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Articles 1 - 16 of 16
Full-Text Articles in Robotics
Visor-Zt: A Visibility, Simulation, And Operational Resilience Framework For Zero Trust Security In Ros 2, Noah Tinker
Visor-Zt: A Visibility, Simulation, And Operational Resilience Framework For Zero Trust Security In Ros 2, Noah Tinker
All Theses
Robotic systems are becoming more and more prevalent in modern society, with Robot Operating System 2 (ROS 2) being the dominant operating system for these implementations. Its popularity can be attributed to its design, which is purpose-built for distributed systems and asynchronous communications. However, ROS 2 security is static and therefore less capable of responding to contemporary threats and network behavior. This becomes a greater issue when considering its applications in the military and defense sectors, where security is of the highest importance. In recent years, the U.S. Department of Defense (DoD) has implemented zero trust (ZT) security based on …
Graph Based Deep Reinforcement Learning Aided By Transformers For Multi-Agent Cooperation, Michael S. Elrod
Graph Based Deep Reinforcement Learning Aided By Transformers For Multi-Agent Cooperation, Michael S. Elrod
All Theses
Mission planning for a fleet of cooperative autonomous drones in applications that involve serving distributed target points, such as disaster response, environmental monitoring, and surveil- lance, is challenging, especially under partial observability, limited communication range, and uncertain environments. Traditional path-planning algorithms struggle in these scenarios, particu- larly when prior information is not available. To address these challenges, I propose an innovative framework that integrates Graph Neural Networks (GNNs), Deep Reinforcement Learning (DRL), and transformer-based mechanisms for enhanced multi-agent coordination and collective task ex- ecution. My approach leverages GNNs to model agent-agent and agent-goal interactions through adaptive graph construction, enabling efficient …
Using Efficient Vision Transformers To Improve Perception Systems In Autonomous Off-Road Vehicles, Adam S. Pickeral
Using Efficient Vision Transformers To Improve Perception Systems In Autonomous Off-Road Vehicles, Adam S. Pickeral
All Theses
The development of autonomous vehicles has become one of the greatest research endeavors in recent years. These vehicles rely on many complex systems working in tandem to make decisions. For practical use and safety reasons, these systems must not only be accurate, but also be quick to make decisions. In Autonomous Vehicle research, the environment perception system is one of the key com- ponents of development. The environment perception system allows the vehicle to understand its surroundings using cameras, light detection and ranging (LiDAR), and other sensor systems or modalities. Deep learning computer vision algorithms have shown to be the …
Training Uav Teams With Multi-Agent Reinforcement Learning Towards Fully 3d Autonomous Wildfire Response, Bryce Hopkins
Training Uav Teams With Multi-Agent Reinforcement Learning Towards Fully 3d Autonomous Wildfire Response, Bryce Hopkins
All Theses
As climate-exacerbated wildfires increasingly threaten landscapes and communities, there is an urgent and pressing need for sophisticated fire management technologies. Coordinated teams of Unmanned Aerial Vehicles (UAVs) present a promising solution for detection, assessment, and even incipient-stage suppression – especially when integrated into a multi-layered approach with other recent wildfire management technologies such as geostationary/polar-orbiting satellites and CCTV detection networks. However, there remains significant challenges in developing the necessary sensing, navigation, coordination, and communication subsystems that enable intelligent UAV teams. Further, federal regulations governing UAV deployment and autonomy pose constraints on real-world aerial testing, creating a disconnect between theoretical research …
Multi-Domain Secure Dds Networks For Aerial And Ground Vehicle Communications, Daniel Pendleton
Multi-Domain Secure Dds Networks For Aerial And Ground Vehicle Communications, Daniel Pendleton
All Theses
none
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
Deep Reinforcement Learning Of Variable Impedance Control For Object-Picking Tasks, Akshit Lunia
All Theses
The increasing deployment of robots in industries with varying tasks has accelerated the development of various control frameworks, enabling robots to replace humans in repetitive, exhaustive, and hazardous jobs. One critical aspect is the robots' interaction with their environment, particularly in unknown object-picking tasks, which involve intricate object weight estimations and calculations when lifting objects. In this study, a unique control framework is proposed to modulate the force exerted by a manipulator for lifting an unknown object, eliminating the need for feedback from a force/torque sensor. The framework utilizes a variable impedance controller to generate the required force, and an …
Hand Movement Analysis For Surgical Suturing Skill Assessment, Amir Mehdi Shayan
Hand Movement Analysis For Surgical Suturing Skill Assessment, Amir Mehdi Shayan
All Theses
To enhance patient safety, surgical education is increasingly incorporating simulation for formative skills assessment and training. However, many standardized assessment tools rely on human raters for performance assessment, which is resource-intensive and subjective. Simulators that provide automated and objective metrics from sensor data can address this limitation. This thesis presents an instrumented bench suturing simulator, patterned after the Clock Face (CF) radial suturing model from the Fundamentals of Vascular Surgery (FVS), for automated and objective assessment of open suturing skills by particularly focusing on biomechanical analysis of hand movements. For this research, 97 participants (35 attending surgeons and fellows, 32 …
Continuum Robotic Surface: Forward Kinematic Analysis And Implementation, Jessica Merino
Continuum Robotic Surface: Forward Kinematic Analysis And Implementation, Jessica Merino
All Theses
This thesis presents a new class of biologically inspired robots: continuum robotic surfaces. This work is fueled by the question: can the interaction between robot and environment be advanced with “programmable surfaces in space?” The novelty of continuum robotic surfaces lies in their ability to be actively controlled and reconfigured in what we believe is the current “missing dimension” in robot movements — two–dimensional space. We believe that such surfaces will lend themselves to more complex applications. However, to effectively deploy such surfaces for these complex applications, kinematic models will be necessary to plan and control desired configurations. The forward …
A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
All Theses
ABSTRACT
In this thesis, a new approach for developing practically realizable dynamic models for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for analyzing the capabilities of continuum manipulators to be employed in various real world applications has also been proposed and developed.
A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). It is shown that this model, although an approximation to a continuum structure, can be used to conveniently analyze the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively simple model …
The Design Of A Haptic Device For Training And Evaluating Surgeon And Novice Laparoscopic Movement Skills, Ryan Bontreger
The Design Of A Haptic Device For Training And Evaluating Surgeon And Novice Laparoscopic Movement Skills, Ryan Bontreger
All Theses
As proper levels of force application are necessary to ensure patient safety, and training hours with an expert on live subjects are difficult, enhanced computer-based training is needed to teach the next generation of surgeons. Considering the role of touch in surgery, there is a need for a device capable of discerning the haptic ability of surgical trainees. This need is amplified by minimally invasive surgical techniques where a surgeon's sense of tissue properties comes not directly through their own hands but indirectly through the tools. A haptic device capable of producing a realistic range of forces and motions that …
Dynamics And Control Of The Shoot-The-Moon Tabletop Game, Peng Xu
Dynamics And Control Of The Shoot-The-Moon Tabletop Game, Peng Xu
All Theses
The classic table-top game Shoot-the-Moon has interesting dynamics despite its simple structure, consisting of a steel ball rolling on two cylindrical rods. The two sloped rods are hinged at the lower ends and allowed to freely slide in a slot at the higher end. The ball can amazingly roll upward along the rods under carefully manipulation of the rods. There is also an interaction between ball rotation and translation that cause the ball to ``shoot'' (quickly accelerate).
In this thesis, the kinematics are developed for Shoot-the-Moon and then equations of motion are derived using both Lagrangian and Newtonian approaches. The …
Pose Estimation For Robotic Disassembly Using Ransac With Line Features, Shyam Sundar Aswadha Narayanan
Pose Estimation For Robotic Disassembly Using Ransac With Line Features, Shyam Sundar Aswadha Narayanan
All Theses
In this thesis, a new technique to recognize and estimate the pose of a given 3-D object from a single real image provided known prior knowledge of its approximate structure is proposed. Metrics to evaluate the correctness of a calculated pose are presented and analyzed. The traditional and the more recent approaches used in solving this problem are explored and the various methodologies adopted are discussed.
The first step in disassembling a given assembly from its image is to recognize the attitude and translation of each of its constituent components - a fundamental problem which is being addressed in this …
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
Design, Construction, And Testing Of A New Class Of Mobile Robots, Ivan Siles
All Theses
This thesis introduces a novel mobile robot design concept aimed at exploration of subterranean spaces. The key innovation is the combination of highly maneuverable body elements with wheel/leg elements (Whegs). This combination offers performance not possible with conventional 'monolithic' wheeled or tracked mobile robots, or with current robot snakes. The thesis covers four design iterations of the concept, concentrating on describing the overall design process and results from field tests. Additionally a kinematic analysis of the fourth prototype and implications for future designs is presented.
Analysis And Experiments For Tendril-Type Robots, Lara Cowan
Analysis And Experiments For Tendril-Type Robots, Lara Cowan
All Theses
New models for the Tendril continuous backbone robot, and other similarly constructed robots, are introduced and expanded upon in this thesis. The ability of the application of geometric models to result in more precise control of the Tendril manipulator is evaluated on a Tendril prototype. We examine key issues underlying the design and operation of 'soft' robots featuring continuous body ('continuum') elements. Inspiration from nature is used to develop new methods of operation for continuum robots. These new methods of operation are tested in experiments to evaluate their effectiveness and potential.
Odometry Correction Of A Mobile Robot Using A Range-Finding Laser, Thomas Epton
Odometry Correction Of A Mobile Robot Using A Range-Finding Laser, Thomas Epton
All Theses
Two methods for improving odometry using a pan-tilt range-finding laser is considered. The first method is a one-dimensional model that uses the laser with a sliding platform. The laser is used to determine how far the platform has moved along a rail. The second method is a two-dimensional model that mounts the laser to a mobile robot. In this model, the laser is used to improve the odometry of the robot. Our results show that the one-dimensional model proves our basic geometry is correct, while the two-dimensional model improves the odometry, but does not completely correct it.
Operational Strategies For Continuum Manipulators, Matt Csencsits
Operational Strategies For Continuum Manipulators, Matt Csencsits
All Theses
We introduce a novel, intuitive user interface for continuum manipulators through the use of various joystick mappings. This user interface allows for the effective use of continuum manipulators in the lab and in the field. A novel geometric approach is developed to produce a more intuitive understanding of continuum manipulator kinematics. Using this geometric approach we derive the first closed-form solution to the inverse kinematics problem for continuum robots. Using the derived inverse kinematics to convert from workspace coordinates to configuration space coordinates we develop a potential-field path planner for continuum manipulators.