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Articles 451 - 480 of 1257

Full-Text Articles in Robotics

Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran Apr 2022

Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran

Symposium of Student Scholars

Industrial robots are moving toward automation, which makes it increasingly necessary to replace the functions traditionally performed by humans with robotics. Pick and place operation is a prime example of such automation. Robots that pick up and place objects mimic the human action of picking an object up and placing it in a targeted location. It has led to the development of robotic end-effectors that have a human-like feel. Grippers can be articulated in various ways depending on their application area and well-defined desired tasks. As compliant and soft links deflect more under the same load than their rigid body …

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A Brief Literature Review For Machine Learning In Autonomous Robotic Navigation, Jake Biddy, Jeremy Evert Apr 2022

A Brief Literature Review For Machine Learning In Autonomous Robotic Navigation, Jake Biddy, Jeremy Evert

Student Research

Machine learning is becoming very popular in many technological aspects worldwide, including robotic applications. One of the unique aspects of using machine learning in robotics is that it no longer requires the user to program every situation. The robotic application will be able to learn and adapt from its mistakes. In most situations, robotics using machine learning is designed to fulfill a task better than a human could, and with the machine learning aspect, it can function at the highest level of efficiency and quality. However, creating a machine learning program requires extensive coding and programming knowledge that can be …

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Putin And Putnam: Interpreting Russian Military Activity Through A Three Player, Two-Level Game, Nathan M. Colvin Apr 2022

Putin And Putnam: Interpreting Russian Military Activity Through A Three Player, Two-Level Game, Nathan M. Colvin

Modeling, Simulation and Visualization Student Capstone Conference

Is Vladimir Putin a bad strategist, perhaps irrational? Previous military activity by Russia, such as the annexation of Crimea of 2014, yielded limited international gains, at a significant economic and reputational cost. Yet as the 2022 invasion of Ukraine shows, Putin is willing to commit military power, despite the cost of sanctions and other possible retaliation. This three-player simultaneous game, originally created in June, 2021, demonstrates how domestic and international considerations of President Vladimir Putin might lead to otherwise unpredictable Russian military behavior. In this extended version of Robert Putnam’s “two-level game,” President Putin rationally uses the international venue as …

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Real-Time External Labeling For Interactive Visualization In Virtual Environments, Shan Liu, Yuzhong Shen Apr 2022

Real-Time External Labeling For Interactive Visualization In Virtual Environments, Shan Liu, Yuzhong Shen

Modeling, Simulation and Visualization Student Capstone Conference

A real-time external labeling algorithm has been developed to explore the potential for applying annotation and visualization to virtual reality environments, which manages label placement in the projections of virtual 3D models on the view plane. The approach intends to place labels with visual constraints, such as no overlapping, intersections, and occlusions, close proximity to the model parts, by adjusting external annotations' positions concerning available space in the view plane. This algorithm is based on the projected model's contour and adapts to camera viewpoint changes within interactive frame rates. It solves the visibility problem of annotations and operates in real-time …

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Multi-Modality Breast Mri Segmentation Using Nn-Unet For Preoperative Planning Of Robotic Surgery Navigation, Motaz Alqaoud, John Plemmons Md, Eric Feliberti Md, Facs, Krishnanand Kaipa, Siqin Dong, Gabor Fichtinger, Yimming Xiao, Michel Audette Apr 2022

Multi-Modality Breast Mri Segmentation Using Nn-Unet For Preoperative Planning Of Robotic Surgery Navigation, Motaz Alqaoud, John Plemmons Md, Eric Feliberti Md, Facs, Krishnanand Kaipa, Siqin Dong, Gabor Fichtinger, Yimming Xiao, Michel Audette

Modeling, Simulation and Visualization Student Capstone Conference

Segmentation of the chest region and breast tissues is essential for surgery planning and navigation. This paper proposes the foundation for preoperative segmentation based on two cascaded architectures of deep neural networks (DNN) based on the state-of-the-art nnU-Net. Additionally, this study introduces a polyvinyl alcohol cryogel (PVA-C) breast phantom based on the segmentation of the DNN automated approach, enabling the experiments of navigation system for robotic breast surgery. Multi-modality breast MRI datasets of T2W and STIR images were acquired from 10 patients. Segmentation evaluation utilized the Dice Similarity Coefficient (DSC), segmentation accuracy, sensitivity, and specificity. First, a single class labeling …

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Practical Considerations And Applications For Autonomous Robot Swarms, Rory Alan Hector Apr 2022

Practical Considerations And Applications For Autonomous Robot Swarms, Rory Alan Hector

LSU Doctoral Dissertations

In recent years, the study of autonomous entities such as unmanned vehicles has begun to revolutionize both military and civilian devices. One important research focus of autonomous entities has been coordination problems for autonomous robot swarms. Traditionally, robot models are used for algorithms that account for the minimum specifications needed to operate the swarm. However, these theoretical models also gloss over important practical details. Some of these details, such as time, have been considered before (as epochs of execution). In this dissertation, we examine these details in the context of several problems and introduce new performance measures to capture practical …

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Exoskeletons And The Future Of Work: Envisioning Power And Control In A Workforce Without Limits, Gavin L. Kirkwood, J. Nan Wilkenfeld, Norah E. Dunbar Apr 2022

Exoskeletons And The Future Of Work: Envisioning Power And Control In A Workforce Without Limits, Gavin L. Kirkwood, J. Nan Wilkenfeld, Norah E. Dunbar

Human-Machine Communication

Exoskeletons are an emerging form of technology that combines the skills of both machines and humans to give wearers the ability to complete physically demanding tasks that would be too strenuous for most humans. Exoskeleton adoption has the potential to both enhance and disrupt many aspects of work, including power dynamics in the workplace and the human-machine interactions that take place. Dyadic Power Theory (DPT) is a useful theory for exploring the impacts of exoskeleton adoption. In this conceptual paper, we extend DPT to relationships between humans and machines in organizations, as well as human-human communication where use of an …

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Human-Machine Communication: Complete Volume 4 Apr 2022

Human-Machine Communication: Complete Volume 4

Human-Machine Communication

This is the complete volume of HMC Volume 4.

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Embracing Ai-Based Education: Perceived Social Presence Of Human Teachers And Expectations About Machine Teachers In Online Education, Jihyun Kim, Kelly Merrill Jr., Kun Xu, Deanna D. Sellnow Apr 2022

Embracing Ai-Based Education: Perceived Social Presence Of Human Teachers And Expectations About Machine Teachers In Online Education, Jihyun Kim, Kelly Merrill Jr., Kun Xu, Deanna D. Sellnow

Human-Machine Communication

Technological advancements in education have turned the idea of machines as teachers into a reality. To better understand this phenomenon, the present study explores how college students develop expectations (or anticipations) about a machine teacher, particularly an AI teaching assistant. Specifically, the study examines whether students’ previous experiences with online courses taught by a human teacher would influence their expectations about AI teaching assistants in future online courses. An online survey was conducted to collect data from college students in the United States. Findings indicate that positively experienced social presence of a human teacher helps develop positive expectations about an …

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Sex With Robots And Human-Machine Sexualities: Encounters Between Human-Machine Communication And Sexuality Studies, Marco Dehnert Apr 2022

Sex With Robots And Human-Machine Sexualities: Encounters Between Human-Machine Communication And Sexuality Studies, Marco Dehnert

Human-Machine Communication

Sex robots are a controversial topic. Understood as artificial-intelligence enhanced humanoid robots designed for use in partnered and solo sex, sex robots offer ample opportunities for theorizing from a Human-Machine Communication (HMC) perspective. This comparative literature review conjoins the seemingly disconnected literatures of HMC and sexuality studies (SeS) to explore questions surrounding intimacy, love, desire, sex, and sexuality among humans and machines. In particular, I argue for understanding human-machine sexualities as communicative sexuotechnical-assemblages, extending previous efforts in both HMC and SeS for more-than-human, ecological, and more fluid approaches to humans and machines, as well as to sex and sexuality. This …

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I Get By With A Little Help From My Bots: Implications Of Machine Agents In The Context Of Social Support, Austin Beattie, Andrew C. High Apr 2022

I Get By With A Little Help From My Bots: Implications Of Machine Agents In The Context Of Social Support, Austin Beattie, Andrew C. High

Human-Machine Communication

In this manuscript we discuss the increasing use of machine agents as potential sources of support for humans. Continued examination of the use of machine agents, particularly chatbots (or “bots”) for support is crucial as more supportive interactions occur with these technologies. Building off extant research on supportive communication, this manuscript reviews research that has implications for bots as support providers. At the culmination of the literature review, several propositions regarding how factors of technological efficacy, problem severity, perceived stigma, and humanness affect the process of support are proposed. By reviewing relevant studies, we integrate research on human-machine and supportive …

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Considering The Context To Build Theory In Hci, Hri, And Hmc: Explicating Differences In Processes Of Communication And Socialization With Social Technologies, Andrew Gambino, Bingjie Liu Apr 2022

Considering The Context To Build Theory In Hci, Hri, And Hmc: Explicating Differences In Processes Of Communication And Socialization With Social Technologies, Andrew Gambino, Bingjie Liu

Human-Machine Communication

The proliferation and integration of social technologies has occurred quickly, and the specific technologies with which we engage are ever-changing. The dynamic nature of the development and use of social technologies is often acknowledged by researchers as a limitation. In this manuscript, however, we present a discussion on the implications of our modern technological context by focusing on processes of socialization and communication that are fundamentally different from their interpersonal corollary. These are presented and discussed with the goal of providing theoretical building blocks toward a more robust understanding of phenomena of human-computer interaction, human-robot interaction, human-machine communication, and interpersonal …

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Fight For Flight: The Narratives Of Human Versus Machine Following Two Aviation Tragedies, Andrew Prahl, Rio Kin Ho Leung, Alicia Ning Shan Chua Apr 2022

Fight For Flight: The Narratives Of Human Versus Machine Following Two Aviation Tragedies, Andrew Prahl, Rio Kin Ho Leung, Alicia Ning Shan Chua

Human-Machine Communication

This study provides insight into the relationship between human and machine in the professional aviation community following the 737 MAX accidents. Content analysis was conducted on a discussion forum for professional pilots to identify the major topics emerging in discussion of the accidents. A subsequent narrative analysis reveals dominant arguments of human versus machine as zero-sum, surrender to machines, and an epidemic of mistrust. Results are discussed in the context of current issues in human-machine communication, and we discuss what other quickly automating industries can learn from aviation’s experience.

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Human-Machine Communication Scholarship Trends: An Examination Of Research From 2011 To 2021 In Communication Journals, Riley J. Richards, Patric R. Spence, Chad Edwards Apr 2022

Human-Machine Communication Scholarship Trends: An Examination Of Research From 2011 To 2021 In Communication Journals, Riley J. Richards, Patric R. Spence, Chad Edwards

Human-Machine Communication

Despite a relatively short history, the modern-day study of communication has grown into multiple subfields. To better understand the relationship between Human-Machine Communication (HMC) research and traditional communication science, this study examines the published scholarship in 28 communication-specific journals from 2011–2021 focused on human-machine communication (HMC). Findings suggest limited prior emphasis of HMC research within the 28 reviewed journals; however, more recent trends show a promising future for HMC scholarship. Additionally, HMC appears to be diverse in the specific context areas of research in the communication context. Finally, we offer future directions of research and suggestions for the development of …

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Visual Homing For Robot Teams: Do You See What I See?, Damian Lyons, Noah Petzinger Apr 2022

Visual Homing For Robot Teams: Do You See What I See?, Damian Lyons, Noah Petzinger

Faculty Publications

Visual homing is a lightweight approach to visual navigation which does not require GPS. It is very attractive for robot platforms with a low computational capacity. However, a limitation is that the stored home location must be initially within the field of view of the robot. Motivated by the increasing ubiquity of camera information we propose to address this line-of-sight limitation by leveraging camera information from other robots and fixed cameras. To home to a location that is not initially within view, a robot must be able to identify a common visual landmark with another robot that can be used …

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Visual Homing For Robot Teams: Do You See What I See?, Damian Lyons, Noah Petzinger Apr 2022

Visual Homing For Robot Teams: Do You See What I See?, Damian Lyons, Noah Petzinger

Faculty Publications

Visual homing is a lightweight approach to visual navigation which does not require GPS. It is very attractive for robot platforms with a low computational capacity. However, a limitation is that the stored home location must be initially within the field of view of the robot. Motivated by the increasing ubiquity of camera information we propose to address this line-of-sight limitation by leveraging camera information from other robots and fixed cameras. To home to a location that is not initially within view, a robot must be able to identify a common visual landmark with another robot that can be used …

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A Low-Cost And Low-Tech Solution To Test For Variations Between Multiple Offline Programming Software Packages., Steffen Wendell Bolz Apr 2022

A Low-Cost And Low-Tech Solution To Test For Variations Between Multiple Offline Programming Software Packages., Steffen Wendell Bolz

Masters Theses & Specialist Projects

This research paper chronicles the attempt to bring forth a low-cost and low-tech testing methodology whereby multiple offline programming (OLP) software packages’ generated programs may be compared when run on industrial robots. This research was initiated by the discovery that no real research exists to test between iterations of OLP software packages and that most research for positional accuracy and/or repeatability on industrial robots is expensive and technologically intensive. Despite this, many countries’ leaders are pushing for intensive digitalization of manufacturing and Small and Mediumsized Enterprises (SMEs) are noted to be lagging in adoption of such technologies. The research consisted …

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Society Dilemma Of Computer Technology Management In Today's World, Iwasan D. Kejawa Ed.D Apr 2022

Society Dilemma Of Computer Technology Management In Today's World, Iwasan D. Kejawa Ed.D

School of Computing: Faculty Publications

Abstract - Is it true that some of the inhabitants of the world’s today are still hesitant in using computers? Research has shown that today many people are still against the use of computers. Computer technology management can be said to be obliterated by security problems. Research shows that some people in society feel reluctant or afraid to use computers because of errors and exposure of their privacy and their sophistication, which sometimes are caused by computer hackers and malfunction of the computers. The dilemma of not utilizing computer technology at all or, to its utmost, by certain people in …

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Analyzing Decision-Making In Robot Soccer For Attacking Behaviors, Justin Rodney Mar 2022

Analyzing Decision-Making In Robot Soccer For Attacking Behaviors, Justin Rodney

USF Tampa Graduate Theses and Dissertations

In robotics soccer, decision-making is critical to the performance of a team’s SoftwareSystem. The University of South Florida’s (USF) RoboBulls team implements behavior for the robots by using traditional methods such as analytical geometry to path plan and determine whether an action should be taken. In recent works, Machine Learning (ML) and Reinforcement Learning (RL) techniques have been used to calculate the probability of success for a pass or goal, and even train models for performing low-level skills such as traveling towards a ball and shooting it towards the goal[1, 2]. Open-source frameworks have been created for training Reinforcement Learning …

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Humanoid Robot Motion Control For Ramps And Stairs, Tommy Truong Mar 2022

Humanoid Robot Motion Control For Ramps And Stairs, Tommy Truong

USF Tampa Graduate Theses and Dissertations

Humanoid robot research and development have been an ongoing effort since the 1900sand can be broken down to two problems. A mechanical problem, getting a humanoid robot to move human-like or a software problem, getting a humanoid robot to behave human-like. These problems of moving and behaving human-like can be often solved using control theory as research advances. For the premise of this research, we explore how to balance and walk on non-flat terrain for the humanoid robot Darwin-Op. Since the focus was on the control theory, the vision control to detect the non-flat terrain was a side objective. The …

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Challenges Of The Industrial Revolution Era 1.0 To 5.0 : University Digital Library In Indoensia, Merlin Apriliyanti, Ilham M Mar 2022

Challenges Of The Industrial Revolution Era 1.0 To 5.0 : University Digital Library In Indoensia, Merlin Apriliyanti, Ilham M

Library Philosophy and Practice (e-journal)

This study explains the development of the world of libraries to establish a very close relationship with the world of information technology. For this reason, facilities and infrastructure are needed to facilitate data and information retrieval quickly and accurately. Facing the challenges of the Industrial Revolution 5.0 era by utilizing information technology, libraries must also adapt to the times. Because the library has an important role, among others, as a source of information and the development of knowledge. Used libraries are still conventional to be converted into digital libraries. In essence, this development represents the desire of library users for …

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Physiological Signal Analysis For Emotion Estimation Of Children With Autism Spectrum Disorder, Janet Pulgares Soriano, Karla Conn Welch Phd Jan 2022

Physiological Signal Analysis For Emotion Estimation Of Children With Autism Spectrum Disorder, Janet Pulgares Soriano, Karla Conn Welch Phd

Posters-at-the-Capitol

The diagnosis of Autism Spectrum Disorder (ASD) in children is based on human observations by a clinician. The medical evaluation assesses deficits in social communication, social interaction, and restricted, repetitive behaviors. Robotic technology can assist in quantitatively measuring the observations to be used as a future tool for autism diagnosis and intervention. The project explores this technology to produce robotic partners that can adapt to the needs of the ASD population. This way, such robots could serve as instructors or learning peers. A friendly, partner robot, specifically designed for children with ASD could be used to investigate the effect of …

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A Water-Surface Self-Leveling Landing Platform For Small-Scale Uavs, Mbidi Santos Jan 2022

A Water-Surface Self-Leveling Landing Platform For Small-Scale Uavs, Mbidi Santos

Electronic Theses and Dissertations

Because many of the most widely used UAVs, such as the Vertical Take-Off and Landing (VTOL), cannot land securely on sloped or fast-changing surfaces, there is a need to design better deployment and landing stations. This document proposes an approach to design a water-surface self-leveling landing platform by implementing the best concept to be used as a safe ground for UAVs to land and deploy on open waters. After conceptualizing multiple design ideas, these options were laid out in a decision matrix with four criteria: degrees of freedom, mechanical complexity, manufacturing, and cost. The chosen concept was the spherical parallel …

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Transferring Studies Across Embodiments: A Case Study In Confusion Detection, Na Li, Robert J. Ross Jan 2022

Transferring Studies Across Embodiments: A Case Study In Confusion Detection, Na Li, Robert J. Ross

Articles

Human-robot studies are expensive to conduct and difficult to control, and as such researchers sometimes turn to human-avatar interaction in the hope of faster and cheaper data collection that can be transferred to the robot domain. In terms of our work, we are particularly interested in the challenge of detecting and modelling user confusion in interaction, and as part of this research programme, we conducted situated dialogue studies to investigate users' reactions in confusing scenarios that we give in both physical and virtual environments. In this paper, we present a combined review of these studies and the results that we …

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A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell Jan 2022

A Machine Learning Approach To Intended Motion Prediction For Upper Extremity Exoskeletons, Justin Berdell

Graduate Research Theses & Dissertations

A fully solid-state, software-defined, one-handed, handle-type control device built around a machine-learning (ML) model that provides intuitive and simultaneous control in position and orientation each in a full three degrees-of-freedom (DOF) is proposed in this paper. The device, referred to as the “Smart Handle”, and it is compact, lightweight, and only reliant on low-cost and readily available sensors and materials for construction. Mobility chairs for persons with motor difficulties could make use of a control device that can learn to recognize arbitrary inputs as control commands. Upper-extremity exoskeletons used in occupational settings and rehabilitation require a natural control device like …

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Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm Jan 2022

Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm

Dissertations, Master's Theses and Master's Reports

We designed and experimentally studied the dynamics of two robotic systems that surf along the water-air interface. The robots were self-propelled by means of creating and maintaining a surface tension gradient resulting from an asymmetric release of isopropyl alcohol (IPA). The imbalance in the distribution of surface tension surrounding the robots generates a propulsive force commonly referred to as Marangoni propulsion. First, we considered a single surfer, which was custom-made with novel control mechanisms that allow for both forward motion and steering to be remotely adjusted solely through the manipulation of local surface stresses. We analyzed the performance of this …

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Can We Make Our Robot Play Soccer? Influence Of Collaborating With Preservice Teachers And Fifth Graders On Undergraduate Engineering Students' Learning During A Robotic Design Process (Work In Progress), Krishnanand Kaipa, Jennifer Kidd, Julia Noginova, Francisco Cima, Stacie Ringleb, Orlando Ayala, Pilar Pazos, Kristie Gutierrez, Min Jung Lee Jan 2022

Can We Make Our Robot Play Soccer? Influence Of Collaborating With Preservice Teachers And Fifth Graders On Undergraduate Engineering Students' Learning During A Robotic Design Process (Work In Progress), Krishnanand Kaipa, Jennifer Kidd, Julia Noginova, Francisco Cima, Stacie Ringleb, Orlando Ayala, Pilar Pazos, Kristie Gutierrez, Min Jung Lee

Mechanical & Aerospace Engineering Faculty Publications

This work-in-progress paper describes engineering students’ experiences in an NSF-funded project that partnered undergraduate engineering students with pre-service teachers to plan and deliver robotics lessons to fifth graders at a local school. This project aims to address an apparent gap between what is taught in academia and industry’s expectations of engineers to integrate perspectives from outside their field to solve modern societal problems requiring a multidisciplinary approach. Working in small teams over Zoom, participating engineering, education, and fifth grade students designed, built, and coded bio-inspired COVID companion robots. The goal for the engineering students was to build new interprofessional skills, …

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Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley Jan 2022

Developing Reactive Distributed Aerial Robotics Platforms For Real-Time Contaminant Mapping, Joshua Ashley

Theses and Dissertations--Electrical and Computer Engineering

The focus of this research is to design a sensor data aggregation system and centralized sensor-driven trajectory planning algorithm for fixed-wing aircraft to optimally assist atmospheric simulators in mapping the local environment in real-time. The proposed application of this work is to be used in the event of a hazardous contaminant leak into the atmosphere as a fleet of sensing unmanned aerial vehicles (UAVs) could provide valuable information for evacuation measures. The data aggregation system was designed using a state-of-the-art networking protocol and radio with DigiMesh and a process/data management system in the ROS2 DDS. This system was tested to …

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Biomimetic Design, Modeling, And Adaptive Control Of Robotic Gripper For Optimal Grasping, Mushtaq Al-Mohammed Jan 2022

Biomimetic Design, Modeling, And Adaptive Control Of Robotic Gripper For Optimal Grasping, Mushtaq Al-Mohammed

Electronic Theses and Dissertations, 2020-2023

Grasping is an essential skill for almost every assistive robot. Variations in shape and/or weight of different objects involved in Activities of Daily Living (ADL) lead to complications, especially, when the robot is trying to grip novel objects for which it has no prior information –too much force will deform or crush the object while too little force will lead to slipping and possibly dropped objects. Thus, successful grasping requires the gripper to immobilize an object with the minimal force. In Chapter 2, we present the design, analysis, and experimental implementation of an adaptive control to facilitate 1-click grasping of …

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Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay Jan 2022

Formation Control With Bounded Controls And Collision Avoidance: Theory And Application To Quadrotor Unmanned Air Vehicles, Zachary S. Lippay

Theses and Dissertations--Mechanical and Aerospace Engineering

This dissertation presents new results on multi-agent formation control and applies the new control algorithms to quadrotor unmanned air vehicles. First, this dissertation presents a formation control algorithm for double-integrator agents, where the formation is time varying and the agents’ controls satisfy a priori bounds (e.g., the controls accommodate actuator saturation). The main analytic results provide sufficient conditions such that all agents converge to the desired time-varying relative positions with one another and the leader, and have a priori bounded controls (if applicable). We also present results from rotorcraft experiments that demonstrate the algorithm with time-varying formations and bounded controls. …

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