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Semi-Autonomous Control of Robotic Arm with Haptic Feedback and Closed Loop Force Controller
Title
Semi-Autonomous Control of Robotic Arm with Haptic Feedback and Closed Loop Force Controller.
Creator
Al-Saidi, Mostapha, Engeberg, Erik, Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description
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
2019
PURL
http://purl.flvc.org/fau/fd/FA00013353
Subject Headings
Robotics, Haptic devices, Actuators, Tactile sensors
Format
Document (PDF)
force sensor system for the real time measurement of thrust on an AUV
Title
A force sensor system for the real time measurement of thrust on an AUV.
Creator
Larroque-Lahitette, Gilles., Florida Atlantic University, Holappa, Kenneth W., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
When a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested,...
Show moreWhen a control system for an Autonomous Underwater Vehicle (AUV) requires thrust, it is common to apply a simplified model to estimate the force generated. Even though this model takes into account several parameters, it will never recover the real value. Our challenge is to directly measure the force, in real time, from the tunnel thrusters used in the positioning control of the Mini AUV known as Morpheus. Therefore, a force sensor system has been designed, optimized, machined and tested, that supports the thruster assembly. The sensor implements strain gages to measure the deformation in a beam. To optimize the capabilities of the sensor, a finite elements analysis has been run. The sensor has been fabricated and tested to determine the static and dynamic characteristics. This thesis discusses the design implementation, optimization, fabrication and testing of the force sensor. The discussion begins with an overview of the problem, then explains the fabrication, optimization, testing and concludes with recommendation for future work.
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Date Issued
2001
PURL
http://purl.flvc.org/fcla/dt/12745
Subject Headings
Oceanographic submersibles, Tactile sensors, Robots--Control systems
Format
Document (PDF)
Statistical bounds on handoff probabilities under different fading channel models of mobile communication
Title
Statistical bounds on handoff probabilities under different fading channel models of mobile communication.
Creator
Laupattarakasem, Pet., Florida Atlantic University, Neelakanta, Perambur S., College of Engineering and Computer Science, Department of Computer and Electrical Engineering and Computer Science
Abstract/Description
The research envisaged and reported in this thesis refers to finding comprehensive algorithms to determine the handoff probabilities of new and handoff calls encountered in mobile communications. The traditional expressions for these probabilities that are reported in the literature, are deduced only on the basis of call arrival statistics applied to RF links between base station (BS) and the mobile unit (MU). However, such radio links inevitably suffer from fading. These channels are...
Show moreThe research envisaged and reported in this thesis refers to finding comprehensive algorithms to determine the handoff probabilities of new and handoff calls encountered in mobile communications. The traditional expressions for these probabilities that are reported in the literature, are deduced only on the basis of call arrival statistics applied to RF links between base station (BS) and the mobile unit (MU). However, such radio links inevitably suffer from fading. These channels are normally modeled by appropriate probability density functions (pdfs) of the faded signal envelope. Rayleigh, Rician and Nakagami-m distributions are popularly considered in depicting such fading channel characteristics. The traditional (queueing-theoretic) based estimation of handoff probabilities does not account for the hysteresis-specific handoff statistics in the relevant fading channels. This is in contrary to the reality, inasmuch as fading is an inherent part of RF channels in mobile communications. The present study offers a tractable method of combining queuing-theoretic (call arrival) statistics and the hysteresis-crossing statistics of a RSS metric so as to obtain proper expressions for new and handoff call handoff probabilities. The (upper and lower) bound specified spread of the handoff probabilities indicates that care should be exercised in resource allocation efforts with a margin. To the best of the knowledge of the author, this research exercise is new and has not been reported elsewhere in open literature.
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Date Issued
2003
PURL
http://purl.flvc.org/fcla/dt/13006
Subject Headings
Oceanographic submersibles, Tactile sensors, Robots--Control systems
Format
Document (PDF)
ARTIFICIAL INTELLIGENCE (AI) ENABLES SENSORIMOTOR INTEGRATION FOR PROSTHETIC HAND DEXTERITY
Title
ARTIFICIAL INTELLIGENCE (AI) ENABLES SENSORIMOTOR INTEGRATION FOR PROSTHETIC HAND DEXTERITY.
Creator
Abd, Moaed A., Engeberg, Erik D., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description
Hand amputation is a devastating feeling for amputees, and it is lifestyle changing since it is challenging to perform the basic life activities with amputation. Hand amputation means interrupting the closed loop between sensory feedback and motor control. The absence of sensory feedback requires a significant cognitive effort from the amputee to perform basic daily activities with prosthetic hand. Loss of tactile sensations is a major roadblock preventing amputees from multitasking or using...
Show moreHand amputation is a devastating feeling for amputees, and it is lifestyle changing since it is challenging to perform the basic life activities with amputation. Hand amputation means interrupting the closed loop between sensory feedback and motor control. The absence of sensory feedback requires a significant cognitive effort from the amputee to perform basic daily activities with prosthetic hand. Loss of tactile sensations is a major roadblock preventing amputees from multitasking or using the full dexterity of their prosthetic hands. One of the most significant features lacking from commercial prosthetic hands is sensory feedback, according to amputees. Many amputees abandoned their prosthetic devices due to the lack of tactile feedback. In the field of prosthetics, restoring sensory feedback is the most challenging task due to the complexity of integration between the prosthetic and the peripheral nervous system. A prosthetic hand with sensory feedback that imitates the intact hand would improve the lives of millions of amputees worldwide by inducing the prosthetic hand to be a part of the body image and significant impact the control of the prosthetic. To restore the sensory feedback and improve the dexterity for upper limb amputee, multiple components needed to be integrated together to provide the sensory feedback. Tactile sensors are the first components that needed to be integrated into the sensorimotor loop. In this research two tactile sensors were integrated in the sensory feedback loop. The first tactile sensor is BioTac which is a commercially available sensor. The first novel contribution with BioTac is the development of an ANN classifier to detect the direction a grasped object slips in a dexterous robotic hand in real time, and the second novel aspect of this study is the use of slip direction detection for adaptive robotic grasp reflexes. The second tactile sensor is the liquid metal sensor (LMS), this sensor was developed entirely in our lab (BioRobotics lab). The novel contribution for LMS is to detect and prevent slip in real time application, and to recognize different surface features and different sliding speeds.
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Date Issued
2022
PURL
http://purl.flvc.org/fau/fd/FA00013875
Subject Headings
Artificial intelligence, Haptic devices, Tactile sensors, Sensorimotor integration, Artificial hands
Format
Document (PDF)