Tensegrity Robots, Maxine Perroni-Scharf

Dartmouth College Undergraduate Theses

This thesis explores the creation of a novel two-dimensional tensegrity-based mod- ular system. When individual planar modules are linked together, they form a larger tensegrity robot that can be used to achieve non-prehensile manipulation. The first half of this dissertation focuses on the study of preexisting types of tensegrity mod- ules and proposes different possible structures and arrangements of modules. The second half describes the construction and actuation of a modular 2D robot com- posed of planar three-bar tensegrity structures. We conclude that tensegrity modules are suitably adapted to object manipulation and propose a future extension of the modular 2D …

Bibliometric Analysis On Dynamic Target Tracking By Mobile Robot, Gaurav Atha Mr., Siddhant Chaturvedi Mr., Atishraj Desai Mr., Dhrumil Desai Mr., Shripad V. Deshpande Mr.

Library Philosophy and Practice (e-journal)

The survey and bibliometric research on dynamic target tracking by a mobile robot are discussed in this paper. The primary goal of this bibliometric analysis is to comprehend and analyze the scope of the literature in the field of mobile robots for obstacle avoidance, path planning and target tracking using Robot Operating System (ROS). The ROS contains various tools for data analysis, incorporates multiple robots and their sensors, and supports devices interaction for target seeking and localization in mobile robots. This detailed review was performed on various research publications about the mapping of the unknown field/environment by the ROS based …

Body And Tail Coordination In The Bluespot Salamander (Ambystoma Laterale) During Limb Regeneration, Cassandra M. Donatelli, Keegan Lutek, Keshav Gupta, Emily M. Standen

Engineering Faculty Articles and Research

Animals are incredibly good at adapting to changes in their environment, a trait envied by most roboticists. Many animals use different gaits to seamlessly transition between land and water and move through non-uniform terrains. In addition to adjusting to changes in their environment, animals can adjust their locomotion to deal with missing or regenerating limbs. Salamanders are an amphibious group of animals that can regenerate limbs, tails, and even parts of the spinal cord in some species. After the loss of a limb, the salamander successfully adjusts to constantly changing morphology as it regenerates the missing part. This quality is …

Bibliometric Analysis On Optimal Path Planning For Robots, Varad Sandeep Nerlekar, Tathaagat Nihar Mamtura, Nishant Singh, Suket Anand, Sushma Parihar

Library Philosophy and Practice (e-journal)

Traversing from a given point to another while avoiding collision with obstacles is one of the key goals of path planning for robots [1]. Doing so in the most optimal way - the minimum total distance traveled by the robot is the objective of our study [2,3]. To do so, the algorithms implemented on the robots need to constantly map the environment or workspace in real time and subsequently create paths for the traversal in the environment without colliding with objects or obstacles [4,5]. Throughout the years, many researchers have conducted their own studies, researches and have proposed approaches for …

Development Of A Wearable Haptic Feedback Device For Upper Limb Prosthetics Through Sensory Substitution, Marco B.S. Gallone

Electronic Thesis and Dissertation Repository

Haptics can enable a direct communication pipeline between the artificial limb and the brain; adding haptic sensory feedback for prosthesis wearers is believed to improve operation without drawing too much of the user's attention. Through neuroplasticity, the brain can become more cognizant of the information delivered through the skin and may eventually interpret it as inherently as other natural senses. In this thesis, a wearable haptic feedback device (WHFD) is developed to communicate prosthesis sensory information. A 14-week, 6-stage, between subjects study was created to investigate the learning trajectory as participants were stimulated with haptic patterns conveying joint proprioception. 37 …

Multilayer Perceptron With Auto Encoder Enabled Deep Learning Model For Recommender Systems, Subhashini Narayan

Future Computing and Informatics Journal

In this modern world of ever-increasing one-click purchases, movie bookings, music, health- care, fashion, the need for recommendations have increased the more. Google, Netflix, Spotify, Amazon and other tech giants use recommendations to customize and tailor their search engines to suit the user’s interests. Many of the existing systems are based on older algorithms which although have decent accuracies, require large training and testing datasets and with the emergence of deep learning, the accuracy of algorithms has further improved, and error rates have reduced due to the use of multiple layers. The need for large datasets has declined as well. …

A Bibliometric Perspective Survey Of Iot Controlled Ai Based Swarm Robots, Rhea Sawant, Ariz Shaikh, Chetna Singh, Aman Aggarwal, Shivali Amit Wagle, Harikrishnan R, Priti Shahane

Library Philosophy and Practice (e-journal)

Robotics is the ­new-age domain of technology that deals with bringing a collaboration of all disciplines of sciences and engineering to create a mechanical machine that may or may not work entirely independently but definitely focuses on making human lives much easier. It has repeatedly shown its ability to change lives at home and in the industry. As the field of robotics research grows and reaches new worlds, the military is one area where advances can have a significant impact, and the government is aware of this. Military technology has come a long way from the days where soldiers had …

Identification Of Emergent Collaborative Behaviors In Multi-Agent Systems, Bryson Howell

EURēCA: Exhibition of Undergraduate Research and Creative Achievement

Identification of Emergent Collaborative Behaviors in Multi-Agent Systems

Bryson Howell

Multi-Agent Reinforcement Learning (MARL) has been used to allow groups of autonomous agents to perform complex cooperative tasks. When MARL methods such as the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm [1] are used to train teams of agents in cooperative tasks, it has been observed that the actions of individual agents are significantly influenced by the actions of their teammates [2]. Additionally, prior work has shown that teams of agents trained independently of one another under identical conditions display a variety of behaviors [3]. Since these teams have been …

Rethink Everything 2: Markets, Globalization, Development, Nikhilesh Dholakia, Deniz Atik

Markets, Globalization & Development Review

No abstract provided.

A Hyperelastic Porous Media Framework For Ionic Polymer-Metal Composites And Characterization Of Transduction Phenomena Via Dimensional Analysis And Nonlinear Regression, Zakai J. Olsen

UNLV Theses, Dissertations, Professional Papers, and Capstones

Ionic polymer-metal composites (IPMC) are smart materials that exhibit large deformation in response to small applied voltages, and conversely generate detectable electrical signals in response to mechanical deformations. The study of IPMC materials is a rich field of research, and an interesting intersection of material science, electrochemistry, continuum mechanics, and thermodynamics. Due to their electromechanical and mechanoelectrical transduction capabilities, IPMCs find many applications in robotics, soft robotics, artificial muscles, and biomimetics. This study aims to investigate the dominating physical phenomena that underly the actuation and sensing behavior of IPMC materials. This analysis is made possible by developing a new, hyperelastic …

Demo Abstract: Porting And Execution Of Anomalies Detection Models On Embedded Systems In Iot, Bharath Sudharsan, Pankesh Patel, Abdul Wahid, Muhammad Yahya, John G. Breslin, Muhammad Intizar Ali

Publications

In the Industry 4.0 era, Microcontrollers (MCUs) based tiny embedded sensor systems have become the sensing paradigm to interact with the physical world. In 2020, 25.6 billion MCUs were shipped, and over 250 billion MCUs are already operating in the wild. Such low-power, low-cost MCUs are being used as the brain to control diverse applications and soon will become the global digital nervous system. In an Industrial IoT setup, such tiny MCU-based embedded systems are equipped with anomaly detection models and mounted on production plant machines for monitoring the machine’s health/condition. These models process the machine’s health data (from temperature, …

Automated Bottling Station - Packaging System, Lauren Nicole Zinzilieta

Honors College Theses

This report focuses on the packaging system used at the end of the FESTO bottling station that is located in EP 2355. The system will be made up of an x-y 300 mm x 300 mm gantry system, an Arduino, two micro-stepping stepper drivers, and two 152.4 mm (6 in) single acting cylinders with a 3D printed bracket attached to both. The gantry system will be located at the end of the conveyor belt and will be programmed to pick up three bottles at a time and then will move a specified number of steps in both the x and …

Dynamic Task Allocation In Partially Defined Environments Using A* With Bounded Costs, James Hendrickson

Doctoral Dissertations and Master's Theses

The sector of maritime robotics has seen a boom in operations in areas such as surveying and mapping, clean-up, inspections, search and rescue, law enforcement, and national defense. As this sector has continued to grow, there has been an increased need for single unmanned systems to be able to undertake more complex and greater numbers of tasks. As the maritime domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering …