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Full-Text Articles in Robotics

3d Bionic Arm, Anny Baez Silfa Dec 2021

3d Bionic Arm, Anny Baez Silfa

Publications and Research

Previous work had been done on what was an adaptation of a robotic arm for Roboqueen, which is a persistent research project of the Department of Computer Engineering Technology. This robotic arm consisted of removing the cardboard hands from the Roboqueen and being replaced by 3D printed fingers and wrists to add functionality that did not exist before. Servo motors connected to Arduinos hidden in the forearm will be used to move the fingers and pick up and hold objects in the hand. Currently, the Finger Myoware is an update of the robotic arm in order to understand how prosthetic ...


Multilayer Perceptron With Auto Encoder Enabled Deep Learning Model For Recommender Systems, Subhashini Narayan May 2021

Multilayer Perceptron With Auto Encoder Enabled Deep Learning Model For Recommender Systems, Subhashini Narayan

Future Computing and Informatics Journal

In this modern world of ever-increasing one-click purchases, movie bookings, music, health- care, fashion, the need for recommendations have increased the more. Google, Netflix, Spotify, Amazon and other tech giants use recommendations to customize and tailor their search engines to suit the user’s interests. Many of the existing systems are based on older algorithms which although have decent accuracies, require large training and testing datasets and with the emergence of deep learning, the accuracy of algorithms has further improved, and error rates have reduced due to the use of multiple layers. The need for large datasets has declined as ...


Identification Of Emergent Collaborative Behaviors In Multi-Agent Systems, Bryson Howell May 2021

Identification Of Emergent Collaborative Behaviors In Multi-Agent Systems, Bryson Howell

EURēCA: Exhibition of Undergraduate Research and Creative Achievement

Identification of Emergent Collaborative Behaviors in Multi-Agent Systems

Bryson Howell

Multi-Agent Reinforcement Learning (MARL) has been used to allow groups of autonomous agents to perform complex cooperative tasks. When MARL methods such as the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) algorithm [1] are used to train teams of agents in cooperative tasks, it has been observed that the actions of individual agents are significantly influenced by the actions of their teammates [2]. Additionally, prior work has shown that teams of agents trained independently of one another under identical conditions display a variety of behaviors [3]. Since these teams have been ...


Rethink Everything 2: Markets, Globalization, Development, Nikhilesh Dholakia, Deniz Atik May 2021

Rethink Everything 2: Markets, Globalization, Development, Nikhilesh Dholakia, Deniz Atik

Markets, Globalization & Development Review

No abstract provided.


Dynamic Task Allocation In Partially Defined Environments Using A* With Bounded Costs, James Hendrickson May 2021

Dynamic Task Allocation In Partially Defined Environments Using A* With Bounded Costs, James Hendrickson

PhD Dissertations and Master's Theses

The sector of maritime robotics has seen a boom in operations in areas such as surveying and mapping, clean-up, inspections, search and rescue, law enforcement, and national defense. As this sector has continued to grow, there has been an increased need for single unmanned systems to be able to undertake more complex and greater numbers of tasks. As the maritime domain can be particularly difficult for autonomous vehicles to operate in due to the partially defined nature of the environment, it is crucial that a method exists which is capable of dynamically accomplishing tasks within this operational domain. By considering ...


Robot Object Detection And Locomotion Demonstration For Eecs Department Tours, Bryson Howell, Ethan Haworth, Chris Mobley, Ian Mulet May 2021

Robot Object Detection And Locomotion Demonstration For Eecs Department Tours, Bryson Howell, Ethan Haworth, Chris Mobley, Ian Mulet

Chancellor’s Honors Program Projects

No abstract provided.


A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire May 2021

A Study Of Deep Reinforcement Learning In Autonomous Racing Using Deepracer Car, Mukesh Ghimire

Honors Theses

Reinforcement learning is thought to be a promising branch of machine learning that has the potential to help us develop an Artificial General Intelligence (AGI) machine. Among the machine learning algorithms, primarily, supervised, semi supervised, unsupervised and reinforcement learning, reinforcement learning is different in a sense that it explores the environment without prior knowledge, and determines the optimal action. This study attempts to understand the concept behind reinforcement learning, the mathematics behind it and see it in action by deploying the trained model in Amazon's DeepRacer car. DeepRacer, a 1/18th scaled autonomous car, is the agent which ...


Automated Bottling Station - Packaging System, Lauren Nicole Zinzilieta May 2021

Automated Bottling Station - Packaging System, Lauren Nicole Zinzilieta

Honors College Theses

This report focuses on the packaging system used at the end of the FESTO bottling station that is located in EP 2355. The system will be made up of an x-y 300 mm x 300 mm gantry system, an Arduino, two micro-stepping stepper drivers, and two 152.4 mm (6 in) single acting cylinders with a 3D printed bracket attached to both. The gantry system will be located at the end of the conveyor belt and will be programmed to pick up three bottles at a time and then will move a specified number of steps in both the x ...


Bibliometric Analysis On Hand Gesture Controlled Robot, Karthik Bankapur, Himmat Singh, Akshit Gupta, Hritik Mathur, Harikrishnan R, Shivali Amit Wagle Apr 2021

Bibliometric Analysis On Hand Gesture Controlled Robot, Karthik Bankapur, Himmat Singh, Akshit Gupta, Hritik Mathur, Harikrishnan R, Shivali Amit Wagle

Library Philosophy and Practice (e-journal)

This paper discusses about the survey and bibliometric analysis of hand gesture-controlled robot using Scopus database in analyzing the research by area, influential authors, countries, institutions, and funding agencies. The 293 documents are extracted from the year 2016 till 6th March 2021 from the database. Bibliometric analysis is the statistical analysis of the research published as articles, conference papers, and reviews, which helps in understanding the impact of publication in the research domain globally. The visualization analysis is done with open-source tools namely GPS Visualizer, Gephi, VOS viewer, and ScienceScape. The visualization aids in a quick and clear understanding ...


Project Blipper, Peter Jacobs, Preston Delaware, Ryan Foster Apr 2021

Project Blipper, Peter Jacobs, Preston Delaware, Ryan Foster

Senior Design Project For Engineers

This project was sponsored by Clorox to design and create an automatic bottle-unscrambling system for possible implementation at their bottling plant in Chile. The objective was to use a robotic arm to unscramble bottles from an incoming conveyor belt and place them upright on an outbound conveyor belt. Throughout the research, design, and testing of solutions for this project, several design alternatives were found for each discipline, and will be presented to Clorox so that they can make an informed decision for how and if they want to move forward with implementation of this project.

The project was split into ...


Owsnet: Towards Real-Time Offensive Words Spotting Network For Consumer Iot Devices, Bharath Sudharsan, Sweta Malik, Peter Corcoran, Pankesh Patel, John G. Breslin, Muhammad Intizar Ali Apr 2021

Owsnet: Towards Real-Time Offensive Words Spotting Network For Consumer Iot Devices, Bharath Sudharsan, Sweta Malik, Peter Corcoran, Pankesh Patel, John G. Breslin, Muhammad Intizar Ali

Publications

Every modern household owns at least a dozen of IoT devices like smart speakers, video doorbells, smartwatches, where most of them are equipped with a Keyword spotting(KWS) system-based digital voice assistant like Alexa. The state-of-the-art KWS systems require a large number of operations, higher computation, memory resources to show top performance. In this paper, in contrast to existing resource-demanding KWS systems, we propose a light-weight temporal convolution based KWS system named OWSNet, that can comfortably execute on a variety of IoT devices around us and can accurately spot multiple keywords in real-time without disturbing the device's routine functionalities ...


Cognitive Digital Twins For Smart Manufacturing, Muhammad Intizar Ali, Pankesh Patel, John G. Breslin, Ramy Harik, Amit Sheth Apr 2021

Cognitive Digital Twins For Smart Manufacturing, Muhammad Intizar Ali, Pankesh Patel, John G. Breslin, Ramy Harik, Amit Sheth

Publications

Smart manufacturing or Industry 4.0, a trend initiated a decade ago, aims to revolutionize traditional manufacturing using technology-driven approaches. Modern digital technologies such as the Industrial Internet of Things (IIoT), Big Data Analytics, Augmented/Virtual Reality, and Artificial Intelligence (AI) are the key enablers of new smart manufacturing approaches. The digital twin is an emerging concept whereby a digital replica can be built of any physical object. Digital twins are becoming mainstream; many organizations have started to rely on digital twins to monitor, analyze, and simulate physical assets and processes. The current use of digital twins for smart manufacturing ...


Human-Machine Communication: Complete Volume. Volume 2 Apr 2021

Human-Machine Communication: Complete Volume. Volume 2

Human-Machine Communication

This is the complete volume of HMC Volume 2.


Social Robots As The Bride? Understanding The Construction Of Gender In A Japanese Social Robot Product, Jindong Liu Apr 2021

Social Robots As The Bride? Understanding The Construction Of Gender In A Japanese Social Robot Product, Jindong Liu

Human-Machine Communication

This study critically investigates the construction of gender on a Japanese hologram animestyle social robot Azuma Hikari. By applying a mixed method merging the visual semiotic method and heterogeneous engineering approach in software studies, the signs in Azuma Hikari’s anthropomorphized image and the interactivity enabled by the multimedia interface have been analyzed and discussed. The analysis revealed a stereotyped representation of a Japanese “ideal bride” who should be cute, sexy, comforting, good at housework, and subordinated to “Master”-like husband. Moreover, the device interface disciplines users to play the role of “wage earner” in the simulated marriage and reconstructs ...


Forms And Frames: Mind, Morality, And Trust In Robots Across Prototypical Interactions, Jaime Banks, Kevin Koban, Philippe De V. Chauveau Apr 2021

Forms And Frames: Mind, Morality, And Trust In Robots Across Prototypical Interactions, Jaime Banks, Kevin Koban, Philippe De V. Chauveau

Human-Machine Communication

People often engage human-interaction schemas in human-robot interactions, so notions of prototypicality are useful in examining how interactions’ formal features shape perceptions of social robots. We argue for a typology of three higher-order interaction forms (social, task, play) comprising identifiable-but-variable patterns in agents, content, structures, outcomes, context, norms. From that ground, we examined whether participants’ judgments about a social robot (mind, morality, and trust perceptions) differed across prototypical interactions. Findings indicate interaction forms somewhat influence trust but not mind or morality evaluations. However, how participants perceived interactions (independent of form) were more impactful. In particular, perceived task interactions fostered functional ...


Moving Ahead With Human-Machine Communication, Leopoldina Fortunati, Autumn P. Edwards Apr 2021

Moving Ahead With Human-Machine Communication, Leopoldina Fortunati, Autumn P. Edwards

Human-Machine Communication

In this essay, we introduce the 10 articles comprising Volume 2 (2021) of Human-Machine Communication, each of which is innovative and offers a substantial contribution to the field of human-machine communication (HMC). As a collection, these articles move forward the HMC project by touching on four layers of important discourse: (1) updates to theoretical frameworks and paradigms, including Computers as Social Actors (CASA), (2) examination of ontology and prototyping processes, (3) critical analysis of gender and ability/disability relations, and (4) extension of HMC scholarship into organizational contexts. Building upon the insights offered by the contributing authors and incorporating perspectives ...


Administrative Law In The Automated State, Cary Coglianese Apr 2021

Administrative Law In The Automated State, Cary Coglianese

Faculty Scholarship at Penn Law

In the future, administrative agencies will rely increasingly on digital automation powered by machine learning algorithms. Can U.S. administrative law accommodate such a future? Not only might a highly automated state readily meet longstanding administrative law principles, but the responsible use of machine learning algorithms might perform even better than the status quo in terms of fulfilling administrative law’s core values of expert decision-making and democratic accountability. Algorithmic governance clearly promises more accurate, data-driven decisions. Moreover, due to their mathematical properties, algorithms might well prove to be more faithful agents of democratic institutions. Yet even if an automated ...


Assistive Robotics And Their Uses During The Pandemic, Thomas Klassen, Jeremy Evert Apr 2021

Assistive Robotics And Their Uses During The Pandemic, Thomas Klassen, Jeremy Evert

Student Research

• “Assistive Robotics” defines any device that can sense, process sensory information, and perform actions that benefit people with disabilities.

• This form of technology can be used on a much higher scale with a greater number of uses.

• We have an opportunity to expand the usage of assistive robotics to help combat COVID-19.


A Comprehensive Mapping And Real-World Evaluation Of Multi-Object Tracking On Automated Vehicles, Alexander Bassett Apr 2021

A Comprehensive Mapping And Real-World Evaluation Of Multi-Object Tracking On Automated Vehicles, Alexander Bassett

PhD Dissertations and Master's Theses

Multi-Object Tracking (MOT) is a field critical to Automated Vehicle (AV) perception systems. However, it is large, complex, spans research fields, and lacks resources for integration with real sensors and implementation on AVs. Factors such those make it difficult for new researchers and practitioners to enter the field.

This thesis presents two main contributions: 1) a comprehensive mapping for the field of Multi-Object Trackers (MOTs) with a specific focus towards Automated Vehicles (AVs) and 2) a real-world evaluation of an MOT developed and tuned using COTS (Commercial Off-The-Shelf) software toolsets. The first contribution aims to give a comprehensive overview of ...


Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams Mar 2021

Distance-Based Formation Control Using Decentralized Sensing With Infrared Photodiodes, Steven Williams

LSU Master's Theses

This study presents an onboard sensor system for determining the relative positions of mobile robots, which is used in decentralized distance-based formation controllers for multi-agent systems. This sensor system uses infrared photodiodes and LEDs; its effective use requires coordination between the emitting and detecting robots. A technique is introduced for calculating the relative positions based on photodiode readings, and an automated calibration system is designed for future maintenance. By measuring the relative positions of their neighbors, each robot is capable of running an onboard formation controller, which is independent of both a centralized controller and a global positioning-like system (e ...


On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae Mar 2021

On The Impact Of Gravity Compensation On Reinforcement Learning In Goal-Reaching Tasks For Robotic Manipulators, Jonathan Fugal, Hasan A. Poonawala, Jihye Bae

Electrical and Computer Engineering Faculty Publications

Advances in machine learning technologies in recent years have facilitated developments in autonomous robotic systems. Designing these autonomous systems typically requires manually specified models of the robotic system and world when using classical control-based strategies, or time consuming and computationally expensive data-driven training when using learning-based strategies. Combination of classical control and learning-based strategies may mitigate both requirements. However, the performance of the combined control system is not obvious given that there are two separate controllers. This paper focuses on one such combination, which uses gravity-compensation together with reinforcement learning (RL). We present a study of the effects of gravity ...


Light Loaded Automated Guided Vehicle, Marcus Radtka, Nazar Paramashchuk, Lawrence Shevock Jan 2021

Light Loaded Automated Guided Vehicle, Marcus Radtka, Nazar Paramashchuk, Lawrence Shevock

Williams Honors College, Honors Research Projects

The objective of the locomotion system was to design and implement the mechanical, electrical, and software related functions to ensure the LLAGV had the capability of maneuvering its surroundings. The LLAGV’s motors were represented in an open loop transfer function to utilize RPM feedback and a compensator when needed. The modeled compensator helped control the LLAGV’s speed and acceleration, enabling further control of the LLAGV. The internal circuitry has the means to properly distributed power to all components and allowed the user to control the LLAGV to their desire. The application software within the LLAGV locomotion system (LLAGV-LS ...


Ping Pong Ball Collecting Robot, Gina Lanese, Jason Colonna, Sarah Kuchcinski, Johndavid Rogers Jan 2021

Ping Pong Ball Collecting Robot, Gina Lanese, Jason Colonna, Sarah Kuchcinski, Johndavid Rogers

Williams Honors College, Honors Research Projects

The ping pong ball collecting robot will collect ping pong balls in a ping pong arena, such as after a game or practice session. Ball collection is now typically done by a human, collecting the balls either by hand or with a net. A robot, autonomously collecting the ping pong balls from the floor, would allow for the time spent playing or practicing to be maximized. The team will design the software and hardware for the robot, including the mechanical system, the software, and circuit boards. This robot will serve as a capstone project for the senior design team consisting ...


Development Of An Autonomous Navigation System For The Shuttle Car In Underground Room & Pillar Coal Mines, Vasileios Androulakis Jan 2021

Development Of An Autonomous Navigation System For The Shuttle Car In Underground Room & Pillar Coal Mines, Vasileios Androulakis

Theses and Dissertations--Mining Engineering

In recent years, autonomous solutions in the multi-disciplinary field of the mining engineering have been an extremely popular applied research topic. The growing demand for mineral supplies combined with the steady decline in the available surface reserves has driven the mining industry to mine deeper underground deposits. These deposits are difficult to access, and the environment may be hazardous to mine personnel (e.g., increased heat, difficult ventilation conditions, etc.). Moreover, current mining methods expose the miners to numerous occupational hazards such as working in the proximity of heavy mining equipment, possible roof falls, as well as noise and dust ...


The Rise Of The Machine: How Industrial Robots Will Revolutionize U.S. Manufacturing, Alexander Koontz Jan 2021

The Rise Of The Machine: How Industrial Robots Will Revolutionize U.S. Manufacturing, Alexander Koontz

Engineering: Student Scholarship & Creative Works

Automation has become a term to symbolize many different movements in today’s world. It could represent anything from the blind, preprogrammed robotic arm in an automotive assembly plant to the increasing prevalence of driverless cars on the road. It could be used as a word of praise in the chase of more efficiency and optimization, or as a curse against the aspect of the obsolescence of humans as their roles are rendered redundant by robotic laborers. However, the lack of clarity of the term stems from a lack of understanding about its historical connotations, precisely how it applies today ...


Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, Chinmay Kondekar Jan 2021

Integration Of Robotic And Electro-Pneumatic Systems Using Advanced Control And Communication Schemes, Chinmay Kondekar

Dissertations, Master's Theses and Master's Reports

Modern industrial automation systems are designed by interconnecting various subsystems which work together to perform a process. The thesis project aims to integrate fragmented subsystems into a flexible and reconfigurable system through advanced communication protocols and perform a process to demonstrate the effectiveness of interconnected systems.

The system consists of three six-axis robots, one electro-pneumatic robot, and two conveyors connected using EthernetIP communication and hardwired connections. The interconnected system works together to perform machining of a workpiece using advanced control methods of CAD to robot path generation, central control through a PLC, and process control through HMI.

Standardized programming blocks ...


Toward Intelligent Welding By Building Its Digital Twin, Qiyue Wang Jan 2021

Toward Intelligent Welding By Building Its Digital Twin, Qiyue Wang

Theses and Dissertations--Electrical and Computer Engineering

To meet the increasing requirements for production on individualization, efficiency and quality, traditional manufacturing processes are evolving to smart manufacturing with the support from the information technology advancements including cyber-physical systems (CPS), Internet of Things (IoT), big industrial data, and artificial intelligence (AI). The pre-requirement for integrating with these advanced information technologies is to digitalize manufacturing processes such that they can be analyzed, controlled, and interacted with other digitalized components. Digital twin is developed as a general framework to do that by building the digital replicas for the physical entities. This work takes welding manufacturing as the case study to ...


Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan Jan 2021

Human-Robot Collaboration Enabled By Real-Time Vision Tracking, Travis Deegan

Electronic Theses and Dissertations

The number of robotic systems in the world is growing rapidly. However, most industrial robots are isolated in caged environments for the safety of users. There is an urgent need for human-in-the-loop collaborative robotic systems since robots are very good at performing precise and repetitive tasks but lack the cognitive ability and soft skills of humans. To fill this need, a key challenge is how to enable a robot to interpret its human co-worker’s motion and intention. This research addresses this challenge by developing a collaborative human-robot interface via innovations in computer vision, robotics, and system integration techniques. Specifically ...


Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo Jan 2021

Designs And Practical Control Methods For Soft Parallel Robots, Benjamin T. Buzzo

Graduate Theses, Dissertations, and Problem Reports

The use of soft robotics is becoming an increasingly researched topic, since they can provide more flexibility in movements and increase safety when working with humans. However, they are more susceptible to modeling and manufacturing errors in the design.

The objective of this thesis is two-fold, the first objective is to determine the benefits and limitations of using calibration tables that rely on the PWM signals instead of modeling as a control method. If calibration tables are not adequate to achieve a high level of precision. The second objective is to determine if using a tethered mobile robot in unison ...


Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran Jan 2021

Unobtrusive Assessment Of Student Engagement Levels In Online Classroom Environment Using Emotion Analysis, Sasirekha Anbusegaran

Electronic Theses and Dissertations

Measuring student engagement has emerged as a significant factor in the process of learning and a good indicator of the knowledge retention capacity of the student. As synchronous online classes have become more prevalent in recent years, gauging a student's attention level is more critical in validating the progress of every student in an online classroom environment. This paper details the study on profiling the student attentiveness to different gradients of engagement level using multiple machine learning models. Results from the high accuracy model and the confidence score obtained from the cloud-based computer vision platform - Amazon Rekognition were then ...