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An Introduction to Machine Vision in Multirotors

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In the last decade, a large variety of algorithms have been developed for use in object tracking, environment mapping, and object classification. It is often difficult for beginners to fully predict the constraints that multirotors place on machine vision

In the last decade, a large variety of algorithms have been developed for use in object tracking, environment mapping, and object classification. It is often difficult for beginners to fully predict the constraints that multirotors place on machine vision algorithms. The purpose of this paper is to explain some of the types of algorithms that can be applied to these aerial systems, why the constraints for these algorithms exist, and what could be done to mitigate them. This paper provides a summary of the processes involved in a popular filter-based tracking algorithm called MOSSE (Minimum Output Sum of Squared Error) and a particular implementation of SLAM (Simultaneous Localization and Mapping) called LSD SLAM.

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2020-05

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Self-Efficacy and Learning of Engineering Concepts Through Gamification

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The relationship between video games and education is something that has been studied extensively in academia. Based upon these studies a new concept was created, gamification. Gamification is the next step in video game research to analyze why video games

The relationship between video games and education is something that has been studied extensively in academia. Based upon these studies a new concept was created, gamification. Gamification is the next step in video game research to analyze why video games enhance learning. The interest and research into this concept have developed so much so that it has become its own topic area for research. This study is looking to analyze the effect that gamification has on not only learning, but also self-efficacy. Through a choose your own adventure game, the knowledge and self-efficacy of participants will be examined to observe the differences when learning difficult engineering concepts with and without gamification. It is expected that participants that experienced training through gamification will demonstrate deeper learning and higher self-efficacy than trained through a video. Furthermore, it is anticipated that some video trained participants’ self-efficacy will increase; however, their comprehension will be less than participants trained through gamification. The results of this study can help promote the interest in researching gamification and education, while influencing educators to corporate gamification elements when designing their courses. Moreover, this study continued through adaptation and integration into a statics forces class, investigated if the same results can be found within a classroom setting.

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2020-05

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Creating a 2D Python Simulation for a Quadruped Robot to Simulate Balancing in Changing Ground Conditions

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In this article we present a program that is supplemental to a low-cost force-sensing quadrupedal laminate robot platform previously developed by Ben Shuch. The robot has four legs with two degrees of freedom apiece. Each leg is a four-bar mechanism

In this article we present a program that is supplemental to a low-cost force-sensing quadrupedal laminate robot platform previously developed by Ben Shuch. The robot has four legs with two degrees of freedom apiece. Each leg is a four-bar mechanism controlled by two servo motors. The program that has been developed allows the user to predict the force distribution of the robot based on its configuration and the angle of the ground it is standing on. Through the use of this program, future students working on research involving this robot will be able to calculate the force distribution of the robot based on its configuration and generate ideal configurations of the robot using data gathered from force sensors attached to its feet.

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2020-05

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Creating a Human-Powered Water Pump for the Maasai Community in Kenya and the Developing World: Creative Project

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The inception of the human-powered water pump began during my trip to Maasailand in Kenya over the Summer of 2017. Being one of the few Broadening the Reach of Engineering through Community Engagement (BRECE) Scholars at Arizona State University, I

The inception of the human-powered water pump began during my trip to Maasailand in Kenya over the Summer of 2017. Being one of the few Broadening the Reach of Engineering through Community Engagement (BRECE) Scholars at Arizona State University, I was given the opportunity to join Prescott College (PC) on their annual trip to the Maasai Education, Research, and Conservation (MERC) Institute in rural Kenya. The ASU BRECE scholars that choose to travel were asked to collaborate with the local Maasai community to help develop functional and sustainable engineering solutions to problems identified alongside community members using rudimentary technology and tools that were available in this resource-constrained setting. This initiative evolved into multiple projects from the installation of GravityLights (a local invention that powers LEDs with falling sandbags), the construction/installation of smokeless stoves, and development of a much-needed solution to move water from the rainwater collection tanks around camp to other locations. This last project listed was prototyped once in camp, and this report details subsequent iterations of this human-powered pump.

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2018-05

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Robot Head Kit for High School Robotics Education

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The field of robotics is rapidly expanding, and with it, the methods of teaching and introducing students must also advance alongside new technologies. There is a challenge in robotics education, especially at high school levels, to expose them to more

The field of robotics is rapidly expanding, and with it, the methods of teaching and introducing students must also advance alongside new technologies. There is a challenge in robotics education, especially at high school levels, to expose them to more modern and practical robots. One way to bridge this gap is human-robot interaction for a more hands-on and impactful experience that will leave students more interested in pursuing the field. Our project is a Robotic Head Kit that can be used in an educational setting to teach about its electrical, mechanical, programming, and psychological concepts. We took an existing robot head prototype and further advanced it so it can be easily assembled while still maintaining human complexity. Our research for this project dove into the electronics, mechanics, software, and even psychological barriers present in order to advance the already existing head design. The kit we have developed combines the field of robotics with psychology to create and add more life-like features and functionality to the robot, nicknamed "James Junior." The goal of our Honors Thesis was to initially fix electrical, mechanical, and software problems present. We were then tasked to run tests with high school students to validate our assembly instructions while gathering their observations and feedback about the robot's programmed reactions and emotions. The electrical problems were solved with custom PCBs designed to power and program the existing servo motors on the head. A new set of assembly instructions were written and modifications to the 3D printed parts were made for the kit. In software, existing code was improved to implement a user interface via keypad and joystick to give students control of the robot head they construct themselves. The results of our tests showed that we were not only successful in creating an intuitive robot head kit that could be easily assembled by high school students, but we were also successful in programming human-like expressions that could be emotionally perceived by the students.

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2018-05

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Development and Evaluation of an Electrical Engineering and Math Curriculum Module for High School Students

Description

Parents in STEM careers are more apt to guide their kids towards STEM careers (Sherburne-Michigan, 2017). There are STEM programs and classes for students who are interested in related fields, but the conundrum is that students need to be interested

Parents in STEM careers are more apt to guide their kids towards STEM careers (Sherburne-Michigan, 2017). There are STEM programs and classes for students who are interested in related fields, but the conundrum is that students need to be interested in order to choose to participate. The goal of this creative project was to introduce engineering concepts in a high school class to reveal and investigate the ways in which engineering concepts can be successfully introduced to a larger student populace to increase interest in engineering programs, courses, and degrees. A lesson plan and corresponding materials - including circuit kits and a simulated ball launching station with graphical display - were made to accomplish this goal. Throughout the lesson students were asked to (1) use given materials to accomplish a goal, (2) predict outcomes based on conceptual understanding and mathematical calculations, (3) test predictions, (4) record data, and (5) analyze data to generate results. The students first created a simple circuit to understand the circuit components and learn general electrical engineering concepts. A simple light dimmer circuit let students demonstrate understanding of electrical concepts (e.g., voltage, current resistance) before using the circuit to a simulated motor in order to launch a ball. The students were then asked to predict the time and height of a ball launched with various settings of their control circuit. The students were able to test their theories with the simulated launcher test set up shown in Figure 25 and collect data to create a parabolic height versus time graph. Based on the measured graph, the students were able to record their results and compare calculated values to real-world measured values. The results of the study suggest ways to introduce students to engineering while developing hands-on concept modeling of projectile motion and circuit design in math classrooms. Additionally, this lesson identifies a rich topic for teachers and STEM education researchers to explore lesson plans with interdisciplinary connections to engineering. This report will include the inspiration for the product, related work, iterative design process, and the final design. This information will be followed by user feedback, a project reflection, and lessons learned. The report will conclude with a summary and a discussion of future work.

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2018-05

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The Perception of The Mental Game within Archery

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This study used an online survey methodology looking at all levels of archers and coaches to understand their perceptions of the shooting process and Mental Game importance. The survey asked about the archer's skill level and their training style, as

This study used an online survey methodology looking at all levels of archers and coaches to understand their perceptions of the shooting process and Mental Game importance. The survey asked about the archer's skill level and their training style, as well as their perception of the importance of each step in the shooting process and the different parts of the Mental Game. The study also processed the impact of performance of an archer based on their perception of importance of the different steps of the shooting process and the Mental Game. Depending on if the archer has ever had a coach, certain steps of the shooting process and certain parts of the Mental Game was impacted by having a coach at one time. While, the level of coach also impacts how the Mental Game is perceived. Throughout this study, imagery was the most impacted by the level of coach the participant is, if the participants have ever had a coach, and how the participants perform.

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2018-05

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Why Do Students Join Student Organizations? A Study from the Perspective of a Student Searching at ASU.

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This study seeks to analyze the motivation behind why college students at ASU join student organizations. Analysis for this study will be performed through describing considerations a student may undergo when looking into an organization to join. This perspective will

This study seeks to analyze the motivation behind why college students at ASU join student organizations. Analysis for this study will be performed through describing considerations a student may undergo when looking into an organization to join. This perspective will be done through document analysis of the contents of the SunDevilSync and Facebook pages that various organizations, ranging from professional and academic organizations to social and non-academic organizations. These web pages are the first things students see when they join an organization for the first time, and it is here, that they gain their first glimpse into what the organization might really provide for them. Fifteen different organizations at ASU were used as the focus to allow for a diverse population to be categorized between their involvement across professional and social activities. It was found that students join organizations primarily for the purposes of the audience the name of the organization reaches out to, the proof of activities and the interests students would have with regards to the types of activities involved with the organization. Further, a list of primary activities that organizations ranging in the categories of professional and social might display is also generated as a means of allowing developing an idea of the differences between activities of organizations. An analysis of two organizations the author had created will also be used as a means of applying the knowledge gained from this research in a more tangible concept.

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2019-05

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Automated Bicycle Human-in-the-Loop Control

Description

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation over short distances in urban areas. Bicycle riding has also been shown to improve overall health and increase life expectancy. However, riding a bicycle may be inconvenient or impossible for persons with disabilities due to the complex and coordinated nature of the task. Automated bicycles provide an interesting area of study for human-robot interaction, due to the number of contact points between the rider and the bicycle. The goal of the Smart Bike project is to provide a platform for future study of the physical interaction between a semi-autonomous bicycle robot and a human rider, with possible applications in rehabilitation and autonomous vehicle research.

This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.

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2019-05

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Soft Robotics: A Quasi-Passive Knee Brace to Assist in Lifting

Description

This research evaluated soft robotic knee brace designs that were intended to reduce the risk of injury, chronic pain, and osteoarthritis in laborers tasked with repetitive lifting. A soft robotic quasi-passive system was proposed due to energy efficiency, comfortability, and

This research evaluated soft robotic knee brace designs that were intended to reduce the risk of injury, chronic pain, and osteoarthritis in laborers tasked with repetitive lifting. A soft robotic quasi-passive system was proposed due to energy efficiency, comfortability, and weight. The researcher developed three quasi-passive knee brace systems that would store energy when the user attempted a squat lift and release the energy when the user stood up. The first design focused on using clamped layered leaf springs to create an increased resistive force when the user bends at the knee. The researchers found that because of the unideal clamping of the springs the design failed to produce a significant increase to the forces the user experienced. The second design used a change in length of the layered leaf springs to provide a significant change in force. Through simple tests, the researchers found that the design did create a change in force significant enough to warrant further testing of the design in the future. The third and final design was inspired by a previous honors thesis by Ryan Bellman, this design used pre-stretched elastic bands to create an increased bending moment. Through experimental testing, the researchers found that the elastic bands created a factor increase of 8 from a non-loaded test. Further work would include prototyping a knee brace design and developing a method to allow the user to stretch and unstretch the elastic bands at will. In conclusion, design 2 and design 3 have the potential to significantly increase the well being of workers and increase their knee longevity.

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2019-05