Computer Engineering Commons^™

Cooperative Remote Sensing And Actuation Using Networked Unmanned Vehicles, Haiyang Chao

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This dissertation focuses on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes in the current information-rich world. The target scenarios are environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks, etc. AggieAir, a small and low-cost unmanned aircraft system, is designed based on the remote sensing requirements from environmental monitoring missions. The state estimation problem and the advanced lateral flight controller design problem are further attacked focusing on the small unmanned aerial vehicle (UAV) platform. Then the UAV-based remote sensing problem is focused with further flight …

A Model Based Nonlinear Adaptive Controller For The Passive Bilateral Telerobotic System, Ufuk Özbay, Erkan Zergeroğlu, İlyas Kandemi̇r

Turkish Journal of Electrical Engineering and Computer Sciences

IIn this paper, we propose a new adaptive controller scheme for the bilateral telerobotic/teleoperation systems. The proposed controller achieves asymptotic tracking despite the parametric uncertainties associated with both master and slave robots while ensuring the passivity of the closed loop system. Extensive simulation studies are presented to illustrate the feasibility and efficiency of the proposed adaptive controller.

Helmsman, Set A Course : Using A Compass And Rfid Tags For Indoor Localisation And Navigation, Yan Li, Brian Mac Namee, John D. Kelleher

Conference papers

Localisation and navigation are still two of the most important issues in mobile robotics. In certain indoor application scenarios RFID (radio frequency identification)-based absolute localisation has been found to be especially successful in supporting navigation. In this paper we evaluate the feasibility of an RFID and compass based approach to robot localisation and navigation for indoor environments that are dominated by corridors. We describe our system and evaluate its performance in a small, but full-scale, test environment.

Robotic Goal-Based Semi-Autonomous Algorithms Improve Remote Operator Performance, Shawn Hunt

Wayne State University Dissertations

The focus of this research was to determine if reliable goal-based semi-autonomous algorithms are able to improve remote operator performance or not. Two semi-autonomous algorithms were examined: visual servoing and visual dead reckoning. Visual servoing uses computer vision techniques to generate movement commands while using internal properties of the camera combined with sensor data that tell the robot its current position based on its previous position. This research shows that the semi-autonomous algorithms developed increased performance in a measurable way. An analysis of tracking algorithms for visual servoing was conducted and tracking algorithms were enhanced to make them as robust …

Harmonizing Bml Approaches: Grammars And Data Models For A Bml Standard, Dietmar Kunde, Thomas Orichel, Andreas Tolk, Ulrich Schade, Michael R. Hieb

Computational Modeling & Simulation Engineering Faculty Publications

Battle Management Language (BML) is being developed as an open standard that unambiguously formalizes and specifies Command and Control information, including orders and reports built upon precise representations of tasks. BML is a language specification, based on doctrine and consistent with Coalition standards. The goal of BML is to enable and improve the interoperability in the C2 area, especially by enabling also the military communication with simulation systems and future robotic forces.

Although the need for BML is well documented, a SISO standard has still not been achieved. At present, there are two recommended approaches focusing on different aspects. In …

Heterogeneous Drive Mechanisms For Novel Locomotion In Rough Terrain, Roy Godzdanker

Electronic Theses and Dissertations

The smaller the robot the easier it is for it to access voids in a collapsed structure, however small size brings a host of other problems related to constrained resources. One of the primary constraints on small robots is limited motive power to surmount obstacles and navigate rough terrain. This thesis examines the addition of bulk motive force actuators to existing locomotion platforms and the impact of these heterogeneous actuators on conventional steering methods. The steering methods examined are those associated with skid steered vehicles and differential drive vehicles. In developing the Crabinator, a robot composed of a limbed crawler …

Distributed Control For Robotic Swarms Using Centroidal Voronoi Tessellations, Shelley Rounds

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm.

The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop …

Basic Control For Four Rotor Autonomous Aerial Agent, Jonathan Mclean, Gary Parker, Newell Seal

Computer Science Faculty Publications

Aerial robotics provides many practical applications in fields such as search and rescue and surveying. In order to advance the research in aerial robotics, an inexpensive test platform is required. Our four-rotor platform provides researchers with a inexpensive, fully scalable test platform for future studies. Its completely on-board processing removes the need for a virtual tether in the form of a radio transmitter, allowing for completely autonomous operation.

Localization With Limited Sensing, Jason M. O'Kane, Steven M. Lavalle

Faculty Publications

Localization is a fundamental problem for many kinds of mobile robots. Sensor systems of varying ability have been proposed and successfully used to solve the problem. This paper probes the lower limits of this range by describing three extremely simple robot models and addresses the active localization problem for each. The robot, whose configuration is composed of its position and orientation, moves in a fully-known, simply connected polygonal environment. We pose the localization task as a planning problem in the robot's information space, which encapsulates the uncertainty in the robot's configuration. We consider robots equipped with: 1) angular and linear …

Power-Scavenging Mems Robots, Daniel J. Denninghoff

Theses and Dissertations

This thesis includes the design, modeling, and testing of novel, power-scavenging, biologically inspired MEMS microrobots. Over one hundred 500-μm and 990-μm microrobots with two, four, and eight wings were designed, fabricated, characterized. These microrobots constitute the smallest documented attempt at powered flight. Each microrobot wing is comprised of downward-deflecting, laser-powered thermal actuators made of gold and polysilicon; the microrobots were fabricated in PolyMUMPs® (Polysilicon Multi-User MEMS Processes). Characterization results of the microrobots illustrate how wing-tip deflection can be maximized by optimizing the gold-topolysilicon ratio as well as the dimensions of the actuator-wings. From these results, an optimum actuator-wing configuration was …

Final Design Report Of Computer Controller Of Robotic Arm, Kurt Niederhauser

Undergraduate Honors Capstone Projects

My Part of the project was to design the hardware. I assembled the TT8 microprocessor and designed the optocial isolation board for the input and output signals to the TT8 microprocessor. We had two boards. One board had the TT8 Processor and other chips used for regulating the affairs of the TT8 (This board I assembled), and then there was another board that had all the control signals for the TT8 (this board I had to design), which sent the signals letting the TT8 know when the robot arm had been extended or retracted as far is it could go. …

Swarm Engineering, S. Kazadi '90

Doctoral Dissertations

Swarm engineering is the natural evolution of the use of swarm-based techniques in the accomplishment of high level tasks using a number of simple robots. In this approach, one seeks not to generate a class of behaviors designed to accomplish a given global goal, as is the approach typically found in mainstream robotics. Once the class of behaviors has been understood and decided upon, specific behaviors designed to accomplish this goal may be generated that will complete the desired task without any concern about whether or not the final goal will actually be completed. As long as the generated behaviors …

Self-Assembly Of Microstructures, Paul E. Kladitis

Theses and Dissertations

Four areas are investigated in this research: erecting microstructures normal to the substrate plane without direct human intervention (self-assembled), providing low resistance electrical connections to the erected microstructure, realizing circular motion normal to the substrate plane, and implementing a micro-robot. The designs in this research concentrate on erecting and providing power to a leg designed for use with the micro-robot. The leg and the attached low resistance electrical connectors were not self-assembled because the accompanying actuators were not powerful enough. However, the novel connectors provide the most practical, versatile, and lowest possible resistance connections for the MUMPs fabrication process. The …

Fpga Processor Implementation For The Forward Kinematics Of The Umdh, Steven M. Parmley

Theses and Dissertations

The focus of this research was on the implementation of a forward kinematic algorithm for the Utah MIT Dexterous Hand (UMDH). Specifically, the algorithm was synthesized from mathematical models onto a Field Programmable Gate Array (FPGA) processor. This approach is different from the classical, general purpose microprocessor design where all robotic controller functions including forward Kinematics are executed serially from a compiled programming language such as C. The compiled code and subsequent real time operating system must be stored on some form of nonvolatile memory, typically magnetic media such as a fixed or hard disk drive, along with other computer …

Robust Decentralised Variable Structure Control For Rigid Robotic Manipulators, Thasapalan Kuhan

Theses : Honours

In this thesis, the problem of robust variable structure control for non-linear rigid robotic manipulators is investigated. Robustness and convergence results are presented for variable structure control systems of robotic manipulators with bounded unknown disturbances, nonlinearities, dynamical couplings and parameter uncertainties. The major outcomes of the work described in this thesis are summarised as given below. The basic variable structure theory is surveyed, and some basic ideas such as sliding mode designs, robustness analysis and control1er design methods for linear or non-linear systems are reviewed. Three recent variable structure control schemes for robotic manipulators are discussed and compared to highlight …

Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh

Electrical & Computer Engineering Faculty Research

We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.

An Efficient Technique For Finding The Desired Global Optimum Of Robotic Joint Displacement, Paul P. Lin, An-Jen J. Yang

Mechanical Engineering Faculty Publications

For an industrial robot on a daily operation basis such as pick and place, it is desired to minimize the robotic joint displacements when moving the robot from one location to another. The objective of the optimization here is to simultaneously minimize a robot end effector's positional error and the robotic joint displacements. By modifying the searching algorithm in the existing complex optimization method, this article presents a technique for finding the desired global optimum solution more efficiently. To compare the optimum searching capability between the proposed and existing searching algorithms, a modified Himmelblau's function is used as an objective …

An Improved Method For Online Calculation And Compensation Of The Static Deflection At A Robot End-Effector, Paul P. Lin, Hsiang-Dih Chiang, Xiu Xun Cui

Mechanical Engineering Faculty Publications

Traditionally, robotic deflection analysis for a low-weight robot has been performed based on an assumption that each link is treated as a cantilever beam, which leads to no angular deflection at a joint. In practice, a robotic intermediate joint is linearly and angulary deflected when a load is applied at the end-effector. It is found in this study that the additional link deflection resulting from the angular deflection of a robotic revolute joint substantially contributes to the end-effector's total deflection. This article presents an improved method via a combination of classical beam theory, energy methods and the concepts of differential …

A Detailed Analysis Of Dynamic Robotic Simulation, Lonnie J. Love

Mechanical & Aerospace Engineering Theses & Dissertations

Future space missions may require the utilization of automation technology for assembly, maintenance, repair, and a variety of repetitive or hazardous operations. Many tasks which are likely candidates for robotic or telerobotic execution are either difficult or impossible to duplicate in the laboratory. With an accurate simulation package, many of these tasks can be evaluated by computer simulation before committing the resources required for laboratory experimentation. With this motivation, the ROBSIM robot simulation software has been developed by NASA Langley Research Center in conjunction with the Martin Marietta Corporation. ROBSIM is a versatile tool with features including the ability to …

The Design Of A Processing Element For The Systolic Array Implementation Of A Kalman Filter, John P. Condorodis

Retrospective Theses and Dissertations

The Kalman filter is an important component of optimal estimation theory. It has applications in a wide range of high performance control systems including navigational, fire control, and targeting systems. The Kalman filter, however, has not been utilized to its full potential due to the limitations of its inherent computational intensiveness which requires "off-line" processing or allows only low bandwidth real-time applications.

The recent advances in VLSI circuit technology have created the opportunity to design algorithms and data structures for direct implementation in integrated circuits. A systolic architecture is a concept which allows the construction of massively parallel systems in …