Computer Engineering Commons^™

Biobotic Solutions, Michael Joseph Iseman

Finance Undergraduate Honors Theses

BioBotic Solutions is a business plan that was created and used to compete in national business competitions. The business takes an in-depth look into the pathology industry, which has an impact on nearly 75% of all patient diagnosis, and proposes a change- to automate a process currently done manually, and introduce to proprietary products, a robotic arm and a new container. The solution addresses a $500M annual opportunity, and will reduce both errors and costs for mid/large size laboratories.

Analysis, Optimization, And Implementation Of A Uav-Based Wireless Power Transfer System, Andrew Mittleider

School of Computing: Dissertations, Theses, and Student Research

Wireless power transfer is rapidly advancing in its ability to efficiently transfer power to a variety of devices.

As the efficiency increases, more applications for these systems arise. Since magnetic resonant wireless power transfer can only transfer a small amount of power, most current applications only focus on powering low-powered devices.

Wireless Sensor Networks are composed of many low-powered nodes which currently require human interaction to remain powered. We propose recharging a low-powered Wireless Sensor Network (WSN) with a magnetic resonant wireless power transfer system attached to a quadrotor Unmanned Aerial Vehicle (UAV).

This thesis addresses three main challenges with …

Autonomous Aerial Water Sampling, John-Paul W. Ore

School of Computing: Dissertations, Theses, and Student Research

Obtaining spatially separated, high frequency water samples from rivers and lakes is critical to enhance our understanding and effective management of fresh water resources. In this thesis we present an aerial water sampler and verify the system in field experiments. The aerial water sampler has the potential to vastly increase the speed and range at which scientists obtain water samples while reducing cost and effort. The water sampling system includes: 1) a mechanism to capture three 20 ml samples per mission; 2) sensors and algorithms for safe navigation and altitude approximation over water; and 3) software components that integrate and …

The Design Of A Mobile, Animatronic Bald Eagle, Eric Burns

Phi Kappa Phi Research Symposium (Archived)

Modern animatronics are used as a tool to help engage audiences in realistic and entertaining experiences. Many animatronic figures are dynamic in movement, but static in mobility. The research presented covers the beginnings of mobile animatronic research. An animatronic bald eagle, Opportunity, was designed for that purpose. Animations for Opportunity are generated by integration of Arduino, Pololu Mini Maestro, and Hitec Servo Motors. Arduino receives signals from flex sensors which cause voltage variations when “flexed”. The 1:1 scale, animatronic eagle can be perched on the arm of an “actor” who simulates an eagle’s caretaker. The flex sensors are located within …

A Multi-Case Study Of Student Interactions With Educational Robots And Impact On Science, Technology, Engineering, And Math (Stem) Learning And Attitudes, Stephanie Holmquist

USF Tampa Graduate Theses and Dissertations

The demand for STEM trained workers continues to increase not only in the United States, but globally. Reports have indicated that the United States is not doing a good job encouraging students to pursue STEM oriented degrees. In particular, it has become increasingly important to emphasize STEM connections at an early level in order to encourage student career exploration as they continue their education. Educational robots represent a unique alternative to traditional methods, especially at the elementary level. Considering the use of educational robots have largely been ignored at this level, the purpose of this study was to describe the …

Eliminating Mutual Views In Fusion Of Ranging And Rgb-D Data From Robot Teams Operating In Confined Areas, Damian M. Lyons, Karma Shrestha

Faculty Publications

We address the problem of fusing laser and RGB-Data from multiple robots operating in close proximity to one another. By having a team of robots working together, a large area can be scanned quickly, or a smaller area scanned in greater detail. However, a key aspect of this problem is the elimination of the spurious readings due to the robots operating in close proximity. While there is an extensive literature on the mapping and localization aspect of this problem, our problem differs from the dynamic map problem in that it involves at one kind of transient map feature, robots viewing …

A Sensor Ontology For The Domain Of Firefighting Robots, Amy Renae Wagoner

Open Access Theses

Fires create thousands of dollars in damage and thousands of deaths each year. Firefighters risk their lives everyday and are often killed in action. Firefighting robots may be able to reduce the loss of lives and damage due to fires. Robots are often used for redundant tasks that require the consistency and efficiency of a machine. They are especially optimal for tasks that require strength that exceeds that of a typical human being or for environments that are hazardous to people. Robots' metallic exteriors are far more durable and easier to replace than flesh and blood, thus they are ideal …

Software Architecture And Development For Controlling A Hubo Humanoid Robot, Manas Ajit Paldhe

Open Access Theses

Due to their human-like structure, humanoid robots are capable of doing some complex tasks. Since a humanoid robot has a large number of actuators and sensors, controlling it is a difficult task. For various tasks like balancing, driving a car, and interacting with humans, real-time response of the robot is essential. Efficiently controlling a humanoid robot requires a software that guarantees real-time interface and control mechanism so that real-time response of the robot is possible. Addition- ally, to reduce the development effort and time, the software should be open-source, multi-lingual and should have high-level constructs inbuilt in it.

Currently Robot …

Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain

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

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …

Conception, Design And Construction Of A Remote Wifi Vehicle Using Arduino, Clayton Broman

Physics

The scope of this senior project was to make a wireless vehicle controlled via Internet Protocol. This vehicle operates remotely and without direct line of sight. Commands are sent from a program running on a laptop and transmitted using a wireless router. Visual data is retrieved from a network camera, mounted on the vehicle, in real-time, to see where you are going.

Scene-Dependent Human Intention Recognition For An Assistive Robotic System, Kester Duncan

USF Tampa Graduate Theses and Dissertations

In order for assistive robots to collaborate effectively with humans for completing everyday tasks, they must be endowed with the ability to effectively perceive scenes and more importantly, recognize human intentions. As a result, we present in this dissertation a novel scene-dependent human-robot collaborative system capable of recognizing and learning human intentions based on scene objects, the actions that can be performed on them, and human interaction history. The aim of this system is to reduce the amount of human interactions necessary for communicating tasks to a robot. Accordingly, the system is partitioned into scene understanding and intention recognition modules. …

Mobile Robot Localization Based On Kalman Filter, Omar Q. Mohsin

Dissertations and Theses

Robot localization is one of the most important subjects in the Robotics science. It is an interesting and complicated topic. There are many algorithms to solve the problem of localization. Each localization system has its own set of features, and based on them, a solution will be chosen. In my thesis, I want to present a solution to find the best estimate for a robot position in certain space for which a map is available. The thesis started with an elementary introduction to the probability and the Gaussian theories. Simple and advanced practical examples are presented to illustrate each concept …

Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system and …

Toward A Framework For Levels Of Robot Autonomy In Human-Robot Interaction, Jenay Beer, A. D. Fisk, W. A. Rogers

Faculty Publications

Autonomy is a critical construct related to human-robot interaction (HRI) and varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots interact with one another. Thus, there is a need to understand HRI by identifying variables that influence—and are influenced by—robot autonomy. Our overarching goal is to develop a framework for LORA in HRI. To reach this goal, our framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed …

Perception Based Misunderstandings In Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee

Articles

In a situated dialogue, misunderstandings may arise if the participants perceive or interpret the environment in different ways. In human-computer dialogue this may be due the sensor errors. We present an experiment system and a series of experiments in which we investigate this problem.

Clarification Dialogues For Perception-Based Errors In Situated Human-Computer Dialogues, Niels Schütte, John D. Kelleher, Brian Mac Namee

Conference papers

We present an experiment about situated human-computer interaction. Participants interacted with a simulated robot system to complete a series of tasks in a situated environment. Errors were introduced into the robot's perception to produce misunderstandings. We recorded the interactions and attempt to identify strategies the participants used to solve the arising problems.

Neutrosophic Logic Approaches Applied To ”Rabot” Real Time Control, Alexandru Gal, Luige Vladareanu, Florentin Smarandache, Hongnian Yu, Mincong Deng

Branch Mathematics and Statistics Faculty and Staff Publications

In this paper we present a way of deciding which control law should operate at a time for a mobile walking robot. The proposed deciding method is based on the new research field, called Neutrosophic Logic. The results are presented as a simulated system for which the output is related to the inputs according to the Neutrosophic Logic.

Multi-Objective Border Patrolling Optimization Using Game Theory And Evolutionary Algorithms, Franciso Oswaldo Aguirre

Open Access Theses & Dissertations

Border security has evolved significantly since the days when no more than 75 Mounted Guards patrolled the U.S. border in the early 1900's. The border region includes thousands of miles of both land and maritime borders that must be controlled, as well as commercial transportation networks. One of the primary components of the Department of Homeland Security (DHS) is the U.S. Customs and Border Protection (CBP) agency. One of the most typical activities performed by CBP is patrolling the expansive open areas in between official points of entry (POEs) to prohibit illegal entry attempts. Roving patrols are routinely conducted by …

Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase

Wayne State University Dissertations

The objective of this research is to compare barycenter offset based designs of spherical robots to control moment gyroscope (CMG) based designs in order to determine which approach is most effective. The first objective was to develop a list of current state of the art designs in order to gain an overall understanding of what the obstacles in this area of research were. The investigation showed that barycenter offset designs can produce a low, continuous output torque, whereas CMG based designs can usually only produce a high, momentary output torque. The second objective was to develop a CMG based design …

Development And Human Performance Evaluation Of Control Modes Of An Exo-Skeletal Assistive Robotic Arm (Esara), Umer Khalid

Wayne State University Dissertations

This research was conducted to assist with functional tasks for a targeted group of individuals with spinal cord injury (SCI); with C5 to C7 level of injury relating to upper extremity movement. The specific population was selected as the existing technology was either too expensive, too bulky or was unable to address their needs in regards to upper extremity mobility. In addition, no platforms allowed multimodal control options for customization or provided a methodology for this crucial evaluation. The motivation of this research was to provide a methodology for selecting the appropriate control of an assistive device based on the …

Virtualized Welding Based Learning Of Human Welder Behaviors For Intelligent Robotic Welding, Yukang Liu

Theses and Dissertations--Electrical and Computer Engineering

Combining human welder (with intelligence and sensing versatility) and automated welding robots (with precision and consistency) can lead to next generation intelligent welding systems. In this dissertation intelligent welding robots are developed by process modeling / control method and learning the human welder behavior.

Weld penetration and 3D weld pool surface are first accurately controlled for an automated Gas Tungsten Arc Welding (GTAW) machine. Closed-form model predictive control (MPC) algorithm is derived for real-time welding applications. Skilled welder response to 3D weld pool surface by adjusting the welding current is then modeled using Adaptive Neuro-Fuzzy Inference System (ANFIS), and compared …

A Collaborated Process With A Wireless Autonomous Vehicle At It's Center, Thomas B. Stout, Steve C. Hsiung

Engineering Technology Faculty Publications

Developing partnerships between high schools, community colleges and universities is critical for the successful transitions to a lifelong STEM careers. How do you develop these partnerships? The sharing of a technology platform such as autonomous vehicles can bridge the gap by using a common core group of materials. Collaborations between teachers and faculty indifferent schools that share common interests in teaching control systems and robotics technology can be an excellent start. The university as catalyst in the process by designing the curriculum, system hardware and software then through the common interest deploying them in the high schools and community college. …

Review Of Development Stages In The Conceptual Design Of An Electro Hydrostatic Actuator For Robotics, Velibor Karanović, Mitar Jocanović, Vukica Jovanović

Engineering Technology Faculty Publications

The design of modern robotic devices faces numerous requirements and limitations which are related to optimization and robustness. Consequently, these stringent requirements have caused improvements in many engineering areas and lead to development of new optimization methods which better handle new complex products designed for application in industrial robots. One of the newly developed methods used in industrial robotics is the concept of a self-contained power device, an Electro-Hydrostatic Actuator (EHA). EHA devices were designed with a central idea, to avoid the possible drawbacks which were present in other types of actuators that are currently used in robotic systems. This …

Children-Robot Interaction: Eye Gaze Analysis Of Children With Autism During Social Interactions, Seyedmohammad Mavadati, Huanghao Feng, S. Silver, Anibal Gutierrez, Mohammad H. Mahoor

Electrical and Computer Engineering: Graduate Student Scholarship

Background:

Typical developing individuals utilize the direction of eye gaze and eye fixation/shifting as crucial elements to transmit socially relevant information (e.g. like, dislike) to others. Individuals with Autism Spectrum Disorder (ASD), deviant pattern of mutual eye gaze is a noticeable feature that may be one of the earliest (detectable) demonstrations of impaired social skills that would lead to other deficits in ASD Individuals (e.g. delaying development of social cognition and affective construal processes). This can significantly affect the quality of human’s social interactions. Recent studies reveal that children with ASD have superior engagement to the robot-based interaction, and it …

Comparison Of Computer-Based And Optical Face Recognition Paradigms, Abdulaziz A. Alorf

Dissertations, Master's Theses and Master's Reports - Open

The main objectives of this thesis are to validate an improved principal components analysis (IPCA) algorithm on images; designing and simulating a digital model for image compression, face recognition and image detection by using a principal components analysis (PCA) algorithm and the IPCA algorithm; designing and simulating an optical model for face recognition and object detection by using the joint transform correlator (JTC); establishing detection and recognition thresholds for each model; comparing between the performance of the PCA algorithm and the performance of the IPCA algorithm in compression, recognition and, detection; and comparing between the performance of the digital model …

Autonomous Power Distribution Systems, Barzin Moridian

Dissertations, Master's Theses and Master's Reports - Open

Using robotic systems for many missions that require power distribution can decrease the need for human intervention in such missions significantly. For accomplishing this capability a robotic system capable of autonomous navigation, power systems adaptation, and establishing physical connection needs to be developed. This thesis presents developed path planning and navigation algorithms for an autonomous ground power distribution system. In this work, a survey on existing path planning methods along with two developed algorithms by author is presented. One of these algorithms is a simple path planner suitable for implementation on lab-size platforms. A navigation hierarchy is developed for experimental …

Mobile Sensor Data Mining, Jeff Lockhart Fcrh '13

The Fordham Undergraduate Research Journal

At an ever increasing rate, the smartphones and other devices people carry with them in their everyday lives are packed with sensors and processing power. This provides an unprecedented opportunity to apply data mining techniques to people’s activities as they go about their daily lives, without changing their routine. The goal of the Wireless Sensor Data Mining (WISDM) Project is to explore the possibilities of data mining on these powerful mobile platforms.1 Data mining involves extracting knowledge from data using computer algorithms. A major sensor in these devices is the tri-axial accelerometer originally included for screen rotation and advanced gaming. …

Remote/Autonomous Sentry Gun Platform, Angelo Gagliardi, Dante Gagliardi

Electrical Engineering

This senior project involves the complete system design and construction of a "Nerf" sentry gun to replace an armed guard. We aimed to develop a compact and highly mobile defense system that allows operational flexibility. The sentry gun can autonomously track and shoot at moving targets, while also allowing a user to remotely access and control the gun via computer. The mobility, hardiness, and functionality of this system allows a reliable replacement for human beings in harsh and hostile environments; ultimately sparing a life.

Computer-Based Stereoscopic Parts Recognition For Robotic Applications, Ahmad A. Fayed

UNLV Theses, Dissertations, Professional Papers, and Capstones

Most of robotic handling and assembly operations are based on sensors such as range and touch sensors. In certain circumstances, such as in the presence of ionizing radiation where most customary sensors will degrade over time due to radiation exposure, these sensors won't function properly. Utilizing two or more cameras (stereo vision) located outside the target zone and analyzing their images to identify location and dimensions of parts within the robot workspace is an alternative for using sensors. Object Recognition is affected by the light condition which oftentimes causes the gray-scale or red, green, and blue values to have a …

Getting It Right The First Time: Robot Mission Guarantees In The Presence Of Uncertainty, Damian M. Lyons, Ronald C. Arkin, Paramesh Nirmal, Shu Jiang, Tsung-Ming Liu, J. Deeb

Faculty Publications

Certain robot missions need to perform predictably in a physical environment that may only be poorly characterized in advance. We have previously developed an approach to establishing performance guarantees for behaviorbased controllers in a process-algebra framework. We extend that work here to include random variables, and we show how our prior results can be used to generate a Dynamic Bayesian Network for the coupled system of program and environment model. Verification is reduced to a filtering problem for this network. Finally, we present validation results that demonstrate the effectiveness of the verification of a multiple waypoint robot mission using this …