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Member of: Barrett, The Honors College Thesis/Creative Project Collection

Design and Testing of a Low-Cost Force Sensor for a Small Robotic Manipulator

Description

This thesis details the process of developing a force feedback system for a small robotic manipulator in order to prevent damage to manipulators and the objects they are grasping, which is a desired feature in many autonomous robots. This includes the research, design, fabrication, and testing of a custom force-sensing resistor and a custom set of jaws to implement the feedback system on. In order to complete this project, extensive research went to designing and building test beds for the commercial and custom force sensors to determine if force values could even be obtained. Then the sensors were implemented on a manipulator and were evaluated for ease of use during assembly and testing, accuracy, and repeatability of results using a test bed designed during the course of this research. Afterwards the custom jaws were designed and fabricated based on problems encountered during testing with the initial set of jaws. The new jaws were then tested on the test bed with the sensors and the force feedback system was implemented on it. The overall system was then evaluated for any current limitations and improvements that could be made in the future to further develop this research and assist with its implementation on other robots. The results of this experiment show that a low-cost force sensor that is easy to mass produce can be implemented on an autonomous robot to add force feedback capabilities to it. It is hopeful that the results from the experiments conducted are implemented on robotic manipulators so the area of force sensing technologies research can be expanded upon and improved.

ContributorsMartin, Anna Lynn (Author) / Berman, Spring (Thesis director) / Rajagopalan, Jagannathan (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Materials Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)

Created2017-12

Effect of Peer Feedback Presence on Working Memory Performance

Description

Students in academic environments receive near-constant feedback about both their own abilities as well as the performance of their peers which could significantly alter their cognitive and learning outcomes. This research investigates whether this social feedback concerning peer ability would improve students’ cognitive performance as measured by a visual working memory (VWM) task. Specifically, the present study provides either positive or negative feedback by means of peers’ performance to test for changes in the quality (memory precision) and the memorability (memory failure rate) of visual working memory representations. The effect of feedback on individual confidence was also examined, as feedback might impact subjective confidence instead of object task performance. Memory precision, participant guess rate, and confidence were compared across both halves of the experiment to determine potential time differences. Participants (N=105) were each administered a 300-trial Delayed Estimation Task to assess visual working memory ability. Participants were asked to rate their confidence in their task response after each trial and were all informed of their own response accuracy after every block of 30 trials. Along with personal feedback after each block, individuals were randomly assigned to view feedback ranking their performance as more or less accurate than other students. Results indicate a nonsignificant effect of peer feedback type on individual memory precision, guess rate, and confidence, which ran contrary to experimental hypotheses. These trends could have occurred due to the presence of participant-based moderating factors that could impact how certain individuals respond to feedback. Additionally, significant increases in both the precision of participants’ memory representations and the rate at which they guessed on the Delayed Estimation Task were observed across time. Together, these findings highlight the need for further research on the nuanced effects of social feedback on neural processing in order to improve student cognition over time.

ContributorsWeiss, Samantha (Author) / Bae, Gi-Yeul (Thesis director, Committee member) / Doane, Leah (Committee member) / Brewer, Gene (Committee member) / Barrett, The Honors College (Contributor) / Department of Psychology (Contributor) / School of Life Sciences (Contributor)

Created2022-12

Mathematical Modeling of the YAP/TAZ Pathways

Description

YAP/TAZ is the key effector in the Hippo pathway, but it is also involved in many other regulatory pathways to control tissue and organ size. To better understand its regulation and effects in tumorigenesis and degeneration, a preliminary feedback network was created with the species YAP/TAZ, phosphorylated YAP/TAZ, LATS, miR-130a, VGLL4, and β-catenin. From this network a set of ordinary differential equations were written and analyzed for parameter effects. A model showing the healthy, tumorigenic, and degenerative states was created and preliminary parameter analysis identified the effects of parameter modifications on the overall levels of YAP/TAZ. Further analysis is required and connections with the underlying biology should continue to be pursued to better understand how parameter modifications could improve disease treatments.

ContributorsSussex, Erin Nicole (Author) / Tian, Xiaojun (Thesis director) / Wang, Xiao (Committee member) / School of International Letters and Cultures (Contributor) / Harrington Bioengineering Program (Contributor) / Barrett, The Honors College (Contributor)

Created2019-05