Current Search: Robotics (x)
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Title
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Two-dimensional approximation and learning control of robot manipulators.
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Creator
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Gautam, Ashutosh., Florida Atlantic University, Zilouchian, Ali
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Abstract/Description
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In this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is...
Show moreIn this thesis, a novel two-dimensional learning control scheme for robot manipulators is proposed. The convergence of the scheme for a general n-degree of freedom robot is shown. In the next part of the thesis, an algorithm for the approximation of a two-dimensional causal, recursive, separable-in-denominator (CRSD) filter, using the impulse response and autocorrelation data, is presented. The stability of the designed filter is discussed and it is shown that the approximated filter is always stable. The simulation results for the approximation technique as well as the two-dimensional learning control scheme are also included in the thesis.
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Date Issued
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1989
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PURL
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http://purl.flvc.org/fcla/dt/14559
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Subject Headings
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Control theory, Manipulators (Mechanism), Robots
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Format
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Document (PDF)
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Title
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KINOVA ROBOTIC ARM MANIPULATION WITH PYTHON PROGRAMMING.
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Creator
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Veit, Cameron, Zhong, Xiangnan, Florida Atlantic University, Department of Computer and Electrical Engineering and Computer Science, College of Engineering and Computer Science
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Abstract/Description
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As artificial intelligence (AI), such as reinforcement learning (RL), has continued to grow, the introduction of AI for use in robotic arms in order to have them autonomously complete tasks has become an increasingly popular topic. Robotic arms have recently had a drastic spike in innovation, with new robotic arms being developed for a variety of tasks both menial and complicated. One robotic arm recently developed for everyday use in close proximity to the user is the Kinova Gen 3 Lite, but...
Show moreAs artificial intelligence (AI), such as reinforcement learning (RL), has continued to grow, the introduction of AI for use in robotic arms in order to have them autonomously complete tasks has become an increasingly popular topic. Robotic arms have recently had a drastic spike in innovation, with new robotic arms being developed for a variety of tasks both menial and complicated. One robotic arm recently developed for everyday use in close proximity to the user is the Kinova Gen 3 Lite, but limited formal research has been conducted about controlling this robotic arm both with an AI and in general. Therefore, this thesis covers the implementation of Python programs in controlling the robotic arm physically as well as the use of a simulation to train an RL based AI compatible with the Kinova Gen 3 Lite. Additionally, the purpose of this research is to identify and solve the difficulties in the physical instance and the simulation as well as the impact of the learning parameters on the robotic arm AI. Similarly, the issues in connecting two Kinova Gen 3 Lites to one computer at once are also examined. This thesis goes into detail about the goal of the Python programs created to move the physical robotic arm as well as the overall setup and goal of the robotic arm simulation for the RL method. In particular, the Python programs for the physical robotic arm pick up the object and place it at a different location, identifying a method to prevent the gripper from crushing an object without a tactile sensor in the process. The thesis also covers the effect of various learning parameters on the accuracy and steps to goal curves of an RL method designed to make a Kinova Gen 3 Lite grab an object in a simulation. In particular, a neural network implementation of RL method with one of the learning parameters changed in comparison to the optimal learning parameters. The neural network is trained using Python Anaconda to control a Kinova Gen 3 Lite robotic arm model for a simulation made in the Unity compiler.
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Date Issued
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2022
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PURL
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http://purl.flvc.org/fau/fd/FA00014022
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Subject Headings
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Robotics, Artificial intelligence, Reinforcement learning
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Format
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Document (PDF)
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Title
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Self-calibration of laser tracking measurement system with planar constraints.
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Creator
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Motaghedi, Shui Hu., Florida Atlantic University, Zhuang, Hanqi, Roth, Zvi S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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Laser tracking coordinate measuring machines have the potential of continuously measuring three dimensional target coordinates in a large workspace with a fast sampling rate and high accuracy. Proper calibration of a laser tracking measurement system is essential prior to use of such a device for metrology. In the absence of a more accurate instrument for system calibration, one has to rely on self-calibration strategies. In this dissertation, a kinematic model that describes not only the...
Show moreLaser tracking coordinate measuring machines have the potential of continuously measuring three dimensional target coordinates in a large workspace with a fast sampling rate and high accuracy. Proper calibration of a laser tracking measurement system is essential prior to use of such a device for metrology. In the absence of a more accurate instrument for system calibration, one has to rely on self-calibration strategies. In this dissertation, a kinematic model that describes not only the motion but also geometric variations of a multiple-beam laser tracking system was developed. The proposed model has the following features: (1) Target positions can be computed from both distance and angular measurements. (2) Through error analysis it was proven that even rough angular measurement may improve the overall system calibration results. A self-calibration method was proposed to calibrate intelligent machines with planar constraints. The method is also applied to the self-calibration of the laser tracking system and a standard PUMA 560 robot. Various calibration strategies utilizing planar constraints were explored to deal with different system setups. For each calibration strategy, issues about the error parameter estimation of the system were investigated to find out under which conditions these parameters can be uniquely estimated. These conditions revealed the applicability of the planar constraints to the system self-calibration. The observability conditions can serve as a guideline for the experimental setup when planar constraint is utilized in the machine calibration including the calibration of the laser tracking systems. Intensive simulation studies were conducted to check validity of the theoretical results. Realistic noise values were injected to the system models to statistically assess the behavior of the self-calibration system under real-world conditions. Various practical calibration issues were also explored in the simulations and therefore to pave ways for experimental investigation. The calibration strategies were also applied experimentally to calibrate a laser tracking system constructed at the Robotics Center in Florida Atlantic University.
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Date Issued
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1999
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PURL
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http://purl.flvc.org/fcla/dt/12599
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Subject Headings
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Robots--Kinematics, Robotics--Calibration--Measurement, Robots--Control systems
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Format
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Document (PDF)
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Title
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A Collaborative Approach for Real-Time Measurements of Human Trust, Satisfaction and Frustration in Human-Robot Teaming.
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Creator
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Gonzalez Moya, Iker Javier, Nojoumian, Mehrdad, Florida Atlantic University, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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This thesis aims at real-time measurements of human trust, satisfaction, and frustration in human-robot teaming. Recent studies suggest that humans are inclined to have a negative attitude towards using autonomous systems. These ndings elevate the necessity of conducting research to better understand the key factors that a ect the levels of trust, satisfaction and frustration in Human-Robot Interaction (HRI). We utilized a new sequential and collaborative approach for HRI data collection that...
Show moreThis thesis aims at real-time measurements of human trust, satisfaction, and frustration in human-robot teaming. Recent studies suggest that humans are inclined to have a negative attitude towards using autonomous systems. These ndings elevate the necessity of conducting research to better understand the key factors that a ect the levels of trust, satisfaction and frustration in Human-Robot Interaction (HRI). We utilized a new sequential and collaborative approach for HRI data collection that employed trust, satisfaction and frustration as primarily evaluative metrics. We also used haptic feedback through a soft actuator armband to help our human subjects control a robotic hand for grabbing or not grabbing an object during our interaction scenarios. Three experimental studies were conducted during our research of which the rst was related to the evaluation of aforementioned metrics through a collabora- tive approach between the Baxter robot and human subjects. The second experiment embodied the evaluation of a newly fabricated 3D- nger for the I-Limb robotic hand through a nuclear-waste glove. The third experiment was based on the two previous studies that focused on real-time measurements of trust, satisfaction and frustration in human-robot teaming with the addition of pressure feedback to the system through soft actuators. In the last case, human subjects had more controls over our robotic systems compared to earlier experiments leading to a more collaborative interaction and teaming. The results of these experiments illustrated that human subjects can rebuild their trust and also increase their satisfaction levels while lowering their frus- tration levels after failures or any faulty behavior. Furthermore, our analyses showed that our methods are highly e ective for collecting honest and genuine data from hu- man subjects and lays the foundation for more-involved future research in the domain of human-robot teaming.
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Date Issued
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2018
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PURL
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http://purl.flvc.org/fau/fd/FA00013064
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Subject Headings
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Human-robot interaction., Haptic devices.
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Format
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Document (PDF)
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Title
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Semi-Autonomous Control of Robotic Arm with Haptic Feedback and Closed Loop Force Controller.
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Creator
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Al-Saidi, Mostapha, Engeberg, Erik, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
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Abstract/Description
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This thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter...
Show moreThis thesis presents the work done to deliver a robotic system that provides assistance to operators at nuclear waste cleaning facilities. The work done to deliver such system was focused on robotic control and tactile sensing abilities. Haptic feedback mechanism was also added to the system to convey information for the operator. First chapter of the thesis introduces the goals and objectives of this project as well as a detailed literature review on the subsystems used. Second chapter presents previous work done in the area of soft robotics. Such work proved important as the haptic feedback mechanism utilizes a soft robotic armband. Third chapter introduces phase one of the main project. This chapter justifies the use of the selected robots and introduces the concept of adding tactile abilities to the robotic hand used. Chapter four introduces phase two of the project that focused on improving phase one system via a new tactile sensor.
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Date Issued
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2019
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PURL
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http://purl.flvc.org/fau/fd/FA00013353
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Subject Headings
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Robotics, Haptic devices, Actuators, Tactile sensors
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Format
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Document (PDF)
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Title
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Derivation and identification of linearly parametrized robot manipulator dynamic models.
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Creator
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Xu, Hua., Florida Atlantic University, Roth, Zvi S., Zilouchian, Ali, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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The dissertation focuses on robot manipulator dynamic modeling, and inertial and kinematic parameters identification problem. An automatic dynamic parameters derivation symbolic algorithm is presented. This algorithm provides the linearly independent dynamic parameters set. It is shown that all the dynamic parameters are identifiable when the trajectory is persistently exciting. The parameters set satisfies the necessary condition of finding a persistently exciting trajectory. Since in...
Show moreThe dissertation focuses on robot manipulator dynamic modeling, and inertial and kinematic parameters identification problem. An automatic dynamic parameters derivation symbolic algorithm is presented. This algorithm provides the linearly independent dynamic parameters set. It is shown that all the dynamic parameters are identifiable when the trajectory is persistently exciting. The parameters set satisfies the necessary condition of finding a persistently exciting trajectory. Since in practice the system data matrix is corrupted with noise, conventional estimation methods do not converge to the true values. An error bound is given for Kalman filters. Total least squares method is introduced to obtain unbiased estimates. Simulations studies are presented for five particular identification methods. The simulations are performed under different noise levels. Observability problems for the inertial and kinematic parameters are investigated. U%wer certain conditions all L%wearly Independent Parameters derived from are observable. The inertial and kinematic parameters can be categorized into three parts according to their influences on the system dynamics. The dissertation gives an algorithm to classify these parameters.
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Date Issued
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1992
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PURL
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http://purl.flvc.org/fcla/dt/12291
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Subject Headings
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Algorithms, Manipulators (Mechanism), Robots--Control systems
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Format
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Document (PDF)
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Title
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Development of a controller for a Stewart platform.
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Creator
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Marquis, Lawrence Paul., Florida Atlantic University, Masory, Oren, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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A Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to...
Show moreA Stewart platform is a six degree of freedom robot manipulator with its six links arranged in a parallel configuration. A dynamic model for the plant of each link, which consists of an amplifier, an electrohydraulic servo valve, and a hydraulic actuator, is found from open-loop step and frequency responses. To determine a model for the complete closed loop system, integrators located in the link input and feedback paths were added to the plant's model. PID controllers were designed to increase the system's bandwidth. Once control of the individual links was achieved, control algorithms were developed to control the motion of Stewart platform. The algorithm would move the platform through its initialization sequence, then control platform velocity, as dictated by the user.
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Date Issued
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1992
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PURL
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http://purl.flvc.org/fcla/dt/14849
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Subject Headings
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Manipulators (Mechanism), Robots--Control systems
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Format
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Document (PDF)
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Title
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Optimal planning of robot calibration experiments by genetic algorithms.
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Creator
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Huang, Weizhen., Florida Atlantic University, Wu, Jie
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Abstract/Description
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In this thesis work, techniques developed in the science of genetic computing is applied to solve the problem of planning a robot calibration experiment. Robot calibration is a process by the robot accuracy is enhanced through modification of its control software. The selection of robot measurement configurations is an important element in successfully completing a robot calibration experiment. A classical genetic algorithm is first customized for a type of robot measurement configuration...
Show moreIn this thesis work, techniques developed in the science of genetic computing is applied to solve the problem of planning a robot calibration experiment. Robot calibration is a process by the robot accuracy is enhanced through modification of its control software. The selection of robot measurement configurations is an important element in successfully completing a robot calibration experiment. A classical genetic algorithm is first customized for a type of robot measurement configuration selection problem in which the robot workspace constraints are defined in terms of robot joint limits. The genetic parameters are tuned in a systematic way to greatly enhance the performance of the algorithm. A recruit-oriented genetic algorithm is then proposed, together with new genetic operators. Examples are also given to illustrate the concepts of this new genetic algorithm. This new algorithm is aimed at solving another type of configuration selection problem, in which not all points in the robot workspace are measurable by an external measuring device. Extensive simulation studies are conducted for both classical and recruit-oriented genetic algorithms, to examine the effectiveness of these algorithms.
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Date Issued
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1995
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PURL
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http://purl.flvc.org/fcla/dt/15186
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Subject Headings
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Genetic algorithms, Robots--Calibration, Combinatorial optimization
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Format
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Document (PDF)
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Title
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Visual threat cues for autonomous navigation.
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Creator
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Kundur, Sridhar Reddy, Florida Atlantic University, Raviv, Daniel, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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This dissertation deals with novel vision-based motion cues called the Visual Threat Cues (VTCs), suitable for autonomous navigation tasks such as collision avoidance and maintenance of clearance. The VTCs are time-based and provide some measure for a relative change in range as well as clearance between a 3D surface and a moving observer. They are independent of the 3D environment around the observer and need almost no a-priori knowledge about it. For each VTC presented in this dissertation,...
Show moreThis dissertation deals with novel vision-based motion cues called the Visual Threat Cues (VTCs), suitable for autonomous navigation tasks such as collision avoidance and maintenance of clearance. The VTCs are time-based and provide some measure for a relative change in range as well as clearance between a 3D surface and a moving observer. They are independent of the 3D environment around the observer and need almost no a-priori knowledge about it. For each VTC presented in this dissertation, there is a corresponding visual field associated with it. Each visual field constitutes a family of imaginary 3D surfaces attached to the moving observer. All the points that lie on a particular imaginary 3D surface, produce the same value of the VTC. These visual fields can be used to demarcate the space around the moving observer into safe and danger zones of varying degree. Several approaches to extract the VTCs from a sequence of monocular images have been suggested. A practical method to extract the VTCs from a sequence of images of 3D textured surfaces, obtained by a visually fixation, fixed-focus moving camera is also presented. This approach is based on the extraction of a global image dissimilarity measure called the Image Quality Measure (IQM), which is extracted directly from the raw data of the gray level images. Based on the relative variations of the measured IQM, the VTCs are extracted. This practical approach to extract the VTCs needs no 3D reconstruction, depth information, optical flow or feature tracking. This algorithm to extract the VTCs was tested on several indoor as well as outdoor real image sequences. Two vision-based closed-loop control schemes for autonomous navigation tasks were implemented in a-priori unknown textured environments using one of the VTCs as relevant sensory feedback information. They are based on a set of IF-THEN fuzzy rules and need almost no a-priori information about the vehicle dynamics, speed, direction of motion, etc. They were implemented in real-time using a camera mounted on a six degree-of-freedom flight simulator.
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Date Issued
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1996
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PURL
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http://purl.flvc.org/fcla/dt/12476
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Subject Headings
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Computer vision, Robot vision, Visual perception
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Format
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Document (PDF)
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Title
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Kinematic modeling and analysis of a parallel-series hybrid manipulator.
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Creator
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Sheng, Yang., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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Traditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in non-stationary environment especially in space. In this thesis, a six degree of freedom parallel-series hybrid manipulator is described. It consists of a 3 d.o.f. in-series manipulator mounted on a 3 d.o.f. in-parallel manipulator. A compatibility...
Show moreTraditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in non-stationary environment especially in space. In this thesis, a six degree of freedom parallel-series hybrid manipulator is described. It consists of a 3 d.o.f. in-series manipulator mounted on a 3 d.o.f. in-parallel manipulator. A compatibility equation is found to govern the relationship between in-series component angular velocity and linear velocity; a constraint equation is added to the Jacobian of in-parallel component. Using these two equations, a decomposition strategy is proposed for solving the inverse velocity problem of the hybrid manipulator together with the simulation examples of inverse position tracking and straight line trajectory planning. Effectiveness of this method and factors affecting the simulation result are examined.
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Date Issued
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1993
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PURL
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http://purl.flvc.org/fcla/dt/14893
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Subject Headings
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Kinematics, Robotics--Computer programs, Manipulators (Mechanism)
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Format
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Document (PDF)
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Title
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A unified theory of coordination for robotic mechanisms with general parallel or hybrid structures.
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Creator
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Ling, Shou-Hung., Florida Atlantic University, Huang, Ming Z., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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A well designed robot manipulator should have adequate workspace and good static-dynamic performance. It is well known that serial manipulators, while compared to similar size parallel ones, have larger workspace. However, due to their cantilever-like structure, the serial manipulators suffer from the disadvantage of having relatively poor static-dynamic performance. Contrarily, for fully parallel manipulators the good static-dynamic performance comes from the sacrifice of the workspace....
Show moreA well designed robot manipulator should have adequate workspace and good static-dynamic performance. It is well known that serial manipulators, while compared to similar size parallel ones, have larger workspace. However, due to their cantilever-like structure, the serial manipulators suffer from the disadvantage of having relatively poor static-dynamic performance. Contrarily, for fully parallel manipulators the good static-dynamic performance comes from the sacrifice of the workspace. Therefore, manipulators with more general geometries, in particular those with both the serial and the parallel modules, namely the hybrid manipulators, have attracted much of the research attention in robotics recently. While it can be asserted that kinematic theories and techniques are well established for fully serial-chain manipulators, the same assertion cannot be made when they are considered in the above general context. The research described in this dissertation is an undertaking toward the establishment of a general theory of coordination for robotic mechanisms with general parallel or hybrid structures. The scope of this research is concentrated in the kinematics aspect of the aforementioned class of robot manipulators with the main emphasis on the velocity (instantaneous) kinematics. A kinestatic approach, which is based on screw system theory, is adopted in this dissertation. This kinestatic approach leads to the establishment of a fundamental theorem, dubbed as the Parallel Manipulator Coordination Theorem, which integrates the idea of parallel and serial manipulators. Furthermore, the theorem enables us to develop an analysis strategy for systematic formulation and characterization of robotic mechanisms with general parallel (non-redundant) and hybrid geometries. The analysis strategy entails constraints, statics, velocity, and singularity considerations. One distinct advantage of using the screw system theory as the analysis tool is that it facilitates the analysis in a fashion that physical meanings are preserved through out the derivation. The very aspect of preserving the physical meaning distinguishes this method from other algebraically-based and numerically-based methods. An intelligent fault-tolerant system has been studied at the end. The technique and conclusions from the study of parallel manipulator modules have been used to analyze the proposed design.
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Date Issued
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1994
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PURL
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http://purl.flvc.org/fcla/dt/12385
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Subject Headings
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Manipulators (Mechanism), Robotics, Kinematics, Screws, Theory of
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Format
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Document (PDF)
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Title
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LAST-MILE DELIVERY SCHEDULING USING AUTONOMOUS DELIVERY ROBOTS.
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Creator
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Antonoglou, Vasileia, Kaisar, Evangelos I., Florida Atlantic University, Department of Civil, Environmental and Geomatics Engineering, College of Engineering and Computer Science
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Abstract/Description
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Urban freight system constitutes an essential component for both economic and social aspects of the urban areas. However, the driving forces of globalization and ecommerce have adversely affected the volume of freight vehicles in urban roads over the past few decades impacting the sustainability and efficiency of last-mile deliveries. At the same time, the last-mile problem of goods distribution from companies to customers comprises one of the most costly and highest polluting components of...
Show moreUrban freight system constitutes an essential component for both economic and social aspects of the urban areas. However, the driving forces of globalization and ecommerce have adversely affected the volume of freight vehicles in urban roads over the past few decades impacting the sustainability and efficiency of last-mile deliveries. At the same time, the last-mile problem of goods distribution from companies to customers comprises one of the most costly and highest polluting components of the supply chain. Over the past few years, different innovative concepts of autonomous vehicles were introduced to improve last-mile logistic inefficiencies such as traffic congestion and pollution externalities. The objective of this study is to optimize a distribution network consisting of a set of depots and customers by utilizing Autonomous Delivery Robots (ADRs). For that reason, a Mixed Integer Linear Programming model was developed in GAMS for solving the vehicle routing problem while minimizing the total delivery and delay costs of ADRs. This optimization model is based on the route assignment and the required number of ADRs within the network. A heuristic solution algorithm based on the cluster-first, route-second technique was developed in MATLAB for solving the NP-hard problem efficiently. First the customers were clustered to depots based on their maximum distance from them and the maximum allowed number of customers per cluster. After the clustering, the mathematical model was implemented in each cluster providing an exact solution. Three different medium-sized scenarios of 200, 300 and 400 customers were tested under three different clustering instances of a maximum of 20, 30 and 40 customers per cluster and their results were presented and discussed in detail.
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Date Issued
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2022
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PURL
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http://purl.flvc.org/fau/fd/FA00013978
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Subject Headings
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Freight and freightage, Robotics, Urban transportation
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Format
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Document (PDF)
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Title
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Embodied Biological Computers: Closing The Loop on Sensorimotor Integration of Dexterous Robotic Hands.
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Creator
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Ades, Craig, Engeberg, Erik D., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
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Abstract/Description
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The sensation of touch is an integral part of using our hands. As different researchers work toward the restoration of afferent sensation in prosthetic hands, it becomes urgent to better understand how an artificial hand’s afferent inputs are affected by the efferent muscular outputs, and vice-versa. Current methods of neuroprosthetic research have many regulatory hurdles, time, cost, and associated risk to the patient. To circumvent these hurdles, we developed a non-invasive, closed-loop (CL...
Show moreThe sensation of touch is an integral part of using our hands. As different researchers work toward the restoration of afferent sensation in prosthetic hands, it becomes urgent to better understand how an artificial hand’s afferent inputs are affected by the efferent muscular outputs, and vice-versa. Current methods of neuroprosthetic research have many regulatory hurdles, time, cost, and associated risk to the patient. To circumvent these hurdles, we developed a non-invasive, closed-loop (CL) neuroprosthetic research platform, integrating artificial tactile signals from an artificial hand with biomimetically-stimulated biological neuronal networks (BNNs) cultured in a multielectrode array (MEA) chamber. These living embodied biological computers (EBCs) can provide a non-invasive alternative for investigating invasive neuroprosthetic interfaces. With them we can explore a variety of control techniques, tactile sensation encoding methods, and neural decoding methods to increase the rate of research in this area with minimal regulatory approval, greatly reduced cost and time, and no risk to the patients. In the first stage of this integration, our EBC was programmed to embody neuronal spiking from spontaneously active “efferent” receptive fields in cultured BNNs as intentional signals for movement. Bursts were transferred to a robotic hand and initiated a tapping motion of the index finger laid in proximity to a surface. Contact elicited artificial sensations, which were registered by a biotac tactile sensor array fit to the robotic fingertip.
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Date Issued
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2022
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PURL
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http://purl.flvc.org/fau/fd/FA00014092
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Subject Headings
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Artificial hands, Neuroprostheses, Neurotechnology (Bioengineering), Robotics
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Format
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Document (PDF)
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Title
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ROBOTIC ARM PERCEPTION: AN EYETRACKING STUDY EXPLORING CAUSAL RELATIONS AND PERCEIVED TRUST.
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Creator
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Merwin, Elizabeth Rose, Wilcox, Teresa, Florida Atlantic University, Department of Psychology, Charles E. Schmidt College of Science
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Abstract/Description
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Due to the increased integration of robots into industrial, service, and educational settings it is important to understand how and why individuals interact with robots. The current study aimed to explore the extent to which individuals are receptive to nonverbal communication from a robot compared to a human, and the individual differences and stimuli attributes that are related to trust ratings. A combination of eyetracking and survey measures were used to collect data, and a robot and...
Show moreDue to the increased integration of robots into industrial, service, and educational settings it is important to understand how and why individuals interact with robots. The current study aimed to explore the extent to which individuals are receptive to nonverbal communication from a robot compared to a human, and the individual differences and stimuli attributes that are related to trust ratings. A combination of eyetracking and survey measures were used to collect data, and a robot and human both performed the same gesture to allow for direct comparison of gaze patterns. Individuals utilized the offered information equivalently from agents. Survey measures indicated that trust ratings significantly differed between agents, and the perceived likability and intelligence of the agent were the greatest predictors of increased trust.
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Date Issued
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2024
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PURL
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http://purl.flvc.org/fau/fd/FA00014471
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Subject Headings
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Eye tracking, Human-robot interaction, Trust
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Format
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Document (PDF)
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Title
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Analyzing the effect of fin morphology on the propulsive performance of an oscillating caudal fin using a robotic model.
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Creator
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Fischer, Tyler M., Curet, Oscar M., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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A bio-inspired robotic underwater vessel was developed to test the effect of fin morphology on the propulsive performance of caudal fin. The robotic vessel, called The Bullet Fish, features a cylindrical body with a hemisphere at the forward section and a conical body at the stern. The vessel uses an oscillating caudal fin for thrust generation. The robotic vessel was tested in a recirculating flume for seven different caudal fins that range different bio-inspired forms and aspect ratios. The...
Show moreA bio-inspired robotic underwater vessel was developed to test the effect of fin morphology on the propulsive performance of caudal fin. The robotic vessel, called The Bullet Fish, features a cylindrical body with a hemisphere at the forward section and a conical body at the stern. The vessel uses an oscillating caudal fin for thrust generation. The robotic vessel was tested in a recirculating flume for seven different caudal fins that range different bio-inspired forms and aspect ratios. The experiments were performed at four different flow velocities and two flapping frequencies: 0.5 and 1.0 Hz. We found that for 1 Hz flapping frequency that in general as the aspect-ratio decreases both thrust production tends and power decrease resulting in a better propulsive efficiency for aspect ratios between 0.9 and 1.0. A less uniform trend was found for 0.5 Hz, where our data suggest multiple efficiency peaks. Additional experiments on the robotic model could help understand the propulsion aquatic locomotion and help the design of bio-inspired underwater vehicles.
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Date Issued
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2017
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PURL
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http://purl.flvc.org/fau/fd/FA00004944, http://purl.flvc.org/fau/fd/FA00004944
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Subject Headings
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Robotics., Robots--Kinematics., Artificial intelligence., Biomimetics., Bioinformatics., Stereotypes (Social psychology)
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Format
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Document (PDF)
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Title
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Development of a Flapping Actuator Based on Oscillating Electromagnetic Fields.
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Creator
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Spragg, Donald Oakley, Curet, Oscar M., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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In this work a bio-inspired flapping actuator based on varied magnetic fields is developed, controlled and characterized. The actuator is sought to contribute to the toolbox of options for bio-mimetics research. The design is that of a neodymium bar magnet on one end of an armature which is moved by two air core electromagnetic coils in the same manner as agonist and antagonist muscle pairs function in biological systems. The other end of the armature is fitted to a rigid fin extending beyond...
Show moreIn this work a bio-inspired flapping actuator based on varied magnetic fields is developed, controlled and characterized. The actuator is sought to contribute to the toolbox of options for bio-mimetics research. The design is that of a neodymium bar magnet on one end of an armature which is moved by two air core electromagnetic coils in the same manner as agonist and antagonist muscle pairs function in biological systems. The other end of the armature is fitted to a rigid fin extending beyond the streamline enclosure body to produce propulsion. A series of tests in still water were performed to measure the kinematics and propulsive force for different control schemes including the effect of adding antagonistic resistance to the control schemes. Control methods based on armature position and based on setpoint error were tested and antagonist force was found to increase consistency of control of the systems in certain cases.
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Date Issued
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2016
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PURL
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http://purl.flvc.org/fau/fd/FA00004699, http://purl.flvc.org/fau/fd/FA00004699
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Subject Headings
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Actuators -- Materials, Artificial intelligence -- Biological applications, Biomimetics, Biophysics, Natural computation, Robotics, Robots -- Kinematics
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Format
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Document (PDF)
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Title
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Free Swimming Soft Robotic Jellyfish with Adaptive Depth Control.
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Creator
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Luvisi, Daniel, Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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This thesis is encompasses the design, construction, control and testing of an improvement upon the novel soft robotic Jennifish platform. The advancement of this platform includes the addition of light and depth sensors as well increasing the separation of tentacle groups from two to three sets. The final vehicle model consists nine PneuNetstyle actuators divided into three groups of three, molded around a machined Delrin pressure vessel. With a 12V submersible impellor pump connected to...
Show moreThis thesis is encompasses the design, construction, control and testing of an improvement upon the novel soft robotic Jennifish platform. The advancement of this platform includes the addition of light and depth sensors as well increasing the separation of tentacle groups from two to three sets. The final vehicle model consists nine PneuNetstyle actuators divided into three groups of three, molded around a machined Delrin pressure vessel. With a 12V submersible impellor pump connected to each actuator grouping, propulsion is created by the filling and emptying of these tentacles with surrounding ambient water. The Jellyfish2.0 is capable of omnidirectional lateral movement as well as upward driven motion. The vehicle also has a temperature sensor and IMU as did the previous of this platform. Qualitative free-swimming testing was conducted, recorded and analyzed as well as quantitative inline load cell testing, to create a benchmark for comparison with other jellyfish like robots.
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Date Issued
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2019
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PURL
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http://purl.flvc.org/fau/fd/FA00013234
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Subject Headings
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Robotics--Design and construction, Soft robotics, Coral reef ecology, Coral reef monitoring
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Format
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Document (PDF)
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Title
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Human-Inspired Robotic Hand-Eye Coordination.
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Creator
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Olson, Stephanie T., Engeberg, Erik, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
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Abstract/Description
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My thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the...
Show moreMy thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the assembly. The motor requires a 12V power source, and all other components are powered through the Arduino from a PC. Hand-eye coordination research influenced how the eyes were programmed to move relative to Baxter’s grippers. Different modes were coded to adjust eye movement based on the durability of what Baxter is handling. Tests were performed on a component level as well as on the full assembly to prove functionality.
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Date Issued
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2018
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PURL
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http://purl.flvc.org/fau/fd/FA00013091
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Subject Headings
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Baxter., Robot vision., Robotics--Design and construction., Eye-hand coordination.
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Format
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Document (PDF)
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Title
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Camera-aided SCARA arm calibration.
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Creator
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Wu, Wen-chiang., Florida Atlantic University, Zhuang, Hanqi, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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The focus of this thesis is the kinematic calibration of a SCARA arm with a hand-mounted camera. Kinematic calibration can greatly improve the accuracy of SCARA arms, which are widely used in electronic assembly lines. Vision-based robot calibration has the potential of being a fast, nonintrusive, low-cost, and autonomous approach. In this thesis, we apply a vision-based technique to calibrate SCARA arms. The robot under investigation is modeled by the modified complete and parametrically...
Show moreThe focus of this thesis is the kinematic calibration of a SCARA arm with a hand-mounted camera. Kinematic calibration can greatly improve the accuracy of SCARA arms, which are widely used in electronic assembly lines. Vision-based robot calibration has the potential of being a fast, nonintrusive, low-cost, and autonomous approach. In this thesis, we apply a vision-based technique to calibrate SCARA arms. The robot under investigation is modeled by the modified complete and parametrically continuous model. By repeatedly calibrating the camera, the pose of the robot end-effector are collected at various robot measurement configurations. A least squares technique is then applied to estimate the geometric error parameters of the SCARA arm using the measured robot poses. In order to improve the robustness of the method, a new approach is proposed to calibrate the hand-mounted camera. The calibration algorithm is designed to deal with the case in which the camera sensor plane is nearly-parallel to the camera calibration board. Practical issues regarding robot calibration in general and SCARA arm calibration in particular are also addressed. Experiment studies reveal that the proposed camera-aided approach is a viable means for accuracy enhancement of SCARA arms.
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Date Issued
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1994
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PURL
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http://purl.flvc.org/fcla/dt/15075
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Subject Headings
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Robots--Calibration, Manipulators (Mechanism)--Calibration, Robots--Error detection and recovery, Image processing
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Format
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Document (PDF)
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Title
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Simulation of autonomous knowledge-based navigation in unknown two-dimensional environment with polygonal obstacles.
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Creator
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McKendrick, John DeMilly., Florida Atlantic University, Cheng, Linfu, College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
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Abstract/Description
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The problem of finding optimal paths for a robot navigating in an environment where the position of each obstacle is precisely known has received much attention in the literature, however, the majority of applications problems for a robot would require it to navigate in a completely unknown. This paper focuses on an approach to solving the problem of robot navigation in an unknown, unstructured, two-dimensional environment where the positions of the polygonal obstacles were fixed in time. Few...
Show moreThe problem of finding optimal paths for a robot navigating in an environment where the position of each obstacle is precisely known has received much attention in the literature, however, the majority of applications problems for a robot would require it to navigate in a completely unknown. This paper focuses on an approach to solving the problem of robot navigation in an unknown, unstructured, two-dimensional environment where the positions of the polygonal obstacles were fixed in time. Few studies have reported on the utilization of an expert system to govern robot motion. This study relied on a knowledge-based expert system that interacted with lower-level procedures to carry out path finding and exploration functions. The expert-system shell used was OPS5 which ran on top of Lisp.
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Date Issued
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1988
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PURL
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http://purl.flvc.org/fcla/dt/14496
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Subject Headings
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Robots--Motion, Expert systems (Computer science), Robots--Motion--Computer simulation
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Format
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Document (PDF)
Pages