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2019

Robotics

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Full-Text Articles in Engineering

A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou Dec 2019

A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou

Electronic Thesis and Dissertation Repository

Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.

It has been reported ...


Hardware Implementation Of Assistive Technology Robot, Joycephine Li Dec 2019

Hardware Implementation Of Assistive Technology Robot, Joycephine Li

Publications and Research

SuperHERO is an on-going research project in Computer Engineering Technology department which involves upgrading Heathkit Education Robot (HERO) hardware circuits and features by using modern hardware devices and sensors. The current phase of the project will focus on upgrading the motor drive system hardware as well as implementation and testing of features such as mobile robot obstacle detection and other assistive technologies to help people with disabilities. This involves the reattachment of the robot arm after repairing and updating with 3D printing and using modern hardware and software technology. We observed that the robotic arm has rotary and translation movements ...


Self-Driving Toy Car Using Deep Learning, Fahim Ahmed, Suleyman Turac, Mubtasem Ali Dec 2019

Self-Driving Toy Car Using Deep Learning, Fahim Ahmed, Suleyman Turac, Mubtasem Ali

Publications and Research

Our research focuses on building a student affordable platform for scale model self-driving cars. The goal of this project is to explore current developments of Open Source hardware and software to build a low-cost platform consisting of the car chassis/framework, sensors, and software for the autopilot. Our research will allow other students with low budget to enter into the world of Deep Learning, self-driving cars, and autonomous cars racing competitions.


How Degrees Of Freedom Affects Sense Of Agency, Akima Connelly, Jungsu Pak, Tian Lan, Uri Maoz Dec 2019

How Degrees Of Freedom Affects Sense Of Agency, Akima Connelly, Jungsu Pak, Tian Lan, Uri Maoz

Student Scholar Symposium Abstracts and Posters

Can the rubber-hand illusion be extended to a moving robotic arm in different degrees of freedom (DOF), inducing sense of ownership & agency over the arm? We hypothesize that DOF closer to what humans possess will result in a stronger sense of ownership and agency.


Chapman Ambassador Tour Robot, Alexandra Lewandowski, Yanni Parissis, Khiry Carter, Hilary Lee Dec 2019

Chapman Ambassador Tour Robot, Alexandra Lewandowski, Yanni Parissis, Khiry Carter, Hilary Lee

Student Scholar Symposium Abstracts and Posters

Being a student ambassador improves a student's confidence and leadership skills. With an increasing demand for technology skills, our project will display how the ambassador robot can assist student ambassadors while improving upon their efficiency, by discussing information during college campus tours and familiarizing students with robot applications and their technology. The ambassador robot can support students during tours by answering a question about specific knowledge that may have slipped an ambassador's mind. The robot will also be able to create a group-focused atmosphere that will allow ambassadors to have the opportunity to lean on a dependable teammate ...


An Approach To Fast Multi-Robot Exploration In Buildings With Inaccessible Spaces, Matt Mcneill, Damian Lyons Dec 2019

An Approach To Fast Multi-Robot Exploration In Buildings With Inaccessible Spaces, Matt Mcneill, Damian Lyons

Faculty Publications

The rapid exploration of unknown environments is a common application of autonomous multi-robot teams. For some types of exploration missions, a mission designer may possess some rudimentary knowledge about the area to be explored. For example, the dimensions of a building may be known, but not its floor layout or the location of furniture and equipment inside. For this type of mission, the Space- Based Potential Field (SBPF) method is an approach to multirobot exploration which leverages a priori knowledge of area bounds to determine robot motion. Explored areas and obstacles exert a repulsive force, and unexplored areas exert an ...


Reasoning From Point Clouds, Joey Wilson Dec 2019

Reasoning From Point Clouds, Joey Wilson

Computer Engineering

Over the past two years, 3D object detection has been a major area of focus across industry and academia. This is primarily due to the difficulty of learning data from point clouds. While camera images are fixed size and can therefore be easily trained on using convolution, point clouds are unstructured series of points in three dimensions. Therefore, there is no fixed number of features, or a structure to run convolution on. Instead, researchers have developed many ways of attempting to learn from this data, however there is no clear consensus on what is the best method, as each has ...


Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley Dec 2019

Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley

Master's Theses

This thesis investigates the involuntary signal-based grounding of civilian unmanned aerial systems (UAS) in unauthorized air spaces. The technique proposed here will forcibly land unauthorized UAS in a given area in such a way that the UAS will not be harmed, and the pilot cannot stop the landing. The technique will not involuntarily ground authorized drones which will be determined prior to the landing. Unauthorized airspaces include military bases, university campuses, areas affected by a natural disaster, and stadiums for public events. This thesis proposes an early prototype of a hardware-based signal based involuntary grounding technique to handle the problem ...


A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai Nov 2019

A Collaborative Visual Localization Scheme For A Low-Cost Heterogeneous Robotic Team With Non-Overlapping Perspectives, Benjamin Abruzzo, David Cappelleri, Philippos Mordohai

West Point Research Papers

This paper presents and evaluates a relative localization scheme for a heterogeneous team of low-cost mobile robots. An error-state, complementary Kalman Filter was developed to fuse analytically-derived uncertainty of stereoscopic pose measurements of an aerial robot, made by a ground robot, with the inertial/visual proprioceptive measurements of both robots. Results show that the sources of error, image quantization, asynchronous sensors, and a non-stationary bias, were sufficiently modeled to estimate the pose of the aerial robot. In both simulation and experiments, we demonstrate the proposed methodology with a heterogeneous robot team, consisting of a UAV and a UGV tasked with ...


Robot Simulation Analysis, Jacob Miller, Jeremy Evert Nov 2019

Robot Simulation Analysis, Jacob Miller, Jeremy Evert

Student Research

• Simulate virtual robot for test and analysis

• Analyze SLAM solutions using ROS

• Assemble a functional Turtlebot

• Emphasize projects related to current research trajectories for NASA, and general robotics applications


Cascaded Neural Networks For Identification And Posture-Based Threat Assessment Of Armed People, Benjamin Abruzzo, Kevin Carey, Christopher Lowrance, Eric Sturzinger, Ross Arnold, Christopher Korpela Nov 2019

Cascaded Neural Networks For Identification And Posture-Based Threat Assessment Of Armed People, Benjamin Abruzzo, Kevin Carey, Christopher Lowrance, Eric Sturzinger, Ross Arnold, Christopher Korpela

West Point Research Papers

This paper presents a near real-time, multi-stage classifier which identifies people and handguns in images, and then further assesses the threat-level that a person poses based on their body posture. The first stage consists of a convolutional neural network (CNN) that determines whether a person and a handgun are present in an image. If so, a second stage CNN is then used to estimate the pose of the person detected to have a handgun. Lastly, a feed-forward neural network (NN) makes the final threat assessment based on the joint positions of the person’s skeletal pose estimate from the previous ...


Distributed Spatiotemporal Control And Dynamic Information Fusion For Multiagent Systems, Dzung Minh Duc Tran Oct 2019

Distributed Spatiotemporal Control And Dynamic Information Fusion For Multiagent Systems, Dzung Minh Duc Tran

Graduate Theses and Dissertations

The first objective of this dissertation is to develop novel distributed control architectures allowing spatiotemporal control of multiagent systems as applied to formation control. In addition, its second objective is to introduce distributed estimation frameworks for dynamic information fusion for addressing the heterogeneity in sensor networks.

Changing the spatial and temporal properties of agent teams in a distributed manner and in real-time is an open problem in the control system literature as multiagent systems are often required to complete tasks with ever-increasing complexity in adverse conditions and dynamic environments. Motivated by this standpoint, this dissertation aims to address challenges related ...


Communication Capability For A Simulation-Based Test And Evaluation Framework For Autonomous Systems, Ntiana Sakioti Oct 2019

Communication Capability For A Simulation-Based Test And Evaluation Framework For Autonomous Systems, Ntiana Sakioti

Computational Modeling and Simulation Engineering Theses & Dissertations

The design and testing process for collaborative autonomous systems can be extremely complex and time-consuming, so it is advantageous to begin testing early in the design. A Test & Evaluation (T&E) Framework was previously developed to enable the testing of autonomous software at various levels of mixed reality. The Framework assumes a modular approach to autonomous software development, which introduces the possibility that components are not in the same stage of development. The T&E Framework allows testing to begin early in a simulated environment, with the autonomous software methodically migrating from virtual to augmented to physical environments as component ...


Audio Beat Detection With Application To Robot Drumming, Michael James Engstrom Oct 2019

Audio Beat Detection With Application To Robot Drumming, Michael James Engstrom

Dissertations and Theses

This Drumming Robot thesis demonstrates the design of a robot which can play drums in rhythm to an external audio source. The audio source can be either a pre-recorded .wav file or a live sample .wav file from a microphone. The dominant beats-per-minute (BPM) of the audio would be extracted and the robot would drum in time to the BPM. A Fourier Analysis-based BPM detection algorithm, developed by Eric Scheirer (Tempo and beat analysis of acoustical musical signals)i was adopted and implemented. In contrast to other popular algorithms, the main advantage of Scheirer's algorithm is it has no ...


Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal Oct 2019

Exercises Integrating High School Mathematics With Robot Motion Planning, Ronald I. Greenberg, George K. Thiruvathukal

Computer Science: Faculty Publications and Other Works

This paper presents progress in developing exercises for high school students incorporating level-appropriate mathematics into robotics activities. We assume mathematical foundations ranging from algebra to precalculus, whereas most prior work on integrating mathematics into robotics uses only very elementary mathematical reasoning or, at the other extreme, is comprised of technical papers or books using calculus and other advanced mathematics. The exercises suggested are relevant to any differerential-drive robot, which is an appropriate model for many different varieties of educational robots. They guide students towards comparing a variety of natural navigational strategies making use of typical movement primitives. The exercises align ...


Optimal Sampling Paths For Autonomous Vehicles In Uncertain Ocean Flows, Andrew J. De Stefan Aug 2019

Optimal Sampling Paths For Autonomous Vehicles In Uncertain Ocean Flows, Andrew J. De Stefan

Dissertations

Despite an extensive history of oceanic observation, researchers have only begun to build a complete picture of oceanic currents. Sparsity of instrumentation has created the need to maximize the information extracted from every source of data in building this picture. Within the last few decades, autonomous vehicles, or AVs, have been employed as tools to aid in this research initiative. Unmanned and self-propelled, AVs are capable of spending weeks, if not months, exploring and monitoring the oceans. However, the quality of data acquired by these vehicles is highly dependent on the paths along which they collect their observational data. The ...


Dimensional Analysis Of Robot Software Without Developer Annotations, John-Paul W. Ore Jul 2019

Dimensional Analysis Of Robot Software Without Developer Annotations, John-Paul W. Ore

Computer Science and Engineering: Theses, Dissertations, and Student Research

Robot software risks the hazard of dimensional inconsistencies. These inconsistencies occur when a program incorrectly manipulates values representing real-world quantities. Incorrect manipulation has real-world consequences that range in severity from benign to catastrophic. Previous approaches detect dimensional inconsistencies in programs but require extra developer effort and technical complications. The extra effort involves developers creating type annotations for every variable representing a real-world quantity that has physical units, and the technical complications include toolchain burdens like specialized compilers or type libraries.

To overcome the limitations of previous approaches, this thesis presents novel methods to detect dimensional inconsistencies without developer annotations. We ...


An Efficient Multiple-Place Foraging Algorithm For Scalable Robot Swarms, Qi Lu Jul 2019

An Efficient Multiple-Place Foraging Algorithm For Scalable Robot Swarms, Qi Lu

Computer Science ETDs

Searching and collecting multiple resources from large unmapped environments is an important challenge. It is particularly difficult given limited time, a large search area and incomplete data about the environment. This search task is an abstraction of many real-world applications such as search and rescue, hazardous material clean-up, and space exploration. The collective foraging behavior of robot swarms is an effective approach for this task. In our work, individual robots have limited sensing and communication range (like ants), but they are organized and work together to complete foraging tasks collectively. An efficient foraging algorithm coordinates robots to search and collect ...


Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger Jul 2019

Design Of A Canine Inspired Quadruped Robot As A Platform For Synthetic Neural Network Control, Cody Warren Scharzenberger

Dissertations and Theses

Legged locomotion is a feat ubiquitous throughout the animal kingdom, but modern robots still fall far short of similar achievements. This paper presents the design of a canine-inspired quadruped robot named DoggyDeux as a platform for synthetic neural network (SNN) research that may be one avenue for robots to attain animal-like agility and adaptability. DoggyDeux features a fully 3D printed frame, 24 braided pneumatic actuators (BPAs) that drive four 3-DOF limbs in antagonistic extensor-flexor pairs, and an electrical system that allows it to respond to commands from a SNN comprised of central pattern generators (CPGs). Compared to the previous version ...


Mathematics And Programming Exercises For Educational Robot Navigation, Ronald I. Greenberg Jul 2019

Mathematics And Programming Exercises For Educational Robot Navigation, Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

This paper points students towards ideas they can use towards developing a convenient library for robot navigation, with examples based on Botball primitives, and points educators towards mathematics and programming exercises they can suggest to students, especially advanced high school students.


A Systematic Review Of Studies On Educational Robotics, Saira Anwar, Nicholas Alexander Bascou, Muhsin Menekse, Asefeh Kardgar Jul 2019

A Systematic Review Of Studies On Educational Robotics, Saira Anwar, Nicholas Alexander Bascou, Muhsin Menekse, Asefeh Kardgar

Journal of Pre-College Engineering Education Research (J-PEER)

There has been a steady increase in the number of studies investigating educational robotics and its impact on academic and social skills of young learners. Educational robots are used both in and out of school environments to enhance K–12 students’ interest, engagement, and academic achievement in various fields of STEM education. Some prior studies show evidence for the general benefits of educational robotics as being effective in providing impactful learning experiences. However, there appears to be a need to determine the specific benefits which have been achieved through robotics implementation in K–12 formal and informal learning settings. In ...


Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed Jul 2019

Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed

Electronic Thesis and Dissertation Repository

In this thesis, several deterministic and stochastic attitude filtering solutions on the special orthogonal group SO(3) are proposed. Firstly, the attitude estimation problem is approached on the basis of nonlinear deterministic filters on SO(3) with guaranteed transient and steady-state measures. The second solution to the attitude estimation problem considers nonlinear stochastic filters on SO(3) with superior convergence properties with two filters being developed in the sense of Ito, and one in the sense of Stratonovich.

This thesis also presents several deterministic and stochastic pose filtering solutions developed on the special Euclidean group SE(3). The first solution ...


Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore Jul 2019

Evaluation Of Field Of View Width In Stereo-Vision-Based Visual Homing, Damian Lyons, Benjamin Barriage, Luca Del Signore

Faculty Publications

Visual homing is a local navigation technique used to direct a robot to a previously seen location by comparing the image of the original location with the current visual image. Prior work has shown that exploiting depth cues such as image scale or stereo-depth in homing leads to improved homing performance. While it is not unusual to use a panoramic field of view (FOV) camera in visual homing, it is unusual to have a panoramic FOV stereo-camera. So, while the availability of stereo-depth information may improve performance, the concomitant-restricted FOV may be a detriment to performance, unless specialized stereo hardware ...


Chatbots: Conversation Killers Or Makers?, Jing Jiang Jul 2019

Chatbots: Conversation Killers Or Makers?, Jing Jiang

MITB Thought Leadership Series

Whether you’re aware of it or not, the chances are you’ve been chatting to robots of late. While these bots are faceless and unseen, don’t be fooled into thinking they aren’t there. In fact, chatbots, have been around since the 1960s at least, but with the progress in artificial intelligence, cloud computing and voice recognition, they’ve received both a functionality and a popularity boost. From the cosmetic to the life-changing, nowadays, chatbots can do anything from helping a person lose weight to assisting refugees applying for asylum.


Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin Jul 2019

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 ...


Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang Jun 2019

Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang

Western Research Forum

The development of reliable orientation, position and linear velocity estimation algorithms for the 3D visual-inertial navigation system (VINS) is instrumental in many applications, such as autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs). It is extremely important when the global position system (GPS) is not available in GPS-denied environments. Recently, observers design for VINS using landmark position measurements from Kinect sensors or stereo cameras has been increasingly investigated in the literature.

The aim of this work is to design a nonlinear observer for VINS under the assumption that landmark position measurements are intermittent. In practice, the landmark measurements are ...


A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim Jun 2019

A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim

LSU Master's Theses

A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to ...


The Soul Annoyed Robot: A Senior Project Report, Dayton Andrew Muxlow, Christian Johansen Jun 2019

The Soul Annoyed Robot: A Senior Project Report, Dayton Andrew Muxlow, Christian Johansen

Computer Engineering

Our goal for this senior project was to create a competitive robot designed to com- pete in Roborodentia 2019. Our project started during the Winter 2019 quarter, and ended with the competition on May 18, 2019. During that time, we developed an accurate solenoid shooting mechanism, an elevated conveyor belt to carry poker chips, and a servo arm to scoop in stacks of poker chips. These hardware compo- nents were attached to a circular differential-drive wooden base designed to be easy to control. We also planned out our match strategy and implemented this strategy with software written in C/Wiring ...


Planr.: Planar Learning Autonomous Navigation Robot, Gabrielle S. Santamorena, Daniel Kasman, Jesus Mercado, Ben Klave, Andrew Weisman, Anthony Fortner Jun 2019

Planr.: Planar Learning Autonomous Navigation Robot, Gabrielle S. Santamorena, Daniel Kasman, Jesus Mercado, Ben Klave, Andrew Weisman, Anthony Fortner

Computer Engineering

PLANR is a self-contained robot capable of mapping a space and generating 2D floor plans of a building while identifying objects of interest. It runs Robot Operating System (ROS) and houses four main hardware components. An Arduino Mega board handles the navigation, while an NVIDIA Jetson TX2, holds most of the processing power and runs ROS. An Orbbec Astra Pro stereoscopic camera is used for recognition of doors, windows and outlets and the RPLiDAR A3 laser scanner is able to give depth for wall detection and dimension measurements. The robot is intended to operate autonomously and without constant human monitoring ...


Weight Controlled Electric Skateboard, Zachary Barram, Carson Bertozzi, Vishnu Dodballapur Jun 2019

Weight Controlled Electric Skateboard, Zachary Barram, Carson Bertozzi, Vishnu Dodballapur

Computer Engineering

Technology and the way that humans interact is becoming more vital and omnipresent with every passing day. However, human interface device designers suffer from the increasingly popular “designed for me or people like me” syndrome. This design philosophy inherently limits accessibility and usability of technology to those like the designer. This places severe limits of usability to those who are not fully able as well as leaves non-traditional human interface devices unexplored. This project set out to explore a previously uncharted human interface device, on an electric skateboard, and compare it send user experience with industry leading human interface devices.