Matching Items (7)
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- All Subjects: robotics
- Creators: Electrical Engineering Program
- Member of: Barrett, The Honors College Thesis/Creative Project Collection
Description
Robotic rehabilitation for upper limb post-stroke recovery is a developing technology. However, there are major issues in the implementation of this type of rehabilitation, issues which decrease efficacy. Two of the major solutions currently being explored to the upper limb post-stroke rehabilitation problem are the use of socially assistive rehabilitative robots, robots which directly interact with patients, and the use of exoskeleton-based systems of rehabilitation. While there is great promise in both of these techniques, they currently lack sufficient efficacy to objectively justify their costs. The overall efficacy to both of these techniques is about the same as conventional therapy, yet each has higher overhead costs that conventional therapy does. However there are associated long-term cost savings in each case, meaning that the actual current viability of either of these techniques is somewhat nebulous. In both cases, the problems which decrease technique viability are largely related to joint action, the interaction between robot and human in completing specific tasks, and issues in robot adaptability that make joint action difficult. As such, the largest part of current research into rehabilitative robotics aims to make robots behave in more "human-like" manners or to bypass the joint action problem entirely.
ContributorsRamakrishna, Vijay Kambhampati (Author) / Helms Tillery, Stephen (Thesis director) / Buneo, Christopher (Committee member) / Barrett, The Honors College (Contributor) / Economics Program in CLAS (Contributor) / W. P. Carey School of Business (Contributor) / School of Life Sciences (Contributor)
Created2015-05
Description
In this paper, we propose an autonomous throwing and catching system to be developed as a preliminary step towards the refinement of a robotic arm capable of improving strength and motor function in the limb. This will be accomplished by first autonomizing simpler movements, such as throwing a ball. In this system, an autonomous thrower will detect a desired target through the use of image processing. The launch angle and direction necessary to hit the target will then be calculated, followed by the launching of the ball. The smart catcher will then detect the ball as it is in the air, calculate its expected landing location based on its initial trajectory, and adjust its position so that the ball lands in the center of the target. The thrower will then proceed to compare the actual landing position with the position where it expected the ball to land, and adjust its calculations accordingly for the next throw. By utilizing this method of feedback, the throwing arm will be able to automatically correct itself. This means that the thrower will ideally be able to hit the target exactly in the center within a few throws, regardless of any additional uncertainty in the system. This project will focus of the controller and image processing components necessary for the autonomous throwing arm to be able to detect the position of the target at which it will be aiming, and for the smart catcher to be able to detect the position of the projectile and estimate its final landing position by tracking its current trajectory.
ContributorsLundberg, Kathie Joy (Co-author) / Thart, Amanda (Co-author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
In order to refine autonomous exploratory movement planning schemes, an approach must be developed that accounts for valuable information other than that gained from map filling. To this end, the goal of this thesis is divided into two parts. The first is to develop a technique for categorizing objects detected by an autonomous exploratory robot and assigning them a score based on their interest value. The second is an attempt to develop a method of integrating this technique into a navigation algorithm in order to refine the movements of a robot or robots to maximize the efficiency of information gain. The intention of both of these components is to provide a method of refining the navigation scheme applied to autonomous exploring robots and maximize the amount of information they can gather in deployments where they face significant resource or functionality constraints. To this end this project is divided into two main sections: a shape-matching technique and a simulation in in which to implement this technique. The first section was accomplished by combining concepts from information theory, principal component analysis, and the eigenfaces algorithm to create an effective matching technique. The second was created with inspiration from existing navigation algorithms. Once these components were determined to be functional, a testing regime was applied to determine their capabilities. The testing regime was also divided into two parts. The tests applied to the matching technique were first to demonstrate that it functions under ideal conditions. After testing was conducted under ideal conditions, the technique was tested under non-ideal conditions. Additional tests were run to determine how the system responded to changes in the coefficients and equations that govern its operation. Similarly, the simulation component was initially tested under normal conditions to determine the base effectiveness of the approach. After these tests were conducted, alternative conditions were tested to evaluate the effects of modifying the implementation technique. The results of these tests indicated a few things. The first series of tests confirmed that the matching technique functions as expected under ideal conditions. The second series of tests determined that the matching element is effective for a reasonable range of variations and non-ideal conditions. The third series of tests showed that changing the functional coefficients of the matching technique can help tune the technique to different conditions. The fourth series of tests demonstrated that the basic concept of the implementation technique makes sense. The final series of tests demonstrated that modifying the implementation method is at least somewhat effective and that modifications to it can be used to specifically tailor the implementation to a method. Overall the results indicate that the stated goals of the project were accomplished successfully.
ContributorsFleetwood, Garrett Clark (Author) / Thanga, Jekan (Thesis director) / Berman, Spring (Committee member) / Middleton, James (Committee member) / Economics Program in CLAS (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
The honors thesis presented in this document describes an extension to an electrical engineering capstone project whose scope is to develop the receiver electronics for an RF interrogator. The RF interrogator functions by detecting the change in resonant frequency of (i.e, frequency of maximum backscatter from) a target resulting from an environmental input. The general idea of this honors project was to design three frequency selective surfaces that would act as surrogate backscattering or reflecting targets that each contains a distinct frequency response. Using 3-D electromagnetic simulation software, three surrogate targets exhibiting bandpass frequency responses at distinct frequencies were designed and presented in this thesis.
ContributorsSisk, Ryan Derek (Author) / Aberle, James (Thesis director) / Chakraborty, Partha (Committee member) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
A description of the robotics principles, actuators, materials, and programming used to test the durability of dendritic identifiers to be used in the produce supply chain. This includes the application of linear and rotational servo motors, PWM control of a DC motor, and hall effect sensors to create an encoder.
ContributorsRobertson, Stephen (Author) / Kozicki, Michael (Thesis director) / Manfredo, Mark (Committee member) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
The focus of this project investigates high mobility robotics by developing a fully integrated framework for a ball-balancing robot. Using Lagrangian mechanics, a model for the robot was derived and used to conduct trade studies on significant system parameters. With a broad understanding of system dynamics, controllers were designed using LQR methodology. A prototype was then built and tested to exhibit desired reference command following and disturbance attenuation.
ContributorsKapron, Mark Andrew (Author) / Rodriguez, Armando (Thesis director) / Artemiadis, Panagiotis (Committee member) / Industrial, Systems & Operations Engineering Prgm (Contributor) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The ability of magnetic resonance imaging (MRI) to image any part of the human body without the effects of harmful radiation such as in CAT and PET scans established MRI as a clinical mainstay for a variety of different ailments and maladies. Short wavelengths accompany the high frequencies present in high-field MRI, and are on the same scale as the human body at a static magnetic field strength of 3 T (128 MHz). As a result of these shorter wavelengths, standing wave effects are produced in the MR bore where the patient is located. These standing waves generate bright and dark spots in the resulting MR image, which correspond to irregular regions of high and low clarity. Coil loading is also an inevitable byproduct of subject positioning inside the bore, which decreases the signal that the region of interest (ROI) receives for the same input power. Several remedies have been proposed in the literature to remedy the standing wave effect, including the placement of high permittivity dielectric pads (HPDPs) near the ROI. Despite the success of HPDPs at smoothing out image brightness, these pads are traditionally bulky and take up a large spatial volume inside the already small MR bore. In recent years, artificial periodic structures known as metamaterials have been designed to exhibit specific electromagnetic effects when placed inside the bore. Although typically thinner than HPDPs, many metamaterials in the literature are rigid and cannot conform to the shape of the patient, and some are still too bulky for practical use in clinical settings. The well-known antenna engineering concept of fractalization, or the introduction of self-similar patterns, may be introduced to the metamaterial to display a specific resonance curve as well as increase the metamaterial’s intrinsic capacitance. Proposed in this paper is a flexible fractal-inspired metamaterial for application in 3 T MR head imaging. To demonstrate the advantages of this flexibility, two different metamaterial configurations are compared to determine which produces a higher localized signal-to-noise ratio (SNR) and average signal measured in the image: in the first configuration, the metamaterial is kept rigid underneath a human head phantom to represent metamaterials in the literature (single-sided placement); and in the second, the metamaterial is wrapped around the phantom to utilize its flexibility (double-sided placement). The double-sided metamaterial setup was found to produce an increase in normalized SNR of over 5% increase in five of six chosen ROIs when compared to no metamaterial use and showed a 10.14% increase in the total average signal compared to the single-sided configuration.
ContributorsSokol, Samantha (Author) / Sohn, Sung-Min (Thesis director) / Allee, David (Committee member) / Jones, Anne (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2022-05