Robotics Commons^™

An Approach To Robust Homing With Stereovision, Fuqiang Fu, Damian Lyons

Faculty Publications

Visual Homing is a bioinspired approach to robot navigation which can be fast and uses few assumptions. However, visual homing in a cluttered and unstructured outdoor environment offers several challenges to homing methods that have been developed for primarily indoor environments. One issue is that any current image during homing may be tilted with respect to the home image. The second is that moving through a cluttered scene during homing may cause obstacles to interfere between the home scene and location and the current scene and location. In this paper, we introduce a robust method to improve a previous developed …

Pythagorean Approximations For Lego: Merging Educational Robot Construction With Programming And Data Analysis, Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

Abstract. This paper can be used in two ways. It can provide reference information for incorporating diagonal elements (for bracing or gear meshing) in educational robots built from standard LEGO kits. Alternatively, it can be used as the basis for an assignment for high school or college students to recreate this information; in the process, students will exercise skills in both computer programming and data analysis. Using the paper in the second way can be an excellent integrative experience to add to an existing course; for example, the Exploring Computer Science high school curriculum concludes with the units “Introduction to …

Performance Verification For Robot Missions In Uncertain Environments, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract—Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results …

Establishing A-Priori Performance Guarantees For Robot Missions That Include Localization Software, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

One approach to determining whether an automated system is performing correctly is to monitor its performance, signaling when the performance is not acceptable; another approach is to automatically analyze the possible behaviors of the system a-priori and determine performance guarantees. Thea authors have applied this second approach to automatically derive performance guarantees for behaviorbased, multi-robot critical mission software using an innovative approach to formal verification for robotic software. Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. Several …

Hands-On Learning Environment And Educational Curriculum On Collaborative Robotics, Ana Djuric, Jeremy L. Rickli, Vukica M. Jovanovic, Daniel Foster

Engineering Technology Faculty Publications

The objective of this paper is to describe teaching modules developed at Wayne State University integrate collaborative robots into existing industrial automation curricula. This is in alignment with Oakland Community College and WSU’s desire to create the first industry-relevant learning program for the use of emerging collaborative robotics technology in advanced manufacturing systems. The various learning program components will prepare a career-ready workforce, train industry professionals, and educate academicians on new technologies. Preparing future engineers to work in highly automated production, requires proper education and training in CoBot theory and applications. Engineering and Engineering Technology at Wayne State University offer …

Robostock: Autonomous Inventory Tracking, Drew Christian Balthazor

Computer Engineering

No abstract provided.

Mesh Addition Based On The Depth Image (Mabdi), Lucas E. Chavez

Mechanical Engineering ETDs

Many robotic applications utilize a detailed map of the world and the algorithm used to produce such a map must take into consideration real-world constraints such as computational and memory costs. Traditional mesh-based environmental mapping algorithms receive data from the sensor, create a mesh surface from the data, and then append the surface to a growing global mesh. These algorithms do not provide a computationally efficient mechanism for reducing redundancies in the global mesh. MABDI is able to leverage the knowledge contained in the global mesh to find the difference between what we expect our sensor to see and what …

Formal Performance Guarantees For Behavior-Based Localization Missions, Damian Lyons, Ron Arkin, Shu Jiang, Matt O'Brien, Feng Tang, Peng Tang

Faculty Publications

Abstract— Localization and mapping algorithms can allow a robot to navigate well in an unknown environment. However, whether such algorithms enhance any specific robot mission is currently a matter for empirical validation. In this paper we apply our MissionLab/VIPARS mission design and verification approach to an autonomous robot mission that uses probabilistic localization software.

Two approaches to modeling probabilistic localization for verification are presented: a high-level approach, and a sample-based approach which allows run-time code to be embedded in verification. Verification and experimental validation results are presented for two different missions, each using each method, demonstrating the accuracy …

Pythagorean Combinations For Lego Robot Building., Ronald I. Greenberg

Computer Science: Faculty Publications and Other Works

This paper provides tips for LEGO robot construction involving bracing or gear meshing along a diagonal using standard Botball kits.

A Cyber-Physical System, Andrew Davis, Dustin Bowe, Josiah Nagel

Montview Journal of Research & Scholarship

The team was tasked with the creation of an autonomous cyber-physical system that could be continually developed as a post-capstone class by future STEM students and as a means to teach future engineering students. The strict definition of a cyber-physical system is a computation machine that networks with an embedded computer that performs a physical function. The autonomous aspect was achieved through two sonic sensors to monitor object distances in order to avoid walls and obstacles. The integrated system was based on the Intel Edison computation module. A primary goal for future addition is automation capabilities and machine learning applications.

Establishing Performance Guarantees For Behavior-Based Robot Missions Using An Smt Solver, Feng Tang, Damian M. Lyons, Ronald Arkin

Faculty Publications

In prior work we developed an approach to formally representing behavior-based multi-robot programs, and the uncertain environments in which they operate, as process networks. We automatically extract a set of probabilistic equations governing program execution in that environment using a static analysis module called VIPARS, and solve these using a Dynamic Bayesian Network (DBN) to establish whether stated performance guarantees hold for the program in that environment. In this paper we address the challenge of expanding the range of performance guarantees that are possible by using an SMT-solver instead of a DBN. We translate flow functions, which are recursive probabilistic …

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 …

Follow Me Robot, Victoria M. Edwards

Honors Theses

The idea of a personal robotic assistant, while once made up the tales of science fiction, is now moving closer and closer to reality. It is easy for two humans to walk together where one person knows the directions and the other person follows along. However, it is not a trivial problem for a robot to recognize a human, and follow side by side along with them. There are three key parts to this problem: 1.) Detection of a human, 2.) Tracking the human, and 3.) the robot's Motion strategy. Using baseline assumptions, I can simplify the detection process allowing …

Teaching Robot Kinematics For Engineering Technology Students Using A Created Three-Dimensional Robot And Camera, Cheng Y. Lin, Yuzhong Shen

Engineering Technology Faculty Publications

Teaching robot kinematics is important to engineering technology students in the robot automation. The study can help students not only in the coordinate transformation principles from a joint to its following joint in a robot, but also in relating the coordinate systems between a robot and a machine vision system. While students can utilize math software to compute robot kinematic transformations, they have problems verifying their answers. In this paper, a three dimensional vertically articulated robot is created to help students visualize the location and orientation of the end effector. Students can check their robot kinematic answers based on the …

How Can We Build A Moral Robot?, Kristen E. Clark

Capstones

Artificial intelligence is already starting to drive our cars and make choices that affect the world economy. One day soon, we’ll have robots that can take care of our sick and elderly, and even rescue us in rescue us in emergencies. But as robots start to make decisions that matter—it’s raising questions that go far beyond engineering. We’re stating to think about ethics.

Bertram Malle and Matthias Scheutz are part of a team funded by the department of defense. It's their job to answer a question that seems straight out of a sci-fi novel: How can we build a moral …

Novelty Wins, “Straight Toward Objective” Loses! Or Book Review: Why Greatness Cannot Be Planned: The Myth Of The Objective, By Kenneth O. Stanley And Joel Lehman, Reuben Hersh

Journal of Humanistic Mathematics

Experiments in evolutionary artificial intelligence demonstrate that progress toward an important, difficult goal is not best achieved by attempting to go directly toward that goal, but rather, by rewarding novelty.

Roborodentia Robot, Jordan Dykstra, Anibal Hernandez, Robert Prosser

Computer Engineering

This report provides details on the design and implementation of a robot for the Spring 2015 Roborodentia competition. The system is described from a software perspective, a hardware perspective, and a mechanical design perspective.

Characterization Of A Robotic Manipulator For Dynamic Wind Tunnel Applications, James C. Lancaster

Theses and Dissertations

The newly acquired 6-DOF Motion Test Apparatus (MTA) was installed to perform dynamic wind tunnel testing in the AFIT Low Speed Wind Tunnel. Several complex motions revealed that the overall performance of the test rig needed improvement especially during small motions. The motions exposed that further enhancements would need to be performed individually for each joint. This research effort focused on the improvement of the MTA wrist roll motor and controller using a pitch oscillation. The controller software was improved using position feedback because the MTA wrist roll motor and controller exhibited reduced signal bias and amplitude attenuation. The enhanced …

Performance Verification For Behavior-Based Robot Missions, Damian M. Lyons, Ron Arkin, Shu Jiang, Tsungming Liu, Paramesh Nirmal

Faculty Publications

Certain robot missions need to perform predictably in a physical environment that may have significant uncertainty. One approach is to leverage automatic software verification techniques to establish a performance guarantee. The addition of an environment model and uncertainty in both program and environment, however, means the state-space of a model-checking solution to the problem can be prohibitively large. An approach based on behavior-based controllers in a process-algebra framework that avoids state-space combinatorics is presented here. In this approach, verification of the robot program in the uncertain environment is reduced to a filtering problem for a Bayesian Network. Validation results are …

Preparing Students For The Advanced Manufacturing Environment Through Robotics, Mechatronics, And Automation Training, Ana M. Djuric, Vukica Jovanovic, Tatiana V. Goris

Engineering Technology Faculty Publications

Automation is one of the key areas for modern manufacturing systems. It requires coordination of different machines to support manufacturing operations in a company. Recent studies show that there is a gap in the STEM workforce preparation in regards to highly automated production environments. Industrial robots have become an essential part of these semi-automated and automated manufacturing systems. Their control and programming requires adequate education and training in robotics theory and applications. Various engineering technology departments offer different courses related to the application of robotics. These courses are a great way to inspire students to learn about science, math, engineering, …

Generalized Mapping And Object Removal, Duncan Campbell

Williams Honors College, Honors Research Projects

Simultaneous localization and mapping (SLAM) is a problem that has been explored for the past few decades. SLAM deals with the concept of a robot being introduced into an environment in which it has no prior knowledge. Then, through the use of sensors, the robot is able to map its environment while simultaneously determining its position within the given area. While there has been extensive research into the development of methods by which this problem can be solved, not much has been done on what to do with the resulting maps once they are produced. The research conducted deals with …

Multi-3d System: Advanced Manufacturing Through The Implementation Of Material Handling Robotics, Jose Luis Coronel Jr.

Open Access Theses & Dissertations

Since the rise of additive manufacturing (AM), innovation has been at the forefront. Additive Manufacturing systems that incorporate complex processes are steadily being developed. One example is the Multi3D System, which was designed to integrate the ability to print multi-material parts with that of embedding electronics. To achieve this automated process, the Multi3D incorporates a six-axis robotic arm to transfer a build platform containing a printed part, to various manufacturing stations (two fused deposition modeling (Stratasys, FDM400mc) systems and a computer numerical control router (Techno CNC Router). The robot is a Yaskawa Motoman MH50 chosen for its payload capacity of …

Development Of Workforce Skills: Student Perceptions Of Mentoring In First Robotics, Katie Joan Veal Wallace

Dissertations

In today’s global economy, new workforce competencies are needed for success at both individual and societal levels. The new workforce skills extend beyond basic reading, writing, and arithmetic to include higher order processes such as critical thinking and problem solving. Technical job opportunities have grown by approximately 17%, yet the United States continues to decline in science, technology, engineering and mathematics (STEM) disciplines. Further, U.S. students earn average or below average test scores when compared to other developed countries. Researchers cite the need to incorporate the learning of workplace skills into secondary education curriculum, and advocates call for new teaching …

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

Invariant Inferring And Monitoring In Robotic Systems, Hengle Jiang

School of Computing: Dissertations, Theses, and Student Research

System monitoring can help to detect abnormalities and avoid failures. Crafting monitors for today’s robotic systems, however, can be very difficult due to the systems’ inherent complexity and its rich operating environment.

In this work we address this challenge through an approach that automatically infers system invariants and synthesizes those invariants into monitors. This approach is inspired by existing software engineering approaches for automated invariant inference, and it is novel in that it derives invariants by observing the messages passed between system nodes and the invariants types are tailored to match the spatial, time, temporal, and architectural attributes of robotic …

Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …

Toward A Framework For Levels Of Robot Autonomy In Human-Robot Interaction, Jenay Beer, A. D. Fisk, W. A. Rogers

Faculty Publications

Autonomy is a critical construct related to human-robot interaction (HRI) and varies widely across robot platforms. Levels of robot autonomy (LORA), ranging from teleoperation to fully autonomous systems, influence the way in which humans and robots interact with one another. Thus, there is a need to understand HRI by identifying variables that influence—and are influenced by—robot autonomy. Our overarching goal is to develop a framework for LORA in HRI. To reach this goal, our framework draws links between HRI and human-automation interaction, a field with a long history of studying and understanding human-related variables. The construct of autonomy is reviewed …

A Collaborated Process With A Wireless Autonomous Vehicle At It's Center, Thomas B. Stout, Steve C. Hsiung

Engineering Technology Faculty Publications

Developing partnerships between high schools, community colleges and universities is critical for the successful transitions to a lifelong STEM careers. How do you develop these partnerships? The sharing of a technology platform such as autonomous vehicles can bridge the gap by using a common core group of materials. Collaborations between teachers and faculty indifferent schools that share common interests in teaching control systems and robotics technology can be an excellent start. The university as catalyst in the process by designing the curriculum, system hardware and software then through the common interest deploying them in the high schools and community college. …

Review Of Development Stages In The Conceptual Design Of An Electro Hydrostatic Actuator For Robotics, Velibor Karanović, Mitar Jocanović, Vukica Jovanović

Engineering Technology Faculty Publications

The design of modern robotic devices faces numerous requirements and limitations which are related to optimization and robustness. Consequently, these stringent requirements have caused improvements in many engineering areas and lead to development of new optimization methods which better handle new complex products designed for application in industrial robots. One of the newly developed methods used in industrial robotics is the concept of a self-contained power device, an Electro-Hydrostatic Actuator (EHA). EHA devices were designed with a central idea, to avoid the possible drawbacks which were present in other types of actuators that are currently used in robotic systems. This …

Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase

Wayne State University Dissertations

The objective of this research is to compare barycenter offset based designs of spherical robots to control moment gyroscope (CMG) based designs in order to determine which approach is most effective. The first objective was to develop a list of current state of the art designs in order to gain an overall understanding of what the obstacles in this area of research were. The investigation showed that barycenter offset designs can produce a low, continuous output torque, whereas CMG based designs can usually only produce a high, momentary output torque. The second objective was to develop a CMG based design …