Matching Items (32)
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- All Subjects: Software
- All Subjects: robotics
- Creators: Computer Science and Engineering Program
- Creators: Foy, Joseph
- 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
CourseKarma is a web application that engages students in their own learning through peer-driven social networking. The influence of technology on students is advancing faster than the school system, and a major gap still lingers between traditional learning techniques and the fast-paced, online culture of today's generation. CourseKarma enriches the educational experience of today's student by creating a space for collaborative inquiry as well as illuminating the opportunities of self and group learning through online collaboration. The features of CourseKarma foster this student-driven environment. The main focus is on a news-feed and Question and Answer component that provides a space for students to share instant updates as well ask and answer questions of the community. The community can be as broad as the entire ASU student body, as specific as students in BIO155, or even more targeted via specific subjects and or skills. CourseKarma also provides reputation points, which are the sum of all of their votes received, identifying the individual's level and or ranking in each subject or class. This not only gamifies the usual day-to-day learning environment, but it also provides an in-depth analysis of the individual's skills, accomplishments, and knowledge. The community is also able to input and utilize course and professor descriptions/feedback. This will be in a review format providing the students an opportunity to share and give feedback on their experience as well as providing incoming students the opportunity to be prepared for their future classes. All of the student's contributions and collaborative activity within CourseKarma is displayed on their personal profile creating a timeline of their academic achievements. The application was created using modern web programming technologies such as AngualrJS, Javascript, jQuery, Bootstrap, HTML5, CSS3 for the styling and front-end development, Mustache.js for client side templating, and Firebase AngularFire as the back-end and NoSQL database. Other technologies such as Pivitol Tracker was used for project management and user story generation, as well as, Github for version control management and repository creation. Object-oreinted programming concepts were heavily present in the creation of the various data structures, as well as, a voting algorithm was used to manage voting of specific posts. Down the road, CourseKarma could even be a necessary add-on within LinkedIn or Facebook that provides a quick yet extremely in-depth look at an individuals' education, skills, and potential to learn \u2014 based all on their actual contribution to their academic community rather than just a text they wrote up.
ContributorsCho, Sungjae (Author) / Mayron, Liam (Thesis director) / Lobock, Alan (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor) / School of Arts, Media and Engineering (Contributor)
Created2015-05
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
Web-application development constantly changes \u2014 new programming languages, testing tools and programming methodologies are often proposed. The focus of this project is on the tool Selenium and the fairly new technique known as High Volume Automated Testing (HVAT). Both of these techniques were used to test the Just-in-Time Teaching and Learning Classroom Management System software. Selenium was used with a black-box testing technique and HVAT was employed in a white-box testing technique. Two of the major functionalities of this software were examined, which include the login and the professor functionality. The results of the black-box testing technique showed parts of the login component contain bugs, but the professor component is clean. HVAT white-box testing revealed error free implementation on the code level. We present an analysis on a new technique for HVAT testing with Selenium.
ContributorsEjaz, Samira (Author) / Balasooriya, Janaka (Thesis director) / Nakamura, Mutsumi (Committee member) / Wilkerson, Kelly (Committee member) / Barrett, The Honors College (Contributor) / Computer Science and Engineering Program (Contributor)
Created2013-05
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
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
Charleston, South Carolina currently faces serious annual flooding issues due to tides and rainfall. These issues are expected to get significantly worse within the next few decades reaching a projected 180 days a year of flooding by 2045 (Carter et al., 2018). Several permanent solutions are in progress by the City of Charleston. However, these solutions are years away at minimum and faced with development issues. This thesis attempts to treat some of the symptoms of flooding, such as navigation, by creating an iPhone application which predicts flooding and helps people navigate around it safely. Specifically, this thesis will take into account rainfall and tide levels to display to users actively flooded areas of downtown Charleston and provide routing to a destination from a user’s location around these flooded areas whenever possible.
ContributorsSalisbury, Mason (Author) / Balasooriya, Janaka (Thesis director) / Faucon, Christophe (Committee member) / Computer Science and Engineering Program (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