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Robotics

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Articles 151 - 180 of 475

Full-Text Articles in Engineering

Initiating Change In Care: Socially Assistive Robots, Sooraj Sushama Jan 2023

Initiating Change In Care: Socially Assistive Robots, Sooraj Sushama

Theses and Dissertations

Socially assistive robots (SAR) are autonomous machines equipped with sensors and software that allow them to interact socially with humans. SAR robots are commonly used in healthcare settings to provide patients with non-clinical support, such as conversation and emotional companionship. SARs can also deliver reminders, monitor vital signs, and provide educational information about health conditions or medications. Researchers have studied SAR applications in detail. Additionally, there has been prior research on SAR where users' sociodemographic factors and technology acceptance were studied. But even though the backbone of SAR is an advanced technology, no known research has been done on users' …

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Space Force Design Project, Emily Greene, Ashton Orosa, Julia Patek, Nathan Doty Jan 2023

Space Force Design Project, Emily Greene, Ashton Orosa, Julia Patek, Nathan Doty

Williams Honors College, Honors Research Projects

The objective of our research project is to develop a lab testbed composed of a curved surface to represent a spacecraft hull, a mobile robot equipped with repair tools, and a robotic arm equipped with a laser 3D scanner. This project is part of a larger grant to the University of Akron from Space Force and Air Research Labs. The lab testbed developed in this project will be used to assist in creating and testing a software and algorithm to inspect and repair spacecraft while in orbit. The project will involve researching spacecraft hulls to create an accurate simulation bed, …

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Motion Planning In Artificial And Natural Vector Fields, Bernardo Martinez Rocamora Junior Jan 2023

Motion Planning In Artificial And Natural Vector Fields, Bernardo Martinez Rocamora Junior

Graduate Theses, Dissertations, and Problem Reports (ETD)

This dissertation advances the field of autonomous vehicle motion planning in various challenging environments, ranging from flows and planetary atmospheres to cluttered real-world scenarios. By addressing the challenge of navigating environmental flows, this work introduces the Flow-Aware Fast Marching Tree algorithm (FlowFMT*). This algorithm optimizes motion planning for unmanned vehicles, such as UAVs and AUVs, navigating in tridimensional static flows. By considering reachability constraints caused by vehicle and flow dynamics, flow-aware neighborhood sets are found and used to reduce the number of calls to the cost function. The method computes feasible and optimal trajectories from start to goal in challenging …

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Dynamic Analysis, Characterization, And Design Of Rigid-Flex Pcb Robotics, John Bell Dec 2022

Dynamic Analysis, Characterization, And Design Of Rigid-Flex Pcb Robotics, John Bell

All Dissertations

The era of space exploration is driven by and fuels large advances in technological progress.
Over the last decade, engineering practices for spacecraft, space structures, robotics, software and
hardware, manufacturing techniques, and the implementation of new and novel materials has been
revolutionized. Space exploration pushes the envelope in terms of technological capabilities and
robotic systems (rovers) become lighter, smaller, and more capable of sustaining damage. This
dissertation aids in the advancement of design knowledge for a class of rovers characterized by
their chassis architecture: rigid-flex printed circuit board (PCB) robotics. These rovers leverage
the printed circuit cards as the structural …

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Cad-Based Aerial Trajectory Generation And 3d Mapping For Close-Quarter Inspection, Angel Guillermo Ortega Castillo Dec 2022

Cad-Based Aerial Trajectory Generation And 3d Mapping For Close-Quarter Inspection, Angel Guillermo Ortega Castillo

Open Access Theses & Dissertations

Robotic technologies for inspection purposes of large-scale structures have grown in interest.Such technologies are encouraged to reduce the risk in which human operators are involved and to reduce costs due to downtime of the equipment. In the Energy sector, high interest is placed on power plant components where their correct operation is paramount. This work is inspired by the synthetic vision systems for aerial vehicles that use three-dimensional space (3D) to provide pilots with clear and intuitive means of understanding their flying environment. This work can be separated into three main sections: Trajectory Generation from Computer-Aided Design (CAD) Models, Crack …

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The Current State Of Autonomous Construction Robots And The Challenges Of Adoption, Philip Lang Hu Dec 2022

The Current State Of Autonomous Construction Robots And The Challenges Of Adoption, Philip Lang Hu

Construction Management

Autonomous construction robotics is a field of technology that has not traditionally garnered much attention from the mainstream construction industry. The technology has remained relatively under the radar amidst an industry which has yet to experience a fundamental shift in the last several decades. While many industries have found a way to integrate robotics into their everyday functions, the construction industry has yet to standardize the use of robotics on jobsites. Driven by the recent pandemic and subsequent labor shortage, construction robots are now optimally positioned to demonstrate the benefits of flexibility, worker safety, and enhanced productivity and efficiency they …

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A Mechanically Intelligent Hosing-Drone, Blake Hament Dec 2022

A Mechanically Intelligent Hosing-Drone, Blake Hament

UNLV Theses, Dissertations, Professional Papers, and Capstones

This manuscript presents a ”mechanically intelligent” approach to designing a Hosing-Drone for heavy-duty pressure washing. Spraying a hose creates strong reaction forces and torques. Previously demonstrated spraying robots are over-engineered to be very massive with huge inertias. These high inertias ”wash out” the reaction from the spraying. In the proposed approach, the contributions from all observable fluid dynamics, fluid structure interactions, and aerodynamics are studied individually and for the coupled system. Experimental data is collected and fit to dynamic models. These models are used to design a smaller, lighter, more agile vehicle than has been previously demonstrated. An impedance controller …

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Enabling The Human Perception Of A Working Camera In Web Conferences Via Its Movement, Anish Shrestha Nov 2022

Enabling The Human Perception Of A Working Camera In Web Conferences Via Its Movement, Anish Shrestha

LSU Master's Theses

In recent years, video conferencing has seen a significant increase in its usage due to the COVID-19 pandemic. When casting user’s video to other participants, the videoconference applications (e.g. Zoom, FaceTime, Skype, etc.) mainly leverage 1) webcam’s LED-light indicator, 2) user’s video feedback in the software and 3) the software’s video on/off icons to remind the user whether the camera is being used. However, these methods all impose the responsibility on the user itself to check the camera status, and there have been numerous cases reported when users expose their privacy inadvertently due to not realizing that their camera is …

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A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong Nov 2022

A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong

All Theses

Automation and robotics have become a staple in the biological manufacturing sector due to their ability to efficiently work without operator inputs, with a high degree of accuracy and repeatability. Industrial robotic arms, in particular, present themselves as valuable tools for biological manufacturing scenarios that require customized solutions due to their ease of programming and flexibility. The traditional hospital-focused healthcare system was organically developed to address acute conditions, however, in recent years, due to the unprecedented occurrence of emergencies happening more frequently, fast and efficient drug production becomes important [17]. This thesis represents the use of a benchtop robot and …

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A Survey Of Smart Manufacturing For High-Mix Low-Volume Production In Defense And Aerospace Industries, Tanjida Tahmina, Mauro Garcia, Zhaohui Geng, Bopaya Bidanda Oct 2022

A Survey Of Smart Manufacturing For High-Mix Low-Volume Production In Defense And Aerospace Industries, Tanjida Tahmina, Mauro Garcia, Zhaohui Geng, Bopaya Bidanda

Manufacturing & Industrial Engineering Faculty Publications

Defense and aerospace industries usually possess unique high-mix low-volume production characteristics. This uniqueness generally calls for prohibitive production costs and long production lead-time. One of the major trends in advanced, smart manufacturing is to be more responsive and better readiness while ensuring the same or higher production quality and lower cost. This study reviews the state-of-the-art manufacturing technologies to solve these issues and previews two levels of flexibility, i.e., system and process, that could potentially reduce the costs while increasing the production volume in such a scenario. The main contribution of the work includes an assessment of the current solutions …

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Digital Twins In Advanced Manufacturing To Enhance Manufacturing Efficiency, Max Kirkpatrick Oct 2022

Digital Twins In Advanced Manufacturing To Enhance Manufacturing Efficiency, Max Kirkpatrick

Theses and Dissertations

Digital Twins of manufacturing systems are an emerging tool for improvement, optimization, and monitoring of physical manufacturing systems. The idea of representing physical systems with digital depictions has been prevalent since the early days of Computer Aided Design (CAD), but recently the concept of a Digital Twin has been expanded to encapsulate more than just a digital model of a design. Instead, the Digital Twin offers a unique, comprehensive, and real-time toolset for analysis and improvement of physical systems. These tools can be used to improve system efficiency, perform “what-if” analyses, virtually commission manufacturing equipment, analyze system performance in real …

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Data-Driven Passivity-Based Control Of Underactuated Robotic Systems, Wankun Sirichotiyakul Aug 2022

Data-Driven Passivity-Based Control Of Underactuated Robotic Systems, Wankun Sirichotiyakul

Boise State University Theses and Dissertations

Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be …

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Design Of A Proprioceptive Actuator Utilizing A Cycloidal Gearbox, Craig John Kimball Jun 2022

Design Of A Proprioceptive Actuator Utilizing A Cycloidal Gearbox, Craig John Kimball

Master's Theses

Legged robotics creates the demand for high torque compact actuators able to develop high instantaneous torque. Proprioceptive actuator design theory is a design theory that removes the need for a torque feedback device and relies on the stiffness in the leg for absorbing the high Ground Impact Forces created by walking locomotion. It utilizes a high torque density motor paired with a gearbox with a high gear ratio for torque multiplication. Previously work has been done to design a proprioceptive actuator design that utilizes a planetary gearbox to create a modular low-cost actuator for legged robotics. The purpose of this …

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Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg Jun 2022

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

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Mars Rover Mechanical Arm & Turret, Kendall C. Chappell, Kyle D. Peterson, Rodrigo Gonzalez, Sam Cole Jun 2022

Mars Rover Mechanical Arm & Turret, Kendall C. Chappell, Kyle D. Peterson, Rodrigo Gonzalez, Sam Cole

Mechanical Engineering

The Rover Mechanical Arm and Turret (RAT) team was originally tasked with designing and building a mechanical arm to attach to the Exo Mars rover: a project headed by Cal Poly professor, Rich Murray. The rover will be the 3rd in a series of rovers sponsored by Murray. Through ideation, comparison studies, research, and prototyping, the RAT team determined a design capable of fulfilling the sponsor’s specifications. The concept design is lightweight, durable, and capable of 4 degrees of freedom. With two links and a mechanical claw, the rover arm has the capability to retrieve small rock samples from Mars's …

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Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding May 2022

Design And Control Of Next-Generation Uavs For Effectively Interacting With Environments, Caiwu Ding

Dissertations

In this dissertation, the design and control of a novel multirotor for aerial manipulation is studied, with the aim of endowing the aerial vehicle with more degrees of freedom of motion and stability when interacting with the environments. Firstly, it presents an energy-efficient adaptive robust tracking control method for a class of fully actuated, thrust vectoring unmanned aerial vehicles (UAVs) with parametric uncertainties including unknown moment of inertia, mass and center of mass, which would occur in aerial maneuvering and manipulation. The effectiveness of this method is demonstrated through simulation. Secondly, a humanoid robot arm is adopted to serve as …

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Cloudbots: Autonomous Atmospheric Explorers, Akash Binoj May 2022

Cloudbots: Autonomous Atmospheric Explorers, Akash Binoj

Honors Scholar Theses

The CloudBot is an autonomous weather balloon that operates on the principle of variable buoyancy to ascend and descend in the atmosphere. This project aims to develop a device that will collect atmospheric measurements and communicate them mid-flight. The apparatus consists of a helium-filled balloon, the robotic payload, and an air cell. The fixed-volume helium balloon at the top provides an upwards buoyancy force, while the air cell at the bottom can hold a variable amount of pressure to adjust the weight of the CloudBot. By doing so, it is able to travel in storm conditions and collect valuable atmospheric …

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Autonomous Material Refill For Swarm 3d Printing, William C. Jones May 2022

Autonomous Material Refill For Swarm 3d Printing, William C. Jones

Mechanical Engineering Undergraduate Honors Theses

3D printing currently offers robust and cheap rapid prototyping solutions. While standard 3D printing remains at the periphery of mass production, the technology serves as a starting point for the development of swarm manufacturing. Since swarm manufacturing is predicated upon autonomy, swarm technology companies such as AMBOTS are seeking to minimize human involvement in the swarm’s functions. At present, the 3D printing swarm consists of the printers, a transporter which can take them between job sites, and the floor tiles which provide power and support the build surfaces. To add to this ecosystem, this project is focused on the design …

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Characterizing And Predicting Human Visual Perception Of Unmanned Aerial Vehicle Gestures, Paul Fletcher Apr 2022

Characterizing And Predicting Human Visual Perception Of Unmanned Aerial Vehicle Gestures, Paul Fletcher

School of Computing: Dissertations, Theses, and Student Research

Unmanned Aerial Vehicles (UAVs) are being used in public domains and hazardous environments where effective communication strategies are critical. UAV gesture techniques have been shown to communicate meaning to human observers and may be ideal in contexts that require lightweight systems such as unmanned aerial flight, however, this work may be limited to an idealized range of viewer perspectives. As gesture is a visual communication technique it is necessary to consider how the perception of a robot gesture may suffer from obfuscation or self-occlusion from some viewpoints. This thesis presents the results of three online user-studies that examine participants’ ability …

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A Low-Cost And Low-Tech Solution To Test For Variations Between Multiple Offline Programming Software Packages., Steffen Wendell Bolz Apr 2022

A Low-Cost And Low-Tech Solution To Test For Variations Between Multiple Offline Programming Software Packages., Steffen Wendell Bolz

Masters Theses & Specialist Projects

This research paper chronicles the attempt to bring forth a low-cost and low-tech testing methodology whereby multiple offline programming (OLP) software packages’ generated programs may be compared when run on industrial robots. This research was initiated by the discovery that no real research exists to test between iterations of OLP software packages and that most research for positional accuracy and/or repeatability on industrial robots is expensive and technologically intensive. Despite this, many countries’ leaders are pushing for intensive digitalization of manufacturing and Small and Mediumsized Enterprises (SMEs) are noted to be lagging in adoption of such technologies. The research consisted …

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Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation, Nathan Dalton Apr 2022

Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation, Nathan Dalton

Masters Theses

Robotic on-orbit servicing is a developing technology that seeks to increase the longevity and repairability of faulty or aging resident space objects. In this research, the development of a flexible continuum manipulator for a small satellite system that performs low-complexity on-orbit servicing or debris removal is presented. Derivations of manipulator kinematics are described in detail, a non-linear control scheme has been developed, and the accuracy and servicing applications for the prototype are evaluated and discussed. The manipulator has been tested on an air-bearing dynamics simulator, and the results are extensively analyzed. System recommendations and future work suggestions are presented.

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Water Based Soil Fluidization Using A Soft Eversion Robot, James E. Hand Apr 2022

Water Based Soil Fluidization Using A Soft Eversion Robot, James E. Hand

Doctoral Dissertations and Master's Theses

Soft robotics, a form of robotics that incorporates nonrigid components, continues to grow in scope, system design, and application. A recent addition to this field is the Vine Robot platform, a bio-inspired robot designed by Stanford University in 2017. Its method of movement, known as eversion, closely resembles the way that a vine grows along a tree, giving it its name. The focus of this research was to take its proven abilities of underwater vine-like movement and soil fluidization, a process where granular materials are converted from a solid-like state to a fluid-like state, to create an underwater eversion robot …

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A Water-Surface Self-Leveling Landing Platform For Small-Scale Uavs, Mbidi Santos Jan 2022

A Water-Surface Self-Leveling Landing Platform For Small-Scale Uavs, Mbidi Santos

Electronic Theses and Dissertations

Because many of the most widely used UAVs, such as the Vertical Take-Off and Landing (VTOL), cannot land securely on sloped or fast-changing surfaces, there is a need to design better deployment and landing stations. This document proposes an approach to design a water-surface self-leveling landing platform by implementing the best concept to be used as a safe ground for UAVs to land and deploy on open waters. After conceptualizing multiple design ideas, these options were laid out in a decision matrix with four criteria: degrees of freedom, mechanical complexity, manufacturing, and cost. The chosen concept was the spherical parallel …

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Can We Make Our Robot Play Soccer? Influence Of Collaborating With Preservice Teachers And Fifth Graders On Undergraduate Engineering Students' Learning During A Robotic Design Process (Work In Progress), Krishnanand Kaipa, Jennifer Kidd, Julia Noginova, Francisco Cima, Stacie Ringleb, Orlando Ayala, Pilar Pazos, Kristie Gutierrez, Min Jung Lee Jan 2022

Can We Make Our Robot Play Soccer? Influence Of Collaborating With Preservice Teachers And Fifth Graders On Undergraduate Engineering Students' Learning During A Robotic Design Process (Work In Progress), Krishnanand Kaipa, Jennifer Kidd, Julia Noginova, Francisco Cima, Stacie Ringleb, Orlando Ayala, Pilar Pazos, Kristie Gutierrez, Min Jung Lee

Mechanical & Aerospace Engineering Faculty Publications

This work-in-progress paper describes engineering students’ experiences in an NSF-funded project that partnered undergraduate engineering students with pre-service teachers to plan and deliver robotics lessons to fifth graders at a local school. This project aims to address an apparent gap between what is taught in academia and industry’s expectations of engineers to integrate perspectives from outside their field to solve modern societal problems requiring a multidisciplinary approach. Working in small teams over Zoom, participating engineering, education, and fifth grade students designed, built, and coded bio-inspired COVID companion robots. The goal for the engineering students was to build new interprofessional skills, …

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Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley Jan 2022

Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley

Theses and Dissertations--Electrical and Computer Engineering

The focus of this research is to design a sensor data aggregation system and centralized sensor-driven trajectory planning algorithm for fixed-wing aircraft to optimally assist atmospheric simulators in mapping the local environment in real-time. The proposed application of this work is to be used in the event of a hazardous contaminant leak into the atmosphere as a fleet of sensing unmanned aerial vehicles (UAVs) could provide valuable information for evacuation measures. The data aggregation system was designed using a state-of-the-art networking protocol and radio with DigiMesh and a process/data management system in the ROS2 DDS. This system was tested to …

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Amygdala Modeling With Context And Motivation Using Spiking Neural Networks For Robotics Applications, Matthew Aaron Zeglen Jan 2022

Amygdala Modeling With Context And Motivation Using Spiking Neural Networks For Robotics Applications, Matthew Aaron Zeglen

Browse all Theses and Dissertations

Cognitive capabilities for robotic applications are furthered by developing an artificial amygdala that mimics biology. The amygdala portion of the brain is commonly understood to control mood and behavior based upon sensory inputs, motivation, and context. This research builds upon prior work in creating artificial intelligence for robotics which focused on mood-generated actions. However, recent amygdala research suggests a void in greater functionality. This work developed a computational model of an amygdala, integrated this model into a robot model, and developed a comprehensive integration of the robot for simulation, and live embodiment. The developed amygdala, instantiated in the Nengo Brain …

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Design Of Human Inspired Feet For Mithra, A High-Performance Humanoid Robot, Spencer Lyle Brewster Jan 2022

Design Of Human Inspired Feet For Mithra, A High-Performance Humanoid Robot, Spencer Lyle Brewster

Electronic Theses and Dissertations

This thesis explores the foot design for the new humanoid robot Mithra, with the goal to improve impact mitigation, natural gait throughout the gait cycle and balance. Using human gait parameters, a stiff aluminum foot was designed to emulate human center of pressure rollover trajectories. In addition, a 2D dynamic Finite Element Analysis (FEA) of the gait cycle was created in Abaqus to rapidly prototype foot designs. Data from the FE model provided impact forces, parameters for distal foot power evaluation and maximum lean angles. From this model a flexible nylon foot was optimized for the given design objectives. The …

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Top-Down & Bottom-Up Approaches To Robot Design, Dylan Michael Covell Jan 2022

Top-Down & Bottom-Up Approaches To Robot Design, Dylan Michael Covell

Graduate Theses, Dissertations, and Problem Reports (ETD)

This thesis presents a study of different engineering design methodologies and demonstrates their effectiveness and limitations in actual robot designs. Some of these methods were blended together with focus on providing an easily interpreted project design flow while implementing more bottom-up, or feedback, elements into the design methodology. Typically design methods are learned through experience, and design taught in academia aims to shape and formalize previous experience. Usually, inexperienced engineers are taught approaches resembling the Verein Deutscher Ingenieure (VDI) 2221 process. This method presented by the Association of German Engineers in 2006 is regarded as the general system design process. …

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Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry Jan 2022

Factors Influencing The Effectiveness Of Managing Human–Robot Teams, Theodore B. Terry

Walden Dissertations and Doctoral Studies

Certain factors can influence the capabilities of a robot–human team by affecting their social and behavioral dynamics in a work environment. But these factors were not known due to the progressive nature of human–robot partnerships and a lack of peer-reviewed literature on the topic. This e-Delphi study aimed to identify and understand these unknown influential factors based on the participants’ insights. The overarching research question asked about the need to determine factors that might influence the effectiveness of managing human-robot teams. The basis for the conceptual framework for this study was the theory of communication used in organizational management. Twelve …

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A Study Of Reduced Activation Ferritic Martensitic Metal Core Wire For Wire Arc Additive Manufacturing, Alexander L. Reichenbach Jan 2022

A Study Of Reduced Activation Ferritic Martensitic Metal Core Wire For Wire Arc Additive Manufacturing, Alexander L. Reichenbach

College of Graduate Studies: Theses & Dissertations

This study seeks to determine the technical feasibility of fabricating reduced activation ferritic martensitic (RAFM) steel parts, using a wire arc additive manufacturing (WAAM) process. The WAAM process, manufactures a part by depositing layers of metal onto a substrate to build a large scale near net shape part. RAFM alloy steels are next generation steels designed to resist radiation effects in the radiation intense working environments, such as nuclear reactors. To achieve this, process development and testing to design the WAAM production process with the custom RAFM filler wire was carried out. Several welding waveform modes were tested, and it …

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