Engineering Commons^™

Formal Performance Guarantees For An Approach To Human In The Loop Robot Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into the formal performance guarantees for the mission. We present a novel approach to modelling the skill level of the operator and integrating it into automatic verification using a linear Gaussians model parameterized by experimental calibration. Our approach allows us to model different skill levels directly in terms of the behavior of the lumped, robot plus operator, system.

Using MissionLab and VIPARS (a behavior-based robot mission verification …

Visual Multiple Target Tracking From A Descending Aerial Platform, Parker C. Lusk, Randal Beard

Student Works

A real-time visual multiple target tracker is demonstrated onboard a descending multirotor. Measurements of moving ground targets are generated using the Kanade-Lucas-Tomasi (KLT) tracking method. Homography-based image registration is used to align the measurements into the same coordinate frame, allowing for the detection of independently moving objects. The recently developed Recursive-RANSAC algorithm uses the visual measurements to estimate targets in clutter. Altitude-dependent tuning increases track continuity and coverage during the descent of the vehicle. The algorithm requires no operator interaction and increases the situation awareness of the unmanned aerial system. Real-time tracking efficiency is analyzed on GPUs and CPUs. Tracking …

Developing Grounded Goals Through Instant Replay Learning, Lisa Meeden, Douglas S. Blank

Computer Science Faculty Research and Scholarship

This paper describes and tests a developmental architecture that enables a robot to explore its world, to find and remember interesting states, to associate these states with grounded goal representations, and to generate action sequences so that it can re-visit these states of interest. The model is composed of feed-forward neural networks that learn to make predictions at two levels through a dual mechanism of motor babbling for discovering the interesting goal states and instant replay learning for developing the grounded goal representations. We compare the performance of the model with grounded goal representations versus random goal representations, and find …

Finite Element Analysis And Biological Growth Realization Using Robot Swarms, Cody W. Dorbin, Adrian Buganza-Tepole

The Summer Undergraduate Research Fellowship (SURF) Symposium

Our understanding of growth and remodeling of biological systems has increased in the past two decades; however, this knowledge has not yet been used in human-designed systems or engineering applications. This project studies designing and building a network of robots that mimics the biological behavior of growth driven by cell-cell communication and control networks. The objective of this research is to harness the principles that govern tissue adaptation and morphogenesis, where peer-to-peer local communication determines global properties, to create human-made engineering systems with life-like capabilities. We used Arduino microcontrollers to control an individual robot in an expandable 3d-printed cuboid shell. …

Flexible-Continuum Robot For Bladder Tissue Diagnostics, Samson Abimbola Adejokun

Mechanical and Aerospace Engineering Theses - Archive

The aim of this thesis is to investigate and develop a robotic system capable of a transurethral palpation of any targeted area on the bladder interior wall tissue to determine the biomechanical properties of the tissue considering the urinary tract geometric constraints and to demonstrate the motion kinematics of such robot to achieve a desired robot pose normal to any localized region throughout the bladder workspace. Current technologies have, to varied degree of success, provide approximate, global diagnostics information to bladder tissue elasticity. However, no direct access qualitative methods to measure the bladder tissue properties are known. For this reason, …

Motherbrain Swarm Robots, Tam Van, Mytch Johnson, Matthew Ng, Darius Holmgren

Computer Engineering

A trial in small-scale, cheap fleet autonomy with computer vision as the feedback controls system.

Wheelieking Trainer Project Report, Harold Hall Iii, Nathaniel Fox, Thomas Niemisto

Biomedical Engineering

In this report we will detail the design and implementation process of the WheelieKing Trainer project, a device that helps people learn how to do wheelies on a bicycle by preventing backward falls. Formal project requirements are specified, followed by the ideation and iteration process to meet those requirements. The components and methods used to create the device are described in detail. The results of the development process and usage test results of the device are included. Appendices at the end of this report include references, supporting analyses, and project management and timeline details.

A Handy Underwater Solution, Benjamin Murdoch, Matt Ricks, Ales Ball, Jacob Olson, Ethan Durrant, Connor Monson, Lars Watts, Mark Killpack

Journal of Undergraduate Research

Hod Lipson once asked an audience at TED, “Where are the robots?” We’ve been waiting for them a long time now and modern robotics still hasn’t caught up with our hopes and dreams. Through our research we hope to address one of the major topics in robotics: movement (or kinematics), and use this moment of exploration to build a new low cost robotic hand capable of use within the exciting realm of aquatics.

A Robotics Framework For Simulation And Control Of A Robotic Arm For Use In Higher Education, Craig Christensen

MS in Computer Science Project Reports

Robotic arms have been in common use for a several decades now in many areas from manufacturing and industrial uses to hobby projects and amusement park rides. However, there have been very few attempts to make an inexpensive robot arm with a software stack for use in higher education. This paper will outline a control and interfacing software stack built on the Robot Operating System (ROS) and a simulation of the 5 degree of freedom (DoF) robotic arm.

Safer Sweep Auger Operation Using Robotics, Nathan A. Wulf

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis presents a remotely controlled robotic solution for those who must sometimes enter agriculturally confined spaces in attempts to assist with grain bin cleanout, particularly by manipulating the sweep auger. In 2015 alone, there were at least 47 documented incidents that occurred in agriculturally confined spaces, of which more than half were fatal. While there have been several advancements in the quality and effectiveness of sweep augers, there have been very few that offer the safety and adaptability of the robotic solution proposed. This robotic solution is a four-wheeled, skid-steering style robot with camera and lighting attachments that allow …

An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons

Faculty Publications

Visual Homing is a bioinspired approach to robot navigation which can be fast and uses few assumptions. However, visual homing in a cluttered and unstructured outdoor environment offers several challenges to homing methods that have been developed for primarily indoor environments. One issue is that any current image during homing may be tilted with respect to the home image. The second is that moving through a cluttered scene during homing may cause obstacles to interfere between the home scene and location and the current scene and location. In this paper, we introduce a robust method to improve a previous developed …

Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to …

Performance Verification For Robot Missions In Uncertain Environments, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract—Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results …

Establishing A-Priori Performance Guarantees For Robot Missions That Include Localization Software, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behaviorbased, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several …

Design And Control Of A Powered Rowing Machine With Programmable Impedance, Jose Humberto De La Casas Zolezzi

ETD Archive

Due to the rise of obesity, diabetes and cardiovascular disease, research in human performance and physical activity has received increased attention. Rowing machines are used for performance improvements through concentric exercises, however a combination of concentric and eccentric actions is known to improve the effectiveness of training. In this work, a conventional rowing machine was modified to include an electric motor and a robust impedance control system, enabling programmable impedance with concentric and eccentric capabilities. Eccentric exercises are known to contribute significantly to the efficacy of training and to diminish the detrimental effects of humans operating in microgravity for long …

Derivative-Free Kalman Filter-Based Control Of Nonlinear Systems With Application To Transfemoral Prostheses, S. Mahmoud Moosavi

ETD Archive

Derivative-free Kalman filtering (DKF) for estimation-based control of a special class of nonlinear systems is presented. The method includes a standard Kalman filter for the estimation of both states and unknown inputs, and a nonlinear system that is transformed to controllable canonical state space form through feedback linearization (FL). A direct current (DC) motor with an input torque that is a nonlinear function of the state is considered as a case study for a nonlinear single-input-single-output (SISO) system. A three degree-of-freedom (DOF) robot / prosthesis system, which includes a robot that emulates human hip and thigh motion and a powered …

Design And Demonstration Of A Physical, Multi-Agent Autonomous Controller Testbed, Eric A. Nees

Browse all Theses and Dissertations

Navigation and control algorithms are often tested in a simulated environment before being deployed in physical systems. Although simulated environments provide a controlled setting to carefully evaluate performance, the designed scenarios are sometimes unrealistically ideal and may unintentionally omit circumstances or unmodeled interactions. This thesis presents the design, implementation, and practical demonstration of a physical testbed that enables the testing of multi-agent autonomous strategies in hardware on a small scale. Testing the algorithms at scale allows real-time exploration of the interaction and performance of both human and autonomous algorithms under non-ideal conditions while avoiding the costs and risks of full-scale, …

Moving Integrated Weed Management From Low Level To A Truly Integrated And Highly Specific Weed Management System Using Advanced Technologies, S. L. Young, S. K. Pitla, F. K. Van Evert, J. K. Schueller, F. J. Pierce

Department of Agricultural and Biological Systems Engineering: Faculty Publications

Integrated weed management (IWM) is one of the most commonly referred to approaches for sustainable and effective weed control in agriculture, yet it is not widely practiced, likely because current IWM systems fail to meet performance expectations of growers. The effectiveness and value of IWM systems should increase with increasing application specificity and true integration made possible with contemporary advances in technology, information systems and decision support. IWM systems can be classified based on their degree of application specificity and level of integration of tactics. In the application specificity pathway, a tactic is applied at a range of scales, from …

Hands-On Learning Environment And Educational Curriculum On Collaborative Robotics, Ana Djuric, Jeremy L. Rickli, Vukica M. Jovanovic, Daniel Foster

Engineering Technology Faculty Publications

The objective of this paper is to describe teaching modules developed at Wayne State University integrate collaborative robots into existing industrial automation curricula. This is in alignment with Oakland Community College and WSU’s desire to create the first industry-relevant learning program for the use of emerging collaborative robotics technology in advanced manufacturing systems. The various learning program components will prepare a career-ready workforce, train industry professionals, and educate academicians on new technologies. Preparing future engineers to work in highly automated production, requires proper education and training in CoBot theory and applications. Engineering and Engineering Technology at Wayne State University offer …

A Visual Velocity Impedance Controller, Victor Nevarez

Mechanical Engineering ETDs

Successful object insertion systems allow the object to translate and rotate to accommodate contact forces. Compliant controllers are used in robotics to provide this accommodation. The impedance compliant controller is one of the more researched and well known compliant controllers used for assembly. The velocity filtered visual impedance controller is introduced as a compliant controller to improve upon the impedance controller. The velocity filtered impedance controller introduces a filter of the velocity impedance and a gain from the stiffness. The velocity impedance controller was found to be more stable over larger ranges of stiffness values than the position based impedance …

Robostock: Autonomous Inventory Tracking, Drew Christian Balthazor

Computer Engineering

No abstract provided.

Autonomous Uavs For Near Earth Environmental Sensing, David J. Anthony

School of Computing: Dissertations, Theses, and Student Research

Unmanned aerial vehicles (UAVs) are playing an increasing role in large scale environmental monitoring. Small UAVs are increasingly used to monitor agricultural fields, infrastructure projects, and disaster areas. The combination of their sensors, ease of use, and portability make them an ideal tool for collecting information on demand about geographic regions. These small UAVs do have several significant limitations. The UAVs have very limited autonomy and fly pre-determined flight paths far above the underlying terrain, limiting the spatial resolution of the collected data. Current battery technology severely limits their flight times, which in turn limits the temporal resolution of the …

Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez

Mechanical Engineering ETDs

Many robotic applications utilize a detailed map of the world and the algorithm used to produce such a map must take into consideration real-world constraints such as computational and memory costs. Traditional mesh-based environmental mapping algorithms receive data from the sensor, create a mesh surface from the data, and then append the surface to a growing global mesh. These algorithms do not provide a computationally efficient mechanism for reducing redundancies in the global mesh. MABDI is able to leverage the knowledge contained in the global mesh to find the difference between what we expect our sensor to see and what …

Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.

Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy …

Multi-Modal Sensory Input And Novel Interfaces For Robotic Prosthetic Devices, Joseph Sanford

Electrical Engineering Dissertations - Archive

Automated systems have progressed to begin allowing for Human-robot interaction and collaboration in the workplace and rehabilitation settings. Seamless collaboration between robotic systems and users requires intuitive modes of interaction and systems with advanced sensing capabilities. The research presented below focuses on identifying human intent through safe, intuitive and optimized input method and sensing. In this dissertation novel sensor input modalities for Human-Robot Interaction (HRI) are discussed, fundamental research regarding physical Human-Robot Interaction (pHRI) is presented, and solutions towards optimal placement of sensors to facilitate intuitive interfaces are shown. EMG and Pressure: EMG and intrasocket pressure sensors are used in …

Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie

Theses and Dissertations

Research in soft robot hardware has led to the development of platforms that allow for safer performance when working in uncertain or dynamic environments. The potential of these platforms is limited by the lack of proper dynamic models to describe or controllers to operate them. A common difficulty associated with these soft robots is a representation for torque, the common electromechanical relation seen in motors does not apply. In this thesis, several different torque models are presented and used to construct linear state-space models. The control limitations on soft robots are induced by natural compliance inherent to the hardware. This …

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.

An Investigation Of The Impact A Rov Competition Curriculum Has On Student Interest In Stem, Specifically Technology And Engineering, Daniel Gordon Bates

Student Works

This research investigates the impact a Remotely Operated Vehicle (ROV) program has on student interest in, and perception of, technology and engineering (sTEm). ROV programs embed areas of science, technology, engineering and math (STEM) into their curriculum; however, emphasis for this study is placed on interest and perception of the "T" and "E" of STEM. Although there are many articles detailing the benefits of ROV programs, there is little empirical data documenting the impact on student interest and perception of sTEm. This study outlines the background of a few major ROV programs in the U.S.; specifically Utah Underwater Robotics (UUR), …

Design And Testing Of An Autonomous Ground Robot For Agricultural Applications, Lukas L. Hannemann

BioResource and Agricultural Engineering

This senior project discusses the design and testing of an autonomous ground robot for agricultural applications such as strawberries. The vehicle will feature a robotic arm that will be programmed to perform various tasks, such as collecting soil and leaf samples of the crop or measuring soil moisture and salinity. Various components were chosen to be implemented on the vehicle due its power requirements and operating environment. Finite Element Analysis testing was done on the frame of the vehicle to ensure the adequacy of the design.

An Investigation Of The Impact A Rov Competition Curriculum Has On Student Interest In Stem, Specifically Technology And Engineering, Daniel Gordon Bates

Theses and Dissertations

This research investigates the impact a Remotely Operated Vehicle (ROV) program has on student interest in, and perception of, technology and engineering (sTEm). ROV programs embed areas of science, technology, engineering and math (STEM) into their curriculum; however, emphasis for this study is placed on interest and perception of the "T" and "E" of STEM. Although there are many articles detailing the benefits of ROV programs, there is little empirical data documenting the impact on student interest and perception of sTEm. This study outlines the background of a few major ROV programs in the U.S.; specifically Utah Underwater Robotics (UUR), …