Matching Items (29)
Filtering by
- All Subjects: robotics
- All Subjects: Virtual Reality
- Creators: Computer Science and Engineering Program
- Member of: Barrett, The Honors College Thesis/Creative Project Collection
- Resource Type: Text
Description
Many researchers aspire to create robotics systems that assist humans in common office tasks, especially by taking over delivery and messaging tasks. For meaningful interactions to take place, a mobile robot must be able to identify the humans it interacts with and communicate successfully with them. It must also be able to successfully navigate the office environment. While mobile robots are well suited for navigating and interacting with elements inside a deterministic office environment, attempting to interact with human beings in an office environment remains a challenge due to the limits on the amount of cost-efficient compute power onboard the robot. In this work, I propose the use of remote cloud services to offload intensive interaction tasks. I detail the interactions required in an office environment and discuss the challenges faced when implementing a human-robot interaction platform in a stochastic office environment. I also experiment with cloud services for facial recognition, speech recognition, and environment navigation and discuss my results. As part of my thesis, I have implemented a human-robot interaction system utilizing cloud APIs into a mobile robot, enabling it to navigate the office environment, identify humans within the environment, and communicate with these humans.
ContributorsDSouza, Daniel Anand (Author) / Kambhampati, Subbarao (Thesis director) / Zhang, Yu (Committee member) / Computer Science and Engineering Program (Contributor) / School of Computing, Informatics, and Decision Systems Engineering (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
Preventive maintenance is a practice that has become popular in recent years, largely due to the increased dependency on electronics and other mechanical systems in modern technologies. The main idea of preventive maintenance is to take care of maintenance-type issues before they fully appear or cause disruption of processes and daily operations. One of the most important parts is being able to predict and foreshadow failures in the system, in order to make sure that those are fixed before they turn into large issues. One specific area where preventive maintenance is a very big part of daily activity is the automotive industry. Automobile owners are encouraged to take their cars in for maintenance on a routine schedule (based on mileage or time), or when their car signals that there is an issue (low oil levels for example). Although this level of maintenance is enough when people are in charge of cars, the rise of autonomous vehicles, specifically self-driving cars, changes that. Now instead of a human being able to look at a car and diagnose any issues, the car needs to be able to do this itself. The objective of this project was to create such a system. The Electronics Preventive Maintenance System is an internal system that is designed to meet all these criteria and more. The EPMS system is comprised of a central computer which monitors all major electronic components in an autonomous vehicle through the use of standard off-the-shelf sensors. The central computer compiles the sensor data, and is able to sort and analyze the readings. The filtered data is run through several mathematical models, each of which diagnoses issues in different parts of the vehicle. The data for each component in the vehicle is compared to pre-set operating conditions. These operating conditions are set in order to encompass all normal ranges of output. If the sensor data is outside the margins, the warning and deviation are recorded and a severity level is calculated. In addition to the individual focus, there's also a vehicle-wide model, which predicts how necessary maintenance is for the vehicle. All of these results are analyzed by a simple heuristic algorithm and a decision is made for the vehicle's health status, which is sent out to the Fleet Management System. This system allows for accurate, effortless monitoring of all parts of an autonomous vehicle as well as predictive modeling that allows the system to determine maintenance needs. With this system, human inspectors are no longer necessary for a fleet of autonomous vehicles. Instead, the Fleet Management System is able to oversee inspections, and the system operator is able to set parameters to decide when to send cars for maintenance. All the models used for the sensor and component analysis are tailored specifically to the vehicle. The models and operating margins are created using empirical data collected during normal testing operations. The system is modular and can be used in a variety of different vehicle platforms, including underwater autonomous vehicles and aerial vehicles.
ContributorsMian, Sami T. (Author) / Collofello, James (Thesis director) / Chen, Yinong (Committee member) / School of Mathematical and Statistical Sciences (Contributor) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
The purpose of this project is to design a waterproof magnetic coupling that will allow the actuators on remotely operated vehicles (ROV) to remain water tight in extreme underwater conditions for longs periods of time. ROVs are tethered mobile robots controlled and powered by an operator from some distance away at the surface of the water. These vehicles all require some method for transmitting power to the surrounding water to interact with their environment, such as in thrusters for propulsion or a claw for manipulation. Many commercially available thrusters, for example, use shaft seals to transfer power through a waterproof housing to the adjacent water. Even though this works excellently for many of them, I propose that having a static seal and transmitting the power from the motor to the shaft through magnetic coupling will allow a much greater depth at which they are waterproof to be achieved. In addition, it will not require the chronic maintenance that dynamic shaft seals entail, making long scientific endeavors possible.
ContributorsHouda, Jonathon Jacob (Author) / Foy, Joseph (Thesis director) / Zhu, Haolin (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
This project created a tool for visualizing constructive solid geometry (CSG) using an HTC Vive virtual reality
headset. This tool provides functionality for surface triangulation
of a variety of three-dimensional primitive solids. Then with those
solids it can perform the core CSG operations—intersection,
union and complement—to create more complex objects. This
tool also parses in Silo data files to allow the visualization
of scientific models like the Annular Core Research Reactor.
This project is useful for both education and visualization. This
project will be used by scientists to visualize and understand
their simulation results, and used as a museum exhibit to engage
the next generation of scientists in computer modeling.
headset. This tool provides functionality for surface triangulation
of a variety of three-dimensional primitive solids. Then with those
solids it can perform the core CSG operations—intersection,
union and complement—to create more complex objects. This
tool also parses in Silo data files to allow the visualization
of scientific models like the Annular Core Research Reactor.
This project is useful for both education and visualization. This
project will be used by scientists to visualize and understand
their simulation results, and used as a museum exhibit to engage
the next generation of scientists in computer modeling.
ContributorsJones, Derek Matthew (Author) / Kashiwagi, Dean (Thesis director) / O'Brien, Matthew (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
In order to adequately introduce students to computer science and robotics in an exciting and engaging manner certain teaching techniques should be used. In recent years some of the most popular paradigms are Visual Programming Languages. Visual Programming Languages are meant to introduce problem solving skills and basic programming constructs inherent to all modern day languages by allowing users to write programs visually as opposed to textually. By bypassing the need to learn syntax students can focus on the thinking behind developing an algorithm and see immediate results that help generate excitement for the field and reduce disinterest due to startup complexity and burnout. The Introduction to Engineering course at Arizona State University supports this approach by teaching students the basics of autonomous maze traversing algorithms and using ASU VIPLE, a Visual Programming Language developed to connect with and direct real-world robots. However, some startup time is needed to learn how to interface with these robots using ASU VIPLE. That is why the HTML5 Autonomous Robot Web Simulator was created -- by encouraging students to use the simulator the problem solving behind autonomous maze traversing algorithms can be introduced more quickly and with immediate affirmation. Our goal was to improve this simulator and add features so that the simulator could be accessed and used for a more wide variety of introductory Computer Science lessons. Features scattered across past implementations of robotic simulators were aggregated in a cross platform solution. Upon initial development, a classroom test group revealed usability concerns and a demonstration of students' mental models. Mean time for task completion was 8.1min - compared to 2min for the authors. The simulator was updated in response to test group feedback and new instructor requirements. The new implementation reduces programming overhead while maintaining a learning environment with support for even the most complex applications.
ContributorsRodewald, Spencer (Co-author, Co-author) / Patel, Ankit (Co-author) / Chen, Yinong (Thesis director) / Chattin, Linda (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Virtual reality gives users the opportunity to immerse themselves in an accurately
simulated computer-generated environment. These environments are accurately simulated in that they provide the appearance of- and allow users to interact with- the simulated environment. Using head-mounted displays, controllers, and auditory feedback, virtual reality provides a convincing simulation of interactable virtual worlds (Wikipedia, “Virtual reality”). The many worlds of virtual reality are often expansive, colorful, and detailed. However, there is one great flaw among them- an emotion evoked in many users through the exploration of such worlds-loneliness.
The content in these worlds is impressive, immersive, and entertaining. Without other people to share in these experiences, however, one can find themselves lonely. Users discover a feeling that no matter how many objects and colors surround them in countless virtual worlds, every world feels empty. As humans are social beings by nature, they feel lost without a sense of human connection and human interaction. Multiplayer experiences offer this missing element into the immersion of virtual reality worlds. Multiplayer offers users the opportunity to interact with other live people in a virtual simulation, which creates lasting memories and deeper, more meaningful immersion.
simulated computer-generated environment. These environments are accurately simulated in that they provide the appearance of- and allow users to interact with- the simulated environment. Using head-mounted displays, controllers, and auditory feedback, virtual reality provides a convincing simulation of interactable virtual worlds (Wikipedia, “Virtual reality”). The many worlds of virtual reality are often expansive, colorful, and detailed. However, there is one great flaw among them- an emotion evoked in many users through the exploration of such worlds-loneliness.
The content in these worlds is impressive, immersive, and entertaining. Without other people to share in these experiences, however, one can find themselves lonely. Users discover a feeling that no matter how many objects and colors surround them in countless virtual worlds, every world feels empty. As humans are social beings by nature, they feel lost without a sense of human connection and human interaction. Multiplayer experiences offer this missing element into the immersion of virtual reality worlds. Multiplayer offers users the opportunity to interact with other live people in a virtual simulation, which creates lasting memories and deeper, more meaningful immersion.
ContributorsJorgensen, Nicholas Keith (Co-author) / Jorgensen, Caitlin Nicole (Co-author) / Selgrad, Justin (Thesis director) / Ehgner, Arnaud (Committee member) / Computer Science and Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Classical planning is a field of Artificial Intelligence concerned with allowing autonomous agents to make reasonable decisions in complex environments. This work investigates
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
the application of deep learning and planning techniques, with the aim of constructing generalized plans capable of solving multiple problem instances. We construct a Deep Neural Network that, given an abstract problem state, predicts both (i) the best action to be taken from that state and (ii) the generalized “role” of the object being manipulated. The neural network was tested on two classical planning domains: the blocks world domain and the logistic domain. Results indicate that neural networks are capable of making such
predictions with high accuracy, indicating a promising new framework for approaching generalized planning problems.
ContributorsNakhleh, Julia Blair (Author) / Srivastava, Siddharth (Thesis director) / Fainekos, Georgios (Committee member) / Computer Science and Engineering Program (Contributor) / School of International Letters and Cultures (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This thesis describes a multi-robot architecture which allows teams of robots to work with humans to complete tasks. The multi-agent architecture was built using Robot Operating System and Python. This architecture was designed modularly, allowing the use of different planners and robots. The system automatically replans when robots connect or disconnect. The system was demonstrated on two real robots, a Fetch and a PeopleBot, by conducting a surveillance task on the fifth floor of the Computer Science building at Arizona State University. The next part of the system includes extensions for teaming with humans. An Android application was created to serve as the interface between the system and human teammates. This application provides a way for the system to communicate with humans in the loop. In addition, it sends location information of the human teammates to the system so that goal recognition can be performed. This goal recognition allows the generation of human-aware plans. This capability was demonstrated in a mock search and rescue scenario using the Fetch to locate a missing teammate.
ContributorsSaba, Gabriel Christer (Author) / Kambhampati, Subbarao (Thesis director) / Doupé, Adam (Committee member) / Chakraborti, Tathagata (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
For those interested in the field of robotics, there are not many options to get your hands on a physical robot without paying a steep price. This is why the folks at BCN3D Technologies decided to design a fully open-source 3D-printable robotic arm. Their goal was to reduce the barrier to entry for the field of robotics and make it exponentially more accessible for people around the world. For our honors thesis, we chose to take the design from BCN3D and attempt to build their robot, to see how accessible the design truly is. Although their designs were not perfect and we were forced to make some adjustments to the 3D files, overall the work put forth by the people at BCN3D was extremely useful in successfully building a robotic arm that is programmed with ease.
ContributorsCohn, Riley (Co-author) / Petty, Charles (Co-author) / Ben Amor, Hani (Thesis director) / Yong, Sze Zheng (Committee member) / Computer Science and Engineering Program (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
Can a skill taught in a virtual environment be utilized in the physical world? This idea is explored by creating a Virtual Reality game for the HTC Vive to teach users how to play the drums. The game focuses on developing the user's muscle memory, improving the user's ability to play music as they hear it in their head, and refining the user's sense of rhythm. Several different features were included to achieve this such as a score, different levels, a demo feature, and a metronome. The game was tested for its ability to teach and for its overall enjoyability by using a small sample group. Most participants of the sample group noted that they felt as if their sense of rhythm and drumming skill level would improve by playing the game. Through the findings of this project, it can be concluded that while it should not be considered as a complete replacement for traditional instruction, a virtual environment can be successfully used as a learning aid and practicing tool.
ContributorsDinapoli, Allison (Co-author) / Tuznik, Richard (Co-author) / Kobayashi, Yoshihiro (Thesis director) / Nelson, Brian (Committee member) / Computer Science and Engineering Program (Contributor) / School of International Letters and Cultures (Contributor) / Computing and Informatics Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12