Robotics Commons^™

Distributed Control For Robotic Swarms Using Centroidal Voronoi Tessellations, Shelley Rounds

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

This thesis introduces a design combining an emerging area in robotics with a well established mathematical research topic: swarm intelligence and Voronoi tessellations, respectively. The main objective for this research is to design an economical and robust swarm system to achieve distributed control. This research combines swarm intelligence with Voronoi tessellations to localize a source and create formations. Extensive software coding must be implemented for this design, such as the development of a discrete centroidal Voronoi tessellation (CVT) algorithm.

The ultimate purpose of this research is to advance the existing Mobile Actuator and Sensor Network (MASnet) platform to eventually develop …

Deep Sea Underwater Robotic Exploration In The Ice-Covered Arctic Ocean With Auvs, Clayton Kunz, Chris Murphy, Richard Camilli, Hanumant Singh, John Bailey, Ryan M. Eustice, Chris Roman, Michael Jakuba, Claire Willis, Taichi Sato, Ko-Ichi Nakamura, Robert A. Sohn

Graduate School of Oceanography Faculty Publications

The Arctic seafloor remains one of the last unexplored areas on Earth. Exploration of this unique environment using standard remotely operated oceanographic tools has been obstructed by the dense Arctic ice cover. In the summer of 2007 the Arctic Gakkel Vents Expedition (AGAVE) was conducted with the express intention of understanding aspects of the marine biology, chemistry and geology associated with hydrothermal venting on the section of the mid-ocean ridge known as the Gakkel Ridge. Unlike previous research expeditions to the Arctic the focus was on high resolution imaging and sampling of the deep seafloor. To accomplish our goals we …

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.

Comparing Discrimination And Cfa For Selecting Tracking Features, Damian M. Lyons, D. Frank Hsu

Faculty Publications

The ability of a tracker to isolate the foreground target from the background of an image is crucially dependent on the set of features selected for tracking. Collins & Liu [2] propose an on-line, adaptive approach to selecting the set of features based on the insight that the set of features that best discriminate between target and background classes is the best set to use for tracking. In previous work [10], we have proposed an approach based on Combinatorial Fusion Analysis for selecting features for Real-Time tracking. We discuss the relative merits of the two methods and motivate their combination …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing, Georg F. Mauer

Fuels Campaign (TRP)

The safe and effective manufacturing of actinide-bearing fuels for any transmutation strategy requires that the entire manufacturing process be contained within a shielded hot cell environment. To ensure that the fabrication process is feasible, the entire process must be designed for remote operation. The equipment must be reliable enough to perform over several decades, and also easy to maintain or repair remotely. The facility must also be designed to facilitate its own decontamination and decommissioning. In addition to these design factors, the potential viability of any fuel fabrication process will also be impacted by a number of variables, such as …

Byzantium Beneath The Black Sea, Bridget Buxton, Robert Ballard, Michael Brennan, Dwight Coleman, Katy Croff, Christopher Roman, Dan Davis, Dennis Piechota, Sergiy Voronov

Graduate School of Oceanography Faculty Publications

This poster reports on the August 2007 Black Sea Expedition of the Institute for Archaeological Oceanography at the University of Rhode Island (IAO) and the Institute for Exploration (IFE), in collaboration with the Department of the Underwater Heritage of Ukraine. This year’s work marks a new phase in a multi-year (2000–2012) archaeological and oceanographic survey of the Black Sea. 2007 fieldwork focuses on two Byzantine shipwrecks. The 10th century C.E. shipwreck Chersonesos A (discovered in 2006) lies at 140 m depth in the suboxic zone off the Crimean peninsula. The ship carried a cargo of one-handled jars of a widely …