Robotics Commons^™

Mobius: An Omnidirectional Robotic Platform And Software Architecture For Network Teleoperation, Samuel Aaron Miller

Electrical & Computer Engineering Theses & Dissertations

The following thesis presents the results of a project to develop and test an omnidirectional robotic system (hardware and software) at NASA Langley Research Center's Robotics and Intelligent Machines Lab. The impetus for the project was the unique capabilities of omnidirectional systems. Some of the many potential benefits these systems have include improved material-handling capabilities in constrained environments (such as might be found in extraterrestrial manned habitats), efficient camera-based vehicle teleoperation, and simplified route planning for autonomous robot operations.

The project's focus was to design, build, and test a system that used Mecanum wheels to achieve omnidirectional motion. In addition …

Power-Scavenging Mems Robots, Daniel J. Denninghoff

Theses and Dissertations

This thesis includes the design, modeling, and testing of novel, power-scavenging, biologically inspired MEMS microrobots. Over one hundred 500-μm and 990-μm microrobots with two, four, and eight wings were designed, fabricated, characterized. These microrobots constitute the smallest documented attempt at powered flight. Each microrobot wing is comprised of downward-deflecting, laser-powered thermal actuators made of gold and polysilicon; the microrobots were fabricated in PolyMUMPs® (Polysilicon Multi-User MEMS Processes). Characterization results of the microrobots illustrate how wing-tip deflection can be maximized by optimizing the gold-topolysilicon ratio as well as the dimensions of the actuator-wings. From these results, an optimum actuator-wing configuration was …

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 …

Analysis Of Gaits For A Rotating Tripedal Robot, Damian M. Lyons, Kiran Pamnany

Faculty Publications

A goal of robotics has been to develop mechanisms that have the efficiency and speed of wheeled robots with the terrain flexibility of legged robots. In previous work, we have proposed a unique three-legged mechanism, the rotopod, designed to integrate these two useful approaches to locomotion. In this paper, we present an analysis of the variety of gaits that can be exhibited by the rotopod. We present examples of many of these gaits and discuss their potential use. A trajectory generation algorithm is presented that can be used to generate point to point trajectories using one of three different styles …

Rotational Legged Locomotion, Damian M. Lyons, Kiran Pamnany

Faculty Publications

In this paper we presented a novel, agile robot mechanism, which we call a rotopod, which combines aspects of wheeled and legged locomotion. A general description of how a tripedal rotopod can be made to step, rotating the mechanism about one leg, and moving the center of the mechanism, is presented. The concept of a gait for this mechanism is defined, and is used to show how extremely agile the mechanism can be. Specific resistance is employed as a way to explore the relative efficiency of this mechanism versus a wheel. Finally, we describe our first prototype rotopod and report …

Rank-Based Multisensory Fusion In Multitarget Video Tracking, Damian M. Lyons, D. Frank Hsu

Faculty Publications

An attractive approach to improve tracking performance for visual surveillance is to use information from multiple visual sensory cues such as position, color, shape, etc. Previous work in fusion for tracking has tended to focus on fusion by numerically combining the scores assigned by each cue. We argue that for video scenes with many targets in a crowded situation, the splitting and merging of regions associated with targets, and the subsequent dramatic changes in cue values and reliabilities, renders this form of fusion less effective. In this paper we present experimental results showing that use of cue rank information in …

A Dynamic Pruning And Feature Selection Strategy For Real-Time Tracking, D. Frank Hsu, Damian M. Lyons

Faculty Publications

Automated video tracking is useful in a number of applications such as surveillance, multisensor networks, robotics and virtual reality. In this paper we investigate an approach to tracking based on fusing the output of a collection of video trackers, each attending to a different feature or cue on the target. We show both theoretically and experimentally that the method used to prune the growth of target hypotheses can have a great impact on the trackers performance, and indirectly, change the benefit of using linear score combination as opposed to a non-linear rank combination for fusion. We also show that the …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing: Quarterly Progress Report #1, Jamil M. Renno, Georg F. Mauer

Fuels Campaign (TRP)

A Hot Cell robotic assembly: Pick and place dynamic simulation, including feedback control with Matlab, was developed for dispersion fuel manufacture.

The deployment of remote manufacturing of transmuter fuel is a necessity for the transmutation applications. In the reporting period, a virtual hot cell for the manufacturing of dispersion fuel was designed using MSC.visualNastran^©, ProEngineer^© and MATLAB^©. Atypical events were successfully simulated. Relevant physical quantities arising during such events were monitored as well.

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

The goal of this research project was to provide technical support to process designers working on the development of the fuel cycles for transmutation applications. Detailed process models were developed to better define the impact of fuel choice on the transmuter fuel cycle, including relative process losses, waste generation, and plant capital cost. These process models provide insight regarding required plant size and number of plants needed to mesh with the fuel recycling line. They also determine requirements for automation.

Manufacturing models for large-scale production in a hot cell environment were also developed. Combined, these two models allow the assessment …

Physical Intelligent Sensors, Pavan Bandhil, Sanjeevi Chitikeshi, Ajay Mohan Mahajan, Fernando Figueroa

Mechanical Engineering Faculty Research

This paper proposes the development of intelligent sensors as part of an integrated systems approach, i.e. one treats the sensors as a complete system with its own sensing hardware (the traditional sensor), A/D converters, processing and storage capabilities, software drivers, self-assessment algorithms, communication protocols and evolutionary methodologies that allow them to get better with time. Under a project being undertaken at the NASA s Stennis Space Center, an integrated framework is being developed for the intelligent monitoring of smart elements. These smart elements can be sensors, actuators or other devices. The immediate application is the monitoring of the rocket test …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #11, Georg F. Mauer

Fuels Campaign (TRP)

The eleventh quarter of the project covered the following:

• Mr. Richard Silva successfully defended his thesis in April 2004 and graduated from the MEG Master’s program.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Graduate Jae-Kyu Lee). Ms. Caroline Wiejak, an exchange student from the ESIEE in Marne-la-Vallee, France is continuing with the image analysis effort. To date, she has transferred Jae-Kyu’s code to Matlab, and is presently expanding its application to more complex 3D shapes.

• Graduate student Jamil Renno refined and detailed his simulations of …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #10, Georg F. Mauer

Fuels Campaign (TRP)

The tenth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot, and is close to completing his M.Sc. thesis project. Rich will likely defend his thesis in April 2004.

• A project review meeting with Dr. Mitch Meyer and other ANL scientists was held in December 2003 at ANL West, Idaho Falls, ID. Dr. Meyer described ANL long term research objectives with regard to transmuter fuel manufacturing.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #10, Georg F. Mauer

Fuels Campaign (TRP)

The tenth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot, and is close to completing his M.Sc. thesis project. Rich will likely defend his thesis in April 2004.

• A project review meeting with Dr. Mitch Meyer and other ANL scientists was held in December 2003 at ANL West, Idaho Falls, ID. Dr. Meyer described ANL long term research objectives with regard to transmuter fuel manufacturing.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object …

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

The goal of this research project is to provide technical support to process designers working on the development of the fuel cycles for transmutation applications. Detailed process models are developed to better define the impact of fuel choice on the transmuter fuel cycle, including relative process losses, waste generation, and plant capital cost. These process models provide insight regarding required plant size and number of plants needed to mesh with the fuel recycling line. They also determine requirements for automation.

Manufacturing models for large-scale production in a hot cell environment are also developed. Combined, these two models allow the assessment …

Automation Laboratory Development With Design Implementation Scheme And Simulation Software, Cheng Y. Lin, Gary R. Crossman

Engineering Technology Faculty Publications

This paper describes the development of the Automation Control Lab in the Mechanical Engineering Technology Program of the Engineering Technology Department at Old Dominion University. The reorganization goal of the development is to help students design, test, and implement their automation designs effectively. Three processes are adopted to achieve this goal: (1) floor-plan design and inventory control of the components, (2) using Automation Studio to dynamically check each design, and (3) using industrial Programmable Logic Controllers (PLC) controllers to download PLC programs.

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #9, Georg F. Mauer

Fuels Campaign (TRP)

The ninth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• A paper on hot cell robotics was presented at the ANS Winter Annual Meeting and published in the ANS 2003 conference proceedings.

• Further advances on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

• Graduate student Jamil Renno created simulations of more complex fuel manufacturing and …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #8, Georg F. Mauer

Fuels Campaign (TRP)

The eighth quarter of the project covered the following:

· Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

· A paper submitted for ANS for the Winter Annual Meeting on hot cell robotics was accepted for presentation and publication.

· Further advances on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

· Undergraduate student Jamil Renno created simulations of fuel pin assembly (robotic insertion of pellets …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #7, Georg F. Mauer

Fuels Campaign (TRP)

The seventh quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• Mr. Richard Silva presented a paper on hot cell robotics at the ANS student conference in Berkeley, CA.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

• Undergraduate student Jamil Renno, developed better control algorithms, and created simulations of pick and place actions for the hot …

Final Design Report Of Computer Controller Of Robotic Arm, Kurt Niederhauser

Undergraduate Honors Capstone Projects

My Part of the project was to design the hardware. I assembled the TT8 microprocessor and designed the optocial isolation board for the input and output signals to the TT8 microprocessor. We had two boards. One board had the TT8 Processor and other chips used for regulating the affairs of the TT8 (This board I assembled), and then there was another board that had all the control signals for the TT8 (this board I had to design), which sent the signals letting the TT8 know when the robot arm had been extended or retracted as far is it could go. …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #6, Georg F. Mauer

Fuels Campaign (TRP)

The sixth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project. Rich is employed with Bechtel at the Yucca Mountain project.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

• An undergraduate senior student in mechanical engineering, Mr. Jamil Renno, was hired to develop the simulation model for the hot cell manipulator.

Almeria-Mars: A Web Based Robotic Simulation, John Travis Ian Wood

Theses Digitization Project

This project discusses the concepton of a web-based simulation. In particular, it will deal with the development of a robotic Mars Pathfinder simulation delivered via the World Wide Web.

Design And Evaluation Of Processes For Transmuter Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

• Project Objective: examine autonomous robotic fuel fabrication processes with regard to hot cell and equipment design, operations, and costs.

• Fabrication processes for different fuel types differ in terms of equipment types, throughput, and cost.

• Design options are restricted by the requirement to employ only radiation-hardened machinery and components

• Benefit to Department of Energy: decision support for the selection of the most suitable manufacturing process.

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #5, Georg F. Mauer

Fuels Campaign (TRP)

The fifth quarter of the project covered the following:

· Literature Search: The process of evaluating the pertinent literature continued.

· Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

· Dr. Mauer presented a paper at the ANS Winter annual meeting in Washington, D.C. titled: “Design and Evaluation of Processes for Transmuter Fuel Fabrication.”

· Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

· Dr. Mauer presented a paper at …

Trends. War On Personality And Personality And War: Comments On Nass And Lee (2002), Ibpp Editor

International Bulletin of Political Psychology

This Trends article discusses another article – Identity and deconstruction, by Clifford Nass and Kwan Min Yee – published in volume 3 (2002) of Archives of Psychiatry & Psychotherapy in which the authors demonstrate that people reliably attribute personality characteristics to computer-synthesized speech, exploring the ramifications in a political psychological context.

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #4, Georg F. Mauer

Fuels Campaign (TRP)

The fourth quarter of the project covered the following:

• Literature Search: The process of evaluating the pertinent literature continued. Results are summarized.

• Mr. Richard Silva developed a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• Dr. Mauer visited CEA Cadarache and CEA Marcoule in France, the institute for transuranics in Karlsruhe, and the Framatome manufacturing plant in Lingen, Germany.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

Design And Evaluation Of Processes For Fuel Fabrication: Year 1 Final Report, Georg F. Mauer

Fuels Campaign (TRP)

The project objective is the design and evaluation of manufacturing processes for transmuter fuel fabrication. The large-scale deployment of remote fabrication and refabrication processes will be required for all transmutation scenarios. Current program emphasis is on a five-year effort to determine the feasibility of transmutation as a technology to limit the need for repository storage of spent commercial fuel. The evaluation of the fabrication processes will create a decision support data base to document design, operations, and costs. Fabrication processes required for different fuel types differ in terms of equipment types, throughput, and cost. The year 1 project was focused …

Design And Evaluation Of Processes For Fuel Fabrication: Year 1 Final Report, Georg F. Mauer

Fuels Campaign (TRP)

The project objective is the design and evaluation of manufacturing processes for transmuter fuel fabrication. The large-scale deployment of remote fabrication and refabrication processes will be required for all transmutation scenarios. Current program emphasis is on a five-year effort to determine the feasibility of transmutation as a technology to limit the need for repository storage of spent commercial fuel. The evaluation of the fabrication processes will create a decision support data base to document design, operations, and costs. Fabrication processes required for different fuel types differ in terms of equipment types, throughput, and cost. The year 1 project was focused …

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

One of the primary concerns in selecting a fuel matrix for actinide-bearing fuels, such as those for transmutation systems, is fuel fabrication. Fuel fabrication technologies for the fabrication and re-fabrication processes must meet several technical considerations, such as minimizing secondary radioactive waste streams, economic viability, reasonable capital outlay, and must be easy to maintain over the transmuter core life cycle. Additionally, the fuel type chosen must be easily manufactured in a remote environment. The volatile behavior of americium during thermal processing further complicates these goals. Currently, the national program is investigating a number of candidate fuel matrices: metallic, ceramic, dispersion, …

Comparison Of Two Distributed Fuzzy Logic Controllers For Flexible-Link Manipulators, Linda Z. Shi, Mohamed Trabia

Mechanical Engineering Faculty Presentations

The paper suggests that fuzzy logic controllers present a computationally efficient and robust alternative to conventional controllers. The paper presents two possible structures for the distributed fuzzy logic controller of a single-link flexible manipulator. A linear quadratic regulator method is used to prove the effectiveness of fuzzy logic controllers.

Swarm Engineering, S. Kazadi '90

Doctoral Dissertations

Swarm engineering is the natural evolution of the use of swarm-based techniques in the accomplishment of high level tasks using a number of simple robots. In this approach, one seeks not to generate a class of behaviors designed to accomplish a given global goal, as is the approach typically found in mainstream robotics. Once the class of behaviors has been understood and decided upon, specific behaviors designed to accomplish this goal may be generated that will complete the desired task without any concern about whether or not the final goal will actually be completed. As long as the generated behaviors …