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Articles 1 - 8 of 8
Full-Text Articles in Robotics
Quantified Measurement Of The Tilt Effect In A Family Of Café Wall Illusions, Nasim Nematzadeh Dr., David Martin Powers Prof.
Quantified Measurement Of The Tilt Effect In A Family Of Café Wall Illusions, Nasim Nematzadeh Dr., David Martin Powers Prof.
MODVIS Workshop
This abstract explores the tilt effect in a family of Café Wall illusions using a Classical Gaussian Receptive Field model (CRF). Our model constructs an intermediate representation called edge map at multiple scales (Fig. 1) that reveals tilt cues and clues involved in the illusory perception of the Café Wall pattern. We investigate a wide range of parameters of the stimulus including mortar width, luminance, tiles contrast, and phase of the tile displacement (the stimuli in Fig. 2). We show that this simple bioplausible model, simulating the contrast sensitivity of the retinal ganglion cells, can not only detect the tilts …
Micro-Manipulation Using Learned Model, Matthew A. Lyng, Benjamin V. Johnson, David J. Cappelleri
Micro-Manipulation Using Learned Model, Matthew A. Lyng, Benjamin V. Johnson, David J. Cappelleri
The Summer Undergraduate Research Fellowship (SURF) Symposium
Microscale devices can be found in applications ranging from sensors to structural components. The dominance of surface forces at the microscale hinders the assembly processes through nonlinear interactions that are difficult to model for automation, limiting designs of microsystems to primarily monolithic structures. Methods for modeling surface forces must be presented for viable manufacturing of devices consisting of multiple microparts. This paper proposes the implementation of supervised machine learning models to aid in automated micromanipulation tasks for advanced manufacturing applications. The developed models use sets of training data to implicitly model surface interactions and predict end-effector placement and paths that …
Ani-Bot: A Mixed-Reality Ready Modular Robotics System, Zhuangying Xu, Yuanzhi Cao
Ani-Bot: A Mixed-Reality Ready Modular Robotics System, Zhuangying Xu, Yuanzhi Cao
The Summer Undergraduate Research Fellowship (SURF) Symposium
DIY modular robotics has always had a strong appeal to makers and designers; being able to quickly design, build, and animate their own robots opens the possibility of bringing imaginations to life. However, current interfaces to control and program the DIY robot either lacks connection and consistency between the users and target (Graphical User Interface) or suffers from limited control capabilities due to the lack of versatility and functionality (Tangible User interface). We present Ani-Bot, a modular robotics system that allows users to construct Do-It-Yourself (DIY) robots and use mixed-reality approach to interact with them instantly. Ani-Bot enables novel user …
Perception Of 3d Symmetrical And Near-Symmetrical Shapes, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo
Perception Of 3d Symmetrical And Near-Symmetrical Shapes, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo
MODVIS Workshop
No abstract provided.
3-D Shape Recovery From A Single Camera Image, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo
3-D Shape Recovery From A Single Camera Image, Vijai Jayadevan, Aaron Michaux, Edward Delp, Zygmunt Pizlo
MODVIS Workshop
3-D shape recovery is an ill-posed inverse problem which must be solved by using a priori constraints. We use symmetry and planarity constraints to recover 3-D shapes from a single image. Once we assume that the object to be reconstructed is symmetric, all that is left to do is to estimate the plane of symmetry and establish the symmetry correspondence between the various parts of the object. The edge map of the image of an object serves as a good representation of its 2-D shape and establishing symmetry correspondence means identifying pairs of symmetric curves in the edge map. The …
Dynamic Surgical Tool Tracking And Delivery System Using Baxter Robot, Sthitapragyan Parida, Juan Pablo Wachs, Maria Eugenia Cabrera
Dynamic Surgical Tool Tracking And Delivery System Using Baxter Robot, Sthitapragyan Parida, Juan Pablo Wachs, Maria Eugenia Cabrera
The Summer Undergraduate Research Fellowship (SURF) Symposium
Several hospitals face nurse staffing shortages for surgeries. This research focuses on building a system with Baxter robot capable of identifying surgical tools using computer vision and delivering them to the surgeon on demand. This would deal with the issue of nurse unavailability during simple surgical procedures. The key aspects of the project were: testing the accuracies of various Artificial Neural Networks (ANNs) in classifying surgical instruments, and programming Baxter to implement a surgical tool delivery system using magnets at the tip of its 7-DOF robotic arms. The methodology consisted of, first, implementing algorithms to enable Baxter to do pick …
Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri
Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri
The Summer Undergraduate Research Fellowship (SURF) Symposium
Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …
Development Of Pneumatic Robot For Outreach, Eshamogbo E. Ojuba, John Lumkes
Development Of Pneumatic Robot For Outreach, Eshamogbo E. Ojuba, John Lumkes
The Summer Undergraduate Research Fellowship (SURF) Symposium
To encourage the current generation of high school and middle school students to pursue careers in engineering, it is important to have challenging hands-on engineering activities for them. Such activities should be interesting, compelling, and, most importantly, educative. A mini-excavator was built for fluid power outreach, but this tool only demonstrates fluid power, without showing other important aspects of engineering. The tool being developed is able to demonstrate fluid power, as well as other important aspects of engineering, such as controls, electronics, and programming. This tool is an electronically-controlled device that allows the user control a pneumatic circuit, coupled with …