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Articles 31 - 43 of 43
Full-Text Articles in Robotics
An Interactive Interface For Nursing Robots., Ankita Sahu
An Interactive Interface For Nursing Robots., Ankita Sahu
Electronic Theses and Dissertations
Physical Human-Robot Interaction (pHRI) is inevitable for a human user while working with assistive robots. There are various aspects of pHRI, such as choosing the interface, type of control schemes implemented and the modes of interaction. The research work presented in this thesis concentrates on a health-care assistive robot called Adaptive Robot Nursing Assistant (ARNA). An assistive robot in a health-care environment has to be able to perform routine tasks and be aware of the surrounding environment at the same time. In order to operate the robot, a teleoperation based interaction would be tedious for some patients as it would …
Optimized Trajectory Generation For Car-Like Robots On A Closed Loop Track, Tyler Friedl
Optimized Trajectory Generation For Car-Like Robots On A Closed Loop Track, Tyler Friedl
Electronic Theses and Dissertations
This thesis presents a method for generating an optimized path through a given track. The path is generated by choosing waypoints throughout the track then iteratively optimizing the position of these waypoints. The waypoints are then connected by optimized paths represented by curvature polynomials. The end result is a path through the track represented as a spline of curvature polynomials. This method is applied to multiple simulated tracks and the results are presented. By generating and representing the paths in the continuous domain, the method has improved computational efficiency from many of the discrete methods used to generate an optimal …
System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha
System Identification Of A Circulation Control Unmanned Aerial Vehicle, Mohammed Agha
Electronic Theses and Dissertations
The advancement in automation and sensory systems in recent years has led to an increase the demand of UAV missions. Due to this increase in demand, the research community has gained interest in investigating UAV performance enhancing systems. Circulation Control (CC), which is an active control flow method used to enhance UAV lift, is a performance enhancing system currently studied. In prior research, experimental studies have shown that Circulation Control wings (CCW) implemented on class-I UAVs can reduce take-off distance by 54%. Wind tunnel tests reveal that CC improves aircraft payload capabilities through lift enhancement. Increasing aircraft payload capabilities causes …
Psychophysiological Analysis Of A Pedagogical Agent And Robotic Peer For Individuals With Autism Spectrum Disorders., Mohammad Nasser Saadatzi
Psychophysiological Analysis Of A Pedagogical Agent And Robotic Peer For Individuals With Autism Spectrum Disorders., Mohammad Nasser Saadatzi
Electronic Theses and Dissertations
Autism spectrum disorder (ASD) is a neurodevelopmental disorder characterized by ongoing problems in social interaction and communication, and engagement in repetitive behaviors. According to Centers for Disease Control and Prevention, an estimated 1 in 68 children in the United States has ASD. Mounting evidence shows that many of these individuals display an interest in social interaction with computers and robots and, in general, feel comfortable spending time in such environments. It is known that the subtlety and unpredictability of people’s social behavior are intimidating and confusing for many individuals with ASD. Computerized learning environments and robots, however, prepare a predictable, …
Design And Development Of The Ebear: A Socially Assistive Robot For Elderly People With Depression, Amirhossein Kargarbideh
Design And Development Of The Ebear: A Socially Assistive Robot For Elderly People With Depression, Amirhossein Kargarbideh
Electronic Theses and Dissertations
There has been tremendous progress in the field of robotics in the past decade and especially developing humanoid robots with social abilities that can assist human at a socio-emotional level. The objective of this thesis is to develop and study a perceptive and expressive animal-like robot equipped with artificial intelligence in assisting the elderly people with depression. We investigated how social robots can become companions of elderly individuals with depression and improve their mood and increase their happiness and well-being. The robotic platform built in this thesis is a bear-like robot called the eBear. The eBear can show facial expression …
Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage
Localization And Mapping Of Unknown Locations And Tunnels With Unmanned Ground Vehicles, Doris Turnage
Electronic Theses and Dissertations
The main goals of this research were to enhance a commercial off the shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field testing. Developing this platform will enhance the U. S. Army Engineering Research and Development Center’s (ERDC’s) current capabilities and create a safe and efficient autonomous vehicle to perform the following functions within tunnels: (1) localization (e.g., position tracking) and mapping of its environment, (2) traversing varied terrains, (3) sensing the environment for objects of interest, and …
Dexterous Hexrotor Uav Platform, Guangying Jiang
Dexterous Hexrotor Uav Platform, Guangying Jiang
Electronic Theses and Dissertations
Mobile manipulation is a hot area of study in robotics as it unites the two classes of robots: locomotors and manipulators. An emerging niche in the field of mobile manipulation is aerial mobile manipulation. Although there has been a fair amount of study of free-flying satellites with graspers, the more recent trend has been to outfit UAVs with graspers to assist various manipulation tasks. While this recent work has yielded impressive results, it is hampered by a lack of appropriate testbeds for aerial mobile manipulation, similar to the state of ground-based mobile manipulation a decade ago. Typical helicopters or quadrotors …
Radar Based Collision Avoidance For Unmanned Aircraft Systems, Allistair A. Moses
Radar Based Collision Avoidance For Unmanned Aircraft Systems, Allistair A. Moses
Electronic Theses and Dissertations
Unmanned Aircraft Systems (UAS) have become increasingly prevalent and will represent an increasing percentage of all aviation. These unmanned aircraft are available in a wide range of sizes and capabilities and can be used for a multitude of civilian and military applications. However, as the number of UAS increases so does the risk of mid-air collisions involving unmanned aircraft. This dissertation aims present one possible solution for addressing the mid-air collision problem in addition to increasing the levels of autonomy of UAS beyond waypoint navigation to include preemptive sensor-based collision avoidance. The presented research goes beyond the current state of …
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Reducing Communication Delay Variability For A Group Of Robots, Goncalo Martins
Electronic Theses and Dissertations
A novel architecture is presented for reducing communication delay variability for a group of robots. This architecture relies on using three components: a microprocessor architecture that allows deterministic real-time tasks; an event-based communication protocol in which nodes transmit in a TDMA fashion, without the need of global clock synchronization techniques; and a novel communication scheme that enables deterministic communications by allowing senders to transmit without regard for the state of the medium or coordination with other senders, and receivers can tease apart messages sent simultaneously with a high probability of success. This approach compared to others, allows simultaneous communications without …
Robot Team Formation Control Using Communication "Throughput Approach", Fatmazahra Ahmed Benhalim
Robot Team Formation Control Using Communication "Throughput Approach", Fatmazahra Ahmed Benhalim
Electronic Theses and Dissertations
In this thesis, we consider a team of robots forming a mobile robot network cooperating to accomplish a mission in an unknown but structured environment. The team has no a-priori knowledge of the environment. Robots have limited memory storage capabilities, not enough to map the environment. Each robot also has limited sensor capability and computational power. Due to the need to avoid obstacles and other environment effects, some robots get delayed from the rest. Using tracking controller, the robot team should follow the leader in a flexible formation shape without losing network connectivity, and that was achieved by monitoring the …
Influence Of Task-Role Mental Models On Human Interpretation Of Robot Motion Behavior, Scott Ososky
Influence Of Task-Role Mental Models On Human Interpretation Of Robot Motion Behavior, Scott Ososky
Electronic Theses and Dissertations
The transition in robotics from tools to teammates has begun. However, the benefit autonomous robots provide will be diminished if human teammates misinterpret robot behaviors. Applying mental model theory as the organizing framework for human understanding of robots, the current empirical study examined the influence of task-role mental models of robots on the interpretation of robot motion behaviors, and the resulting impact on subjective ratings of robots. Observers (N = 120) were exposed to robot behaviors that were either congruent or incongruent with their task-role mental model, by experimental manipulation of preparatory robot task-role information to influence mental models (i.e., …
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li
Reconode: Towards An Autonomous Multi-Robot Team Agent For Usar, Kang Li
Electronic Theses and Dissertations
Urban search and rescue (USAR) robots can benefit from small size as it facilitates movement in cramped quarters. Yet, small size limits actuator power, sensor payloads, computational capacity and battery life. We are alleviating these issues by developing the hardware and software infrastructure for high performance, heterogeneous, dynamically-reconfigurable miniature USAR robots, as well as a host of other relevant applications. In this thesis, a generic modular embedded system architecture based on the RecoNode multiprocessor is proposed, which consists of a set of hardware and software modules that can be configured to construct various types of robot systems for dynamic and …
Heterogeneous Drive Mechanisms For Novel Locomotion In Rough Terrain, Roy Godzdanker
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 …