Computer Engineering Commons^™

Development Of The Structure And Control System Of A Stewart Platform Robot For Human Balance Recovery Interventions, Rhobenn R. Alvarez Zambrano

Theses and Dissertations

In this thesis, the process to design a Stewart platform parallel robot for balance recovery with given assembly constraints and mobility requirements is described. A Model Based Design (MBD) approach in MATLAB was used as a tool to model and optimize the design of the platform through quick and repeatable workspace and movements simulations. An algorithm based on Inverse Kinematics was used to find the most adequate Stewart platform configuration which yields a workspace that fulfills the design goals best. Solidworks was used as a 3D CAD Modeling tool to elaborate machining blueprints while ensuring that each piece fits accurately …

Training Uav Teams With Multi-Agent Reinforcement Learning Towards Fully 3d Autonomous Wildfire Response, Bryce Hopkins

All Theses

As climate-exacerbated wildfires increasingly threaten landscapes and communities, there is an urgent and pressing need for sophisticated fire management technologies. Coordinated teams of Unmanned Aerial Vehicles (UAVs) present a promising solution for detection, assessment, and even incipient-stage suppression – especially when integrated into a multi-layered approach with other recent wildfire management technologies such as geostationary/polar-orbiting satellites and CCTV detection networks. However, there remains significant challenges in developing the necessary sensing, navigation, coordination, and communication subsystems that enable intelligent UAV teams. Further, federal regulations governing UAV deployment and autonomy pose constraints on real-world aerial testing, creating a disconnect between theoretical research …

Using Efficient Vision Transformers To Improve Perception Systems In Autonomous Off-Road Vehicles, Adam S. Pickeral

All Theses

The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also be quick to make decisions. In Autonomous Vehicle research, the environment perception system is one of the key com- ponents of development. The environment perception system allows the vehicle to understand its surroundings using cameras, light detection and ranging (LiDAR), and other sensor systems or modalities. Deep learning computer vision algorithms have shown to be the …

Adaptive Robot Collaboration Using Robotic Skin And Motion Similarity., Jordan Dowdy

Electronic Theses and Dissertations

An essential part of robotics research is human-robot collaboration, which enables the use of current and new robots in everyday life and the workforce. This research applies to both parts of human-robot collaboration: physical human-robot interaction (pHRI), as well as non-physical human-robot interaction. The physical interaction uses tactile sensors and a Neuroadaptive Controller (NAC) to allow for the guidance of a robotic arm and its end-effector. The non-physical interaction uses a novel motion similarity metric, the Cartesian Segment Online Dynamic Time-Warping (SODTW), to allow a robot to better adapt to the speed of the user performing the motion during imitation …

Development And Implementation Of A Gps-Agnostic Drone Localization System, Alex Peterson

Boise State University Theses and Dissertations

This research develops a GPS-denied state estimation system to localize and orient a drone for touch-based installations on power line towers and cables. As opposed to environments like underground tunnels or building interiors, our system effectively identifies and utilizes sparse landmarks such as towers, cables, and ground features. Our approach utilizes Simultaneous Localization and Mapping (SLAM) to create and reference three-dimensional maps in real time. Specifically, we employ Georgia Tech Smoothing and Mapping (GTSAM), proposed by Georgia Tech's BORG Lab, a factor graph-based data structure consisting of measurement factors and unknown pose variables that we are implementing for solving the …

Reality Capture Technologies For Continuous Inline Quality Monitoring In Construction 3d Printing, Michael J. Martin Ii

LSU Master's Theses

Extrusion-based construction 3D printing (C3DP) is an innovative and emerging technology aiming at the modernization of the construction industry. It uses robots and computer control to reduce the need for human labor and to decrease construction time and cost. C3DP creates elements layer by layer without using formworks, and it is critical to detect layer defects and deformations to ensure that each layer is printed with the desired dimensions. These defects can lead to a variety of issues during or after the construction process, including the collapse of freshly printed elements. In order to detect such deformations and to enable …

The Effects Of Using Artificial Intelligence Techniques In The Security Work System, Abdalla Alnaqbi

Journal of Police and Legal Sciences

The goal of the research is to shed light on the techniques of artificial intelligence in the work of experts and groups, and to achieve this goal by seeking to search for the concept of artificial intelligence, as well as the classification of artificial intelligence, and clarifying the role of artificial intelligence in organizations and bodies, and it also reached the definition of the positive and cooperative effects of artificial intelligence in... the job. And the. The researcher followed the descriptive model of analysis in order to achieve the objectives of the study, and the study reached one of the …

Criminal Confrontation Of The Crime Committed Via An Automated Robot In Libyan And Emirati Law, . Mashaallah Alzwae

Journal of Police and Legal Sciences

Today's world is witnessing an important development in telecommunications, information technology and computers that has resulted in what are known as automated robots as one of the most important applications of artificial intelligence and has increased reliance on them in various areas of life for the importance of the services they provide to humanity. However, such robots may be used to commit an offence and the study therefore aims to determine the effectiveness of legal texts in the face of the offence from which they may occur. The study required an analytical and comparative approach by analysing and comparing the …

Authenticated Diagnosing Of Covid-19 Using Deep Learning-Based Ct Image Encryption Approach, Mohamed Attia Abdelgwad, Amira Hassan Abed, Mahmoud Bahloul

Future Computing and Informatics Journal

Researchers are motivated to use artificial intelligence in biometrics, medical imaging encryption, as well as cybersecurity due to its rapid progress. An encryption method for CT scans—which are used to diagnose COVID-19 disease—is proposed in this study. The suggested encryption method creates a connection among an individual's face picture and CT image to increase confidentiality. The simple CT picture is first enhanced with a host image. An encryption key is multiplied by the final result. This key is produced by applying a Convolutional Neural Network (CNN) to recognize characteristics from people's face photographs. Additionally, a straightforward CNN with three convolutional …

Robotics Lab With The Lego Spike Prime Robot, Susan Imberman, Tatiana Anderson, Chang Guo, Vladimir Frants, Daniel Agman, Orit D. Gruber

Open Educational Resources

This lab introduces the field of Robotics. Robotics is a field that combines Artificial Intelligence with Engineering. In this lab, the student will be experimenting with the LEGO® Spike Prime Robot. The student's final report should include a copy of all the completed answers, program code, and observations.

After completing this lab experiment, the student will proceed to answer the following questions in the Observations section at the end of the lab report:

• List some applications of robotics in daily living and industry ?

• How does a robot sense and react to its environment?

• What new ideas were observed during …

Deep Learning For Multiple Unmanned Aerial Vehicle Coordination In Air Corridors, Liangkun Yu

Electrical and Computer Engineering ETDs

In the future, city skies will be filled with Unmanned Aerial Vehicles (UAVs) for rapid urban transport, including parcel deliveries and air taxis. NASA's Urban Air Mobility (UAM) envisions UAVs navigating air corridors. These virtual pathways ensure safety and compliance with regulations. However, current research on UAM practical applications is limited. This dissertation focuses on designing air corridors, developing UAV control systems, and ensuring the robustness of control algorithms against disturbances in real-world environments.

Our design features an air corridor system with horizontal lanes and on-off ramps, conceptualized as cylindrical spaces and tori, respectively. To enable each UAV to locally …

Experimentation With Speech Recognition And Word Error Rates, Sarah Zelikovitz, Orit D. Gruber

Open Educational Resources

In this lab you will be using the speech recognition program in Windows. After the initial training session, you will proceed to conduct experiments to evaluate the accuracy of the speech program.

At the end of this lab, you will be able to answer the following questions:

What is the purpose of speech recognition programs ?

• What are some applications of speech recognition programs ?

• What is the metric to evaluate speech recognition programs?

• What parameters are used to test speech recognition programs?

Safe And Efficient Operation Of Mobile Robots In Indoor Environments: A User-Centric Shared Control System With High-Level Navigation Capabilities, Ahmet Saglam

Electrical & Computer Engineering Theses & Dissertations

Hospitalization and isolation can be a traumatic experience for immunocompromised children, especially because they are separated from their families and friends. Social robots have been proposed as a way to improve the quality of care for children hospitalized in isolation by providing alternative means of social interaction and support. Remote control of such robots in a hospital setting, particularly where safety is a major concern, can be a daunting task for young patients.

This dissertation introduces a multilevel shared control system for mobile robots, specifically companion robots in hospital-like indoor spaces. The system integrates user inputs with algorithmic semi-autonomous control …

Studying The Performance Of Object Recognition With Fusion Of Visible Light And Infrared Images With Neural Networks, Plamen Petkov

Doctoral Dissertations and Master's Theses

Neural networks have been used for object detection and recognition in both color and intensity camera images. As the use of infrared cameras, colloquially termed thermal cameras, has increased and costs have decreased, object detection and recognition in infrared camera images have been increasingly studied. An infrared image is treated as an intensity image, just like a grayscale camera image, except the intensity corresponds to infrared radiation instead of visible light. The information provided by these two types of images are different, especially in different lighting and environmental situations, and some types of objects are more easily recognized in visible …

Development Of A Rule-Based Monitoring System For Autonomous Heavy Equipment Safety, Amirpooya Shirazi

Department of Construction Engineering and Management: Dissertations, Theses, and Student Research

Roadway construction work zones are constantly exposed to interactions among construction equipment, workers, and vehicles. Furthermore, ensuring safety in these areas is considered a challenging task due to the complexity of the environment. As shown in the rising trend of fatal accidents in roadway work zones, current OSHA regulations in construction safety are insufficient in effectively detecting unsafe situations and mitigating the risks. Furthermore, best practices, such as internal traffic control planning (ITCP), exhibit critical limitations requiring continuous monitoring of active work zones as well as adjustments to the site coordination plans due to the dynamic nature of work zone …

Authentic Impediments: The Influence Of Identity Threat, Cultivated Perceptions, And Personality On Robophobia, Kate K. Mays

Human-Machine Communication

Considering possible impediments to authentic interactions with machines, this study explores contributors to robophobia from the potential dual influence of technological features and individual traits. Through a 2 x 2 x 3 online experiment, a robot’s physical human-likeness, gender, and status were manipulated and individual differences in robot beliefs and personality traits were measured. The effects of robot traits on phobia were non-significant. Overall, subjective beliefs about what robots are, cultivated by media portrayals, whether they threaten human identity, are moral, and have agency were the strongest predictors of robophobia. Those with higher internal locus of control and neuroticism, and …

What’S In A Name And/Or A Frame? Ontological Framing And Naming Of Social Actors And Social Responses, David Westerman, Michael Vosburg, Xinyue Liu, Patric R. Spence

Human-Machine Communication

Artificial intelligence (AI) is fundamentally a communication field. Thus, the study of how AI interacts with us is likely to be heavily driven by communication. The current study examined two things that may impact people’s perceptions of socialness of a social actor: one nonverbal (ontological frame) and one verbal (providing a name) with a 2 (human vs. robot) x 2 (named or not) experiment. Participants saw one of four videos of a study “host” crossing these conditions and responded to various perceptual measures about the socialness and task ability of that host. Overall, data were consistent with hypotheses that whether …

Bridging Design And Perception: Novel Tools And Technologies For Creating Effective Human-Robot Interactions, Benjamin Dossett

Electronic Theses and Dissertations

This thesis explores human perception of robots through the use of novel tools and technologies. First, the impact of Augmented Reality (AR) data presentation on human perception of robots is investigated. A study conducted with the AR human-robot teaming system found that robot performance significantly influenced participants’ perceptions, overshadowing the impact of matching or mismatching robot confidence feedback. Second, the DU Want to Build-A-Bot platform is presented, which enables participatory robot design and opens the door for novel research of how robot design affects human perception. The Build-A-Bot platform enables the collection of diverse robot designs, facilitating machine learning analysis …

Navigating The Rules: Integrating Td3 And Sensor Fusion For Traffic-Aware Autonomous Vehicle Path Planning, Mahmoud Ayman Mohamed Elsayed

Theses and Dissertations

This work presents a novel algorithm for local path planning for autonomous vehicles (AVs) which prioritizes both safety and adherence to traffic regulations, addressing critical functions for AV navigation, such as navigating complex environments, avoiding obstacles, and ensuring passenger and road users safety. The algorithm integrates the Twin Delayed Deep Deterministic Policy Gradient (TD3) with sensor fusion based on Nvidia Convolutional Neural Network (NCNN). The study utilizes the CARLA simulator, and real-world datasets, including KITTI and WAYMO, to train and evaluate the proposed algorithm. The proposed algorithm leverages the complementary strengths of Imitation Learning (IL) and Deep Reinforcement Learning (DRL) …

Technocene, Vir Joseph Naidu

Masters Theses

Embodied human communication within the Anthropocene. Existing at the intersection of technology, and the body.

The design industry has developed technology that is, paradoxically, isolating. The exposure to a vast audience in the digital sphere has introduced new societal pressures, leading to a disconnection from our immediate surroundings, detached, and donning metaphorical masks. Technocene lives on the fringes of the discipline by blending conceptual thinking with practical application. Through curious, experimental artifacts, it prompts us to shed our masks and embrace vulnerability. Technocene endeavors to reimagine the human experience by acting as a discursive design project. It probes the boundaries …

Smart Robot Design And Implementation To Assist Pedestrian Road Crossing, Hovannes Kulhandjian

Mineta Transportation Institute

This research focuses on designing and developing a smart robot to assist pedestrians with road crossings. Pedestrian safety is a major concern, as highlighted by the high annual rates of fatalities and injuries. In 2020, the United States recorded 6,516 pedestrian fatalities and approximately 55,000 injuries, with children under 16 being especially vulnerable. This project aims to address this need by offering an innovative solution that prioritizes real-time detection and intelligent decision-making at intersections. Unlike existing studies that rely on traffic light infrastructure, our approach accurately identifies both vehicles and pedestrians at intersections, creating a comprehensive safety system. Our strategy …

Autonomous Apple Harvester Robot, Jack Ryan Cline, Tyus Green, Devon Woolston

Electrical Engineering

As agricultural demands rise and manual labor costs increase, there has become a dire need to automate apple harvesting. However, the precision and speed necessary for cost-efficient apple harvesting pose a significant challenge for robotic automation. To maintain cost-effective production, a harvester must be able to operate fast enough and long enough to compete with human labor. It must also be able to navigate and traverse apple orchards autonomously and pick apples without damaging the fruit or tree. This project presents an apple harvesting robot that uses a Mask R-CNN vision system with an RGB-D camera to detect the location …

Communication Challenges In Underwater Wireless Networks: Mac Protocols And Software Solutions, Dmitrii Dugaev

Dissertations, Theses, and Capstone Projects

Underwater wireless networks (UWNs) represent a diverse and intriguing research domain, encompassing a wide array of scientific and industrial applications. This dissertation delves into the communication challenges at the Medium Access Control (MAC) layer within UWNs, stemming from the distinctive signal propagation conditions and the harshness of the deployment environment. The manuscript provides comprehensive coverage of key aspects of UWNs, including potential applications, communication protocols, methodologies employed in such networks, and existing software solutions that facilitate simulation, emulation, and real testbed scenarios for underwater research endeavors. Furthermore, this research introduces innovative software and communication solutions designed to facilitate the seamless …

Drone Swarm Search And Rescue, Rushabh Shah, Christopher Short, Anderson Macmillan, Wyatt Colburn

Electrical Engineering

Drone swarms offer the potential to drastically reduce search times and improve the effectiveness of search and rescue operations. This senior project explores the development of a drone swarm system for search and rescue missions, focusing on two key challenges: (1) precise localization of each drone within the swarm relative to one another and (2) accurate localization of a target beacon relative to the drones. The project utilizes Real Time Kinematic (RTK) processing to enhance the accuracy of drone localization, achieving centimeter-level precision. Target localization is achieved through a triangulation-based approach using Received Signal Strength Indication (RSSI) data from a …

Mobile Robot Path Planning Optimization Problem Using Multi- Objective Genetic Algorithm, Suresh Ks

Theses and Dissertations

Mobile Robot Path Planning problem (MRPPP) is the most prominent research area employed in different real-time environments. The research domain of robotics offers abundant opportunities for researchers in various engineering fields with different dimensions. The automation of physical movements of the robots with intelligence to make dynamic decisions for interacting with the environment opens up a lot of challenges to the research community.

A variety of approaches are employed to solve the Mobile Robot Path Planning Problem (MRPP), which is to derive a feasible collision-free path to reach the destination from the given starting point by avoiding obstacles. The solution …

Effects Of A Wi-Fi Link On The Performance Of A Path Following Autonomous Ground Vehicle, Anthony Iwejuo, Austin Cagle, Billy Kihei, Ph.D.

Symposium of Student Scholars

As vehicles become more automated and connected, the future of safe and efficient travel will be dependent on efficient wireless networks. Artificial intelligence (AI) demands high power resources and computing resources that can be resource-intensive for mobile robotic systems. A new paradigm involving the remote computing of A.I. can enable robotics that are built lighter and more power efficient. In this study, we compare a locally run artificial intelligence algorithm for autonomous ground vehicle navigation against remote computation through various wireless links to highlight the need for low-latency access to remote computing resources over Wi-Fi network calls. Our findings show …

Mosaic Swarm Robotics: Emulating Natural Collective Behaviors For Efficient Task Execution With Custom Mobile Robots, Jonathan Ridley, Arielle Charles, Charles Koduru, Muhammad Hassan Tanveer, Razvan Voicu

Symposium of Student Scholars

Mosaics, as an artistic expression, involves the meticulous arrangement of diverse tiles to form a unified composition. Drawing inspiration from this concept, the field of swarm robotics seeks to emulate nature’s collective behaviors observed in ant colonies, fish schools, and bird flocks, employing multiple agents to accomplish tasks efficiently. Our research explores the concept of mosaic swarm robotics, where numerous nodes with specialized functions are deployed across various domains, including applications for outdoor data capture and environment mapping. We utilized custom mobile robots operated by Raspberry Pi microcontrollers. By establishing an elaborate web of client-to-client communications to enable true localized …

Securing The Skies: Safety-Constrained Decentralized Multi-Uav Coordination With Deep Reinforcement Learning, Jean-Elie Pierre

Electrical and Computer Engineering ETDs

In the dynamic landscape of autonomous aerial systems, the integration of uncrewed aerial vehicles (UAVs) has sparked a paradigm shift, offering unprecedented opportunities and challenges in collaborative decision-making and navigation. This thesis explores the application of multi-agent reinforcement learning (MARL) for the planning and coordination of UAVs in complex environments.

The first part of this thesis provides an introduction to single-agent reinforcement learning and MARL. We provide examples of the use of MARL for countering uncrewed aerial systems (C-UAS). We formulate the Counter-UAS problem as a multiagent partially observable Markov decision process (MAPOMDP), and we propose Multi-AGent partial observable deep …

Generalized Model To Enable Zero-Shot Imitation Learning For Versatile Robots, Yongshuai Wu

Master's Theses

The rapid advancement in Deep Learning (DL), especially in Reinforcement Learning (RL) and Imitation Learning (IL), has positioned it as a promising approach for a multitude of autonomous robotic systems. However, the current methodologies are predominantly constrained to singular setups, necessitating substantial data and extensive training periods. Moreover, these methods have exhibited suboptimal performance in tasks requiring long-horizontal maneuvers, such as Radio Frequency Identification (RFID) inventory, where a robot requires thousands of steps to complete.

In this thesis, we address the aforementioned challenges by presenting the Cross-modal Reasoning Model (CMRM), a novel zero-shot Imitation Learning policy, to tackle long-horizontal robotic …

Flexible Strain Gauge Sensors As Real-Time Stretch Receptors For Use In Biomimetic Bpa Muscle Applications, Rochelle Jubert

Student Research Symposium

This work presents a novel approach to real-time length sensing for biomimetic Braided Pneumatic Actuators (BPAs) as artificial muscles in soft robotics applications. The use of artificial muscles enables the development of more interesting robotic designs that no longer depend on single rotation joints controlled by motors. Developing robots with these capabilities, however, produces more complexities in control and sensing. Joint encoders, the mainstay of robotic feedback, can no longer be used, so new methods of sensing are needed to get feedback on muscle behavior to implement intelligent controls. To address this need, flexible strain gauge sensors from Portland company, …