Robotics Commons^™

Swarm Of One: Self-Organization In Multicellular Robots, Trevor Riley Smith

Graduate Theses, Dissertations, and Problem Reports (ETD)

Designing robots traditionally relies on centralized, top-down methods that constrain adaptability and resiliency, producing systems optimized for specific tasks. However, such systems often fail in complex environments, such as extraterrestrial, disaster, or natural settings, where designers cannot foresee every scenario a robot may encounter. Achieving autonomy in these contexts requires robots that are resilient and capable of adapting to the unknown. Multicellular organisms exhibit this adaptability through self-organization, where complex structures and behaviors emerge from local interactions among their cells. Such organisms can be viewed simultaneously as a single entity and a swarm of cooperating cells, i.e., a Swarm-of-One.

This …

Teleoperated Mobile Robot For Pesticide Spraying And Greenhouse Navigation: Numerical Analysis, Wessam Atwa, Zakaria Ismail, Mohsen Egela, Mohamed G. Alkalla

Mansoura Engineering Journal

Pesticide spraying in greenhouses is a dangerous process as the operator should wear protective suits and masks against the chemicals, which cause skin and eye irritation, respiratory issues, and even cancer. Other severe conditions involve elevated temperature and humidity in the confined greenhouse atmosphere. Therefore, this article proposes a novel teleoperated mobile robot for pesticide spraying called AMR-BPS to address such issues. It aims to keep the human securely outside during the spraying process. AMR-BPS has a novel design incorporating many innovative mechanisms, such as an extendable spraying boom, independent control of each spraying side, adjustable nozzle angles, and 2D-LiDAR …

Spike Timing Depended Plasticity Produces Unsupervised Learning Of Synergistic Muscle Feedback In A Synthetical Neural Network, Mark Allen Pupkiewicz

Dissertations and Theses

This study investigates how type Ia feedback from muscle spindles can be organized into groups representing agonistic muscle pairs through Spike Timing Dependent Plasticity (STDP). A single degree of freedom joint is actuated with four biologically modeled muscles forming two agonistic pairs. In order to emulate the sensory dynamics of biological muscle spindles, sensors in the model record the active length and velocity states of each muscle, the two primary factors eliciting type Ia afferent responses. In biological networks, synapses from Ia sensory neurons frequently activate interneurons representing agonistic muscle sources. This research investigates whether this organization can emerge in …

Optimizing Hip And Knee Assistance For Walking And Sit-To-Stand Transitions: An Intrinsic Muscle Mechanics Based Predictive Approach, Neethan Ratnakumar

Dissertations

As the global population ages, the demand for wearable assistive technologies continues to rise, driven by their potential to enhance mobility and independence in older adults. Effectively designed controllers for lower-limb exoskeletons to assist sit-to-stand (STS) and walking are crucial for delivering efficient, safe, and comfortable assistance during daily activities. Traditionally, controller optimization involves biomechanical modeling and user-specific customization. Musculoskeletal simulations play a central role in this process by providing insights into human-exoskeleton interaction dynamics, thereby informing and refining control strategies.

This work presents a simulation-driven approach for developing exoskeleton controllers for walking and STS using two distinct methods: optimal …

Gamified Gait Rehabilitation Via Real-Time Biofeedback And Adaptive Hip-Exoskeleton Control, Mariya Huzaifa Tohfafarosh

Theses

Gait impairments arise from systemic diseases, age-related degeneration, musculoskeletal dysfunctions, or neurological conditions. While traditional rehabilitation can be effective, they often face challenges such as high costs, inaccessibility, and low patient engagement. To address these challenges, my work introduces a virtual reality-based rehabilitation (VRBR) system, integrating real-time motion and electromyographic (EMG) muscle activation feedback with a gamified virtual environment for enhanced adaptability and engagement. The system includes a custom-designed hip-exoskeleton that provides adaptive spring-like assistance or resistance, supporting both mobility-impaired users and strength training. Assistance levels can be tuned to match the user's progress. Additionally, a custom pressure insole was …

Development And Evaluation Of A Simple Human Body Link Model Considering The Degrees-Of-Freedom Of Shoulders, Mizuki Takeda, Yuki Saito, Kaiji Sato

Progress in Scale Modeling, an International Journal

Modeling of the human body is widely utilized in the field of human–robot interaction, warranting the development of a simple model to measure and recognize the human body movements. To this end, a two-dimensional (2D) human body link model in the sagittal plane has been used to represent the human body with rotating joints and links connecting these joints. The joint positions can be determined by using the coordinates of a limited number of points on the links and estimated using a few sensor outputs when the links are of constant length. However, models with constant link lengths may result …

Advancing Prosthetic Technology: 3d-Printed Robotic Arm With Micro Linear Actuators, Vu Tran, Nathan Reed, Mahdi Yazdanpour

Posters-at-the-Capitol

The increasing demand for affordable and accessible prosthetic solutions has driven innovation in the field of robotics. In this project, we present the design and development of a 3D-printed robotic prosthetic arm aimed at addressing the challenges faced by individuals with upper limb amputations. Our prosthetic arm utilizes five micro linear actuators to achieve precise and naturalistic movement. The design of the prosthetic arm prioritizes affordability and accessibility, with a focus on leveraging 3D printing technology to reduce manufacturing costs and enable customization. The use of micro linear actuators offers advantages in terms of compactness, lightweight construction, and efficient power …

A Framework For Biomimetic Robot Design Applied To The Development Of A Robotic Model Of Drosophila Melanogaster, Clarissa A. Goldsmith

Graduate Theses, Dissertations, and Problem Reports (ETD)

For decades, the field of biologically inspired robotics has leveraged insights from animal locomotion to improve the walking ability of legged robots. Recently, “biomimetic” robots have been developed to model how specific animals walk. By prioritizing biological accuracy to the target organism rather than the application of general principles from biology, these robots can be used to develop detailed biological hypotheses for animal experiments, ultimately improving our understanding of the biological control of legs while improving technical solutions. Much of this work involves biologically inspired walking controllers informed by the morphology and dynamics of the insect nervous system, which necessitate …

Cropsync: Ai-Powered Sustainable Crop Management, Ziad Doughan, Ibrahim Mneimneh, Zouheir Nakouzi, Noor Al Khaib, Samer Damaj, Jamal Chaaban, Hamza Mrad, Sari Itani

BAU Journal - Science and Technology

CropSync is a smart agriculture system that uses AI and IoT technologies to enable sustain- able crop management and precision farming. The system aims to address the challenges faced by the agriculture sector, such as increasing food production to meet global population demands while minimizing environmental impact. CropSync integrates sensors, cameras, and cloud-based analytics to provide farmers with real-time insights and recommendations for optimizing crop cul- tivation. The system upholds engineering professional and ethical standards, considering broader social, environmental, and economic implications. From a social perspective, CropSync improves food security and enhances farmers’ livelihoods through increased productivity and efficient re- …

Vision-Based Autonomy Stacks For Farm Tractors And Intelligent Spraying Systems In Orchards, Shengli Xu

All Dissertations

Autonomous tractors equipped with intelligent sprayers have become a pivotal aspect of smart farming (SF), marking a transformative shift in traditional agricultural practices and holding the potential to revolutionize the farming industry. With 2,453,620 fruit-bearing acres in the United States as of 2022, there is a pressing need for the implementation of autonomous systems for farm tractors and intelligent spraying systems in orchards. These advancements can significantly reduce labor costs, address labor shortages, and minimize spray loss. Furthermore, to enhance profitability and productivity, it is essential to develop low-cost yet effective vision-based autonomy systems that can operate efficiently across various …

Investigating Autonomous Ground Vehicles For Weed Elimination, Abraham Mitchell

Computer Science and Computer Engineering Undergraduate Honors Theses

The management of weeds in crop fields is a continuous agricultural problem. The use of herbicides is the most common solution, but herbicidal resistance decreases effectiveness, and the use of herbicides has been found to have severe adverse effects on human health and the environment. The use of autonomous drone systems for weed elimination is an emerging solution, but challenges in GPS-based localization and navigation can impact the effectiveness of these systems. The goal of this thesis is to evaluate techniques for minimizing localization errors of drones as they attempt to eliminate weeds. A simulation environment was created to model …

Under Pressure: The Soft Robotic Clap-And-Fling Of Cuvierina Atlantica, Daniel Mead

USF Tampa Graduate Theses and Dissertations

Evolution over billions of years has led to unique animals of all types. The tiny sea butterfly is one that remains mostly anonymous because of its size and low place on the food chain, but it is a swimming creature that when examined closely reveals a surprise. Shockingly, it has a swimming motion nearly identical to small insects flying at intermediate Reynolds numbers, referred to as the clap-and-fling. The centimeter long pteropod flapping briskly at 5Hz escapes attention with its size and speed. Modeling the clap-and-fling motion of the sea butterfly at a larger scale allows the benefits and uniqueness …

Love Machina, John C. Lyden

Journal of Religion & Film

This is a film review of Love Machina (2024), directed by Peter Sillen.

Mobile Robot Adhesion Methodology And Development Of An Automatous Robot Module, Lauren Baird, Zachariah Stone, Madison Lemons, Jonathon Moody

Williams Honors College, Honors Research Projects

Due to the increasing availability of space travel as not only a scientific exploration but a commercial exploration, there is a need for an onsite repair station that can be deployed in the event of aircraft maintenance, damage, or failure. We have been tasked with researching and creating a prototype of an automatous robot that can be attached to a spacecraft body, move along the surface while avoiding obstacles, scan for damage, 3D print a repair piece, and then make the repair, all without the need of direct human input. Our team, as will be discussed throughout, was tasked with …

Development And Evaluation Of A Hand Exoskeleton For Neurorehabilitation Post Stroke, Ashley Joyce Mont

Dissertations

Stroke affects approximately 800,000 people in the United States each year, and due to its chronic effects, it is one of the leading causes of disability. Many individuals with stroke suffer the loss of motor function in their paretic upper extremity, and longitudinal studies show that 30 — 66% of individuals with hemiplegia fail to regain arm function six months post stroke. After a stroke, the brain undergoes neuroplasticity which will promote recovery of function. Investigators and clinicians are trying to develop rehabilitation interventions that can be designed to promote neuroplasticity, enhancing the recovery outcomes of therapy.

For individuals with …

Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg

Computer Engineering

This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.

Du Undergraduate Showcase: Research, Scholarship, And Creative Works: Abstracts, Emma Aggeler, Elena Arroway, Daisy T. Booker, Justin Bravo, Kyle Bucholtz, Megan Burnham, Nicole Choi, Spencer Cockerell, Rosie Contino, Jackson Garske, Kaitlyn Glover, Caroline Hamilton, Haley Hartmann, Madalyne Heiken, Colin Holter, Leah Huzjak, Alyssa Jeng, Cole Jernigan, Chad Kashiwa, Adelaide Kerenick, Emily King, Abigail Langeberg, Maddie Leake, Meredith Lemons, Alec Mackay, Greer Mckinley, Ori Miller, Guy Milliman, Katherine Miromonti, Audrey Mitchell, Lauren Moak, Megan Morrell, Gelella Nebiyu, Zdenek Otruba, Toni V. Panzera, Kassidy Patarino, Sneha Patil, Alexandra Penney, Kevin Persky, Caitlin Pham, Gabriela Recinos, Mary Ringgenberg, Chase Routt, Olivia Schneider, Roman Shrestha, Arlo Simmerman, Alec Smith, Tessa Smith, Nhi-Lac Thai, Kyle Thurmann, Casey Tindall, Amelia Trembath, Maria Trubetskaya, Zachary Vangelisti, Peter Vo, Abby Walker, David Winter, Grayden Wolfe, Leah York

DU Undergraduate Research Journal Archive

Abstracts from the DU Undergraduate Showcase.

Garden Bot: Autonomous Home Garden Weed Removal Robot, Brendon Lovejoy, Robert Connolly, Isaac Lucas, Stevan Veselinov

Williams Honors College, Honors Research Projects

With frequent weeding being a tedious chore and an essential task for a successful garden, there is need for an automated method of handling this routine. Existing technologies utilize computer vision, GPS, multiple units and other tools to remove weeds from garden plots. However, these solutions are often complex and expensive, suited for large agricultural plots in contrast to small-scale home gardens. In addition, many of these technologies, along with manual tillers and cultivators suited for home use, are unable to perform weeding within rows of crops in a process known as intra-row weeding. The Garden Bot is an autonomous, …

Contrastive Learning For Unsupervised Auditory Texture Models, Christina Trexler

Computer Science and Computer Engineering Undergraduate Honors Theses

Sounds with a high level of stationarity, also known as sound textures, have perceptually relevant features which can be captured by stimulus-computable models. This makes texture-like sounds, such as those made by rain, wind, and fire, an appealing test case for understanding the underlying mechanisms of auditory recognition. Previous auditory texture models typically measured statistics from auditory filter bank representations, and the statistics they used were somewhat ad-hoc, hand-engineered through a process of trial and error. Here, we investigate whether a better auditory texture representation can be obtained via contrastive learning, taking advantage of the stationarity of auditory textures to …

Body And Tail Coordination In The Bluespot Salamander (Ambystoma Laterale) During Limb Regeneration, Cassandra M. Donatelli, Keegan Lutek, Keshav Gupta, Emily M. Standen

Engineering Faculty Articles and Research

Animals are incredibly good at adapting to changes in their environment, a trait envied by most roboticists. Many animals use different gaits to seamlessly transition between land and water and move through non-uniform terrains. In addition to adjusting to changes in their environment, animals can adjust their locomotion to deal with missing or regenerating limbs. Salamanders are an amphibious group of animals that can regenerate limbs, tails, and even parts of the spinal cord in some species. After the loss of a limb, the salamander successfully adjusts to constantly changing morphology as it regenerates the missing part. This quality is …

Leveraging Chemical And Computational Biology To Probe The Cellulose Synthase Complex, B. Kirtley Amos

Theses and Dissertations--Plant and Soil Sciences

Cellular expansion in plants is a complex process driven by the constraint of internal cellular turgor pressure by an expansible cell wall. The main structural element of the cell wall is cellulose. Cellulose is vital to plant fitness and the protein complex that creates it is an excellent target for small molecule inhibition to create herbicides. In the following thesis many small molecules (SMs) from a diverse library were screened in search of new cellulose biosynthesis inhibitors (CBI). Loss of cellular expansion was the primary phenotype used to search for putative CBIs. As such, this was approached in a forward …

The Law Of Black Mirror - Syllabus, Yafit Lev-Aretz, Nizan Packin

Open Educational Resources

Using episodes from the show Black Mirror as a study tool - a show that features tales that explore techno-paranoia - the course analyzes legal and policy considerations of futuristic or hypothetical case studies. The case studies tap into the collective unease about the modern world and bring up a variety of fascinating key philosophical, legal, and economic-based questions.

The Design And Development Of A Wrist-Hand Orthosis, Amber Gatto

USF Tampa Graduate Theses and Dissertations

Individuals with an incomplete C5-C7 spinal cord injury (SCI) lose grasping abilities but wrist function is almost universally retained. Most rehabilitation techniques apply the tenodesis effect, however, current tenodesis wrist-hand orthoses (WHOs) engage only the thumb and index finger, meaning that only 20% of activities of daily living (ADLs) can be completed.

This study tested the feasibility of a student-designed powered WHO by testing the device on healthy subjects to see if they could complete a variety of ADLs. A simulation software was then used to analyze wrist, thumb, and index finger joint angles. Additionally, an Assistive Technology Survey was …

A New Ectotherm 3d Tracking And Behavior Analytics System Using A Depth-Based Approach With Color Validation, With Preliminary Data On Kihansi Spray Toad (Nectophrynoides Asperginis) Activity, Philip Bal, Damian Lyons, Avishai Shuter

Faculty Publications

The Kihansi spray toad (Nectophrynoides asperginis), classified as Extinct in the Wild by the IUCN, is being bred at the Wildlife Conservation Society’s (WCS) Bronx Zoo as part of an effort to successfully reintroduce the species into the wild. Thousands of toads live at the Bronx Zoo presenting an opportunity to learn more about their behaviors for the first time, at scale. It is impractical to perform manual observations for long periods of time. This paper reports on the development of a RGB-D tracking and analytics approach that allows researchers to accurately and efficiently gather information about the toads’ behavior. …

Automated And Standardized Tools For Realistic, Generic Musculoskeletal Model Development, Trevor Rees Moon

Graduate Theses, Dissertations, and Problem Reports (ETD)

Human movement is an instinctive yet challenging task that involves complex interactions between the neuromusculoskeletal system and its interaction with the surrounding environment. One key obstacle in the understanding of human locomotion is the availability and validity of experimental data or computational models. Corresponding measurements describing the relationships of the nervous and musculoskeletal systems and their dynamics are highly variable. Likewise, computational models and musculoskeletal models in particular are vitally dependent on these measurements to define model behavior and mechanics. These measurements are often sparse and disparate due to unsystematic data collection containing variable methodologies and reporting conventions. To date, …

Application Of Advanced Algorithms And Statistical Techniques For Weed-Plant Discrimination, Saman Akbar Zadeh

Theses: Doctorates and Masters

Precision agriculture requires automated systems for weed detection as weeds compete with the crop for water, nutrients, and light. The purpose of this study is to investigate the use of machine learning methods to classify weeds/crops in agriculture. Statistical methods, support vector machines, convolutional neural networks (CNNs) are introduced, investigated and optimized as classifiers to provide high accuracy at high vehicular speed for weed detection.

Initially, Support Vector Machine (SVM) algorithms are developed for weed-crop discrimination and their accuracies are compared with a conventional data-aggregation method based on the evaluation of discrete Normalised Difference Vegetation Indices (NDVIs) at two different …

Effective Plant Discrimination Based On The Combination Of Local Binary Pattern Operators And Multiclass Support Vector Machine Methods, Vi N T Le, Beniamin Apopei, Kamal Alameh

Research outputs 2014 to 2021

Accurate crop and weed discrimination plays a critical role in addressing the challenges of weed management in agriculture. The use of herbicides is currently the most common approach to weed control. However, herbicide resistant plants have long been recognised as a major concern due to the excessive use of herbicides. Effective weed detection techniques can reduce the cost of weed management and improve crop quality and yield. A computationally efficient and robust plant classification algorithm is developed and applied to the classification of three crops: Brassica napus (canola), Zea mays (maize/corn), and radish. The developed algorithm is based on the …

A Dexterous, Glove-Based Teleoperable Low-Power Soft Robotic Arm For Delicate Deep-Sea Biological Exploration, Brennan T. Phillips, Kaitlyn P. Becker, Shunichi Kurumaya, Kevin C. Galloway, Griffin Whittredge, Daniel M. Vogt, Clark B. Teeple, Michelle H. Rosen, Vincent A. Pieribone, David F. Gruber, Robert J. Wood

Publications and Research

Modern marine biologists seeking to study or interact with deep-sea organisms are confronted with few options beyond industrial robotic arms, claws, and suction samplers. This limits biological interactions to a subset of “rugged” and mostly immotile fauna. As the deep sea is one of the most biologically diverse and least studied ecosystems on the planet, there is much room for innovation in facilitating delicate interactions with a multitude of organisms. The biodiversity and physiology of shallow marine systems, such as coral reefs, are common study targets due to the easier nature of access; SCUBA diving allows for in situ delicate …

Prototype Of A Fish Inspired Swimming Silk Robot, Cassandra M. Donatelli, Sarah A. Bradner, Juanita Mathews, Erin Sanders, Casey R. Culligan, David Kaplan, Eric D. Tytell

Engineering Faculty Articles and Research

Elongate fishes have evolved hundreds of times throughout the tree of life. They occupy many aquatic environments, from streams and ponds to the deepest parts of the ocean. Due to their long body and numerous vertebrae, they are also highly flexible animals, which makes them useful as bioinspiration for designs in the field of soft robotics. We present a biodegradable soft robot prototype, inspired by elongate fishes. The robot's body is primarily composed of a silk hydrogel with embedded fibers to mimic the structure of natural fish skin. When actuated at the front, the flexible gel prototype mimics the undulatory …

Smart Vertical Farm System (Svfs), Sarasit Sirawattanakul

The International Student Science Fair 2018

The unremitting trends of increasing population, urbanization, diminishing water supply, and continuing climate change have contributed to declining stocks of arable land per person. Land available for farming is shrinking, and the demand for food is growing. All of these lead to food insecurity. For the first version of Smart Vertical Farm System is designed to increase food productions by an automatic system. It built with shelves which support soil and hydroponic system, stacked vertically. The system first shovels the soil in the tray and sews the seeds. There is also additional watering system. The hydroponic parts are on the …