Matching Items (22)
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- All Subjects: robotics
- Creators: Computer Science and Engineering Program
- Status: Published
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
Communication amongst eusocial insect is key to their success. Ants rely on signaling to mediate many different functions within a colony such as policing and nest mate recognition. Camponotus floridanus uses chemosensory signaling in the form of cuticular hydrocarbons to regulate these functions. Each cuticular hydrocarbon profile contains numerous hydrocarbons, however it is yet to be seen if Camponotus floridanus can discriminate between linear hydrocarbons of similar length. Individual specimens were conditioned in three different ways: 5 conditioning with high concentration of sugar water (1;1 ratio), 1 conditioning with high concentration of sugar water, and 5 conditioning with low concentration of sugar water (1;4). Two linear hydrocarbons were use, C23 and C24, with C23 always being the conditioned stimulus. Specimens who were conditioned 5 times with high concentration of sugar water were the only group to show a significant response to the conditioned stimulus with a p-value of .008 and exhibited discrimination behavior 46% of the time. When compared 5 conditioning with high concentration to the other two testing conditioning groups, 1 conditioning with high concentration produced an insignificant p-value of .13 was obtained whereas when comparing it with 5 conditioning low concentration of sugar a significant p-value of .0132 was obtained. This indiciates that Camponotus floridanus are capable of discrimination however must be conditioned with high concentration of sugar water, while number of conditioning is insignificant.
ContributorsDamari, Ben Aviv (Author) / Liebig, Juergen (Thesis director) / Ghaninia, Majid (Committee member) / Pratt, Stephen (Committee member) / Barrett, The Honors College (Contributor) / School of Life Sciences (Contributor)
Created2014-05
Description
Technical innovation has always played a part in live theatre, whether in the form of mechanical pieces like lifts and trapdoors to the more recent integration of digital media. The advances of the art form encourage the development of technology, and at the same time, technological development enables the advancement of theatrical expression. As mechanics, lighting, sound, and visual media have made their way into the spotlight, advances in theatrical robotics continue to push for their inclusion in the director's toolbox. However, much of the technology available is gated by high prices and unintuitive interfaces, designed for large troupes and specialized engineers, making it difficult to access for small schools and students new to the medium. As a group of engineering students with a vested interest in the development of the arts, this thesis team designed a system that will enable troupes from any background to participate in the advent of affordable automation. The intended result of this thesis project was to create a robotic platform that interfaces with custom software, receiving commands and transmitting position data, and to design that software so that a user can define intuitive cues for their shows. In addition, a new pathfinding algorithm was developed to support free-roaming automation in a 2D space. The final product consisted of a relatively inexpensive (< $2000) free-roaming platform, made entirely with COTS and standard materials, and a corresponding control system with cue design, wireless path following, and position tracking. This platform was built to support 1000 lbs, and includes integrated emergency stopping. The software allows for custom cue design, speed variation, and dynamic path following. Both the blueprints and the source code for the platform and control system have been released to open-source repositories, to encourage further development in the area of affordable automation. The platform itself was donated to the ASU School of Theater.
ContributorsHollenbeck, Matthew D. (Co-author) / Wiebel, Griffin (Co-author) / Winnemann, Christopher (Thesis director) / Christensen, Stephen (Committee member) / Computer Science and Engineering Program (Contributor) / School of Film, Dance and Theatre (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Despite the advancement of online tools for activities related to the core experience of taking classes on a college campus, there has been a relatively small amount of research into implementing online tools for ancillary academic resources (e.g. tutoring centers, review sessions, etc.). Previous work and a study conducted for this paper indicates that there is value in creating these online tools but that there is value in maintaining an in-person component to these services. Based on this, a system which provides personalized, easily-accessible, simple access to these services is proposed. Designs for user-centered online-tools that provides access to and interaction with tutoring centers and review sessions are described and prototypes are developed to demonstrate the application of design principles for online tools for academic services.
ContributorsBerk, Nicholas Robert (Author) / Balasooriya, Janaka (Thesis director) / Eaton, John (Committee member) / Walker, Erin (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2013-12
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
As one of the first attempts to research multimedia platforms for older adults when learning an online photo-editing software, this study examined whether an audio only, a text only, or a combination of an audio and text tutorial would be the most effective teaching method. Elderly adults aged 65 and older (N-45) were randomly assigned to one of the three conditions. They first went through a training phase that utilized their assigned condition to teach five tasks within the photo-editing program, and they were then tested on how well they learned these tasks as well as a transfer task. It was predicted that the multimedia condition would increase learning efficiency, produce more successes in the transfer task, and decrease cognitive load compared to the two unimodal conditions. The multimedia condition (text and audio) had no significant effect on transfer task successes or decreases in cognitive load compared to the unimodal conditions (text only and audio only). The multimedia condition, however, did produce significantly less errors on Tasks 2, 4, and 5 than the unimodal conditions. This suggests that redundancy principles may play an important role when designing learning platforms for elderly users, and that age needs to be considered as an additional factor during the technological design process.
ContributorsSwieczkowski, Hannah Elizabeth (Author) / Atkinson, Robert (Thesis director) / Chavez, Helen (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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
Hackathons are 24-36 hour events where participants are encouraged to learn, collaborate, and build technological inventions with leaders, companies, and peers in the tech community. Hackathons have been sweeping the nation in the recent years especially at the collegiate level; however, there is no substantial research or documentation of the actual effects of hackathons especially at the collegiate level. This makes justifying the usage of valuable time and resources to host hackathons difficult for tech companies and academic institutions. This thesis specifically examines the effects of collegiate hackathons through running a collegiate hackathon known as Desert Hacks at Arizona State University (ASU). The participants of Desert Hacks were surveyed at the start and at the end of the event to analyze the effects. The results of the survey implicate that participants have grown in base computer programming skills, inclusion in the tech community, overall confidence, and motivation for the technological field. Through these results, this study can be used to help justify the necessity of collegiate hackathons and events similar.
ContributorsLe, Peter Thuan (Author) / Atkinson, Robert (Thesis director) / Chavez-Echeagaray, Maria Elena (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
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