Matching Items (61)

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An Introduction to Machine Vision in Multirotors

Description

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

Description

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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Date Created
2020-05

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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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Date Created
2019-05

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[Detection of Heel-off Initiation Based on the Relationship Between Ground Reaction Forces and Surface Electromyography: Heel-toe, Heel-toe, a Story]

Description

The global population over the age of 60 is estimated to rise to 23% by 2050 only increase the prevalence of functional neurological disorders and stroke. Increase in cases of functional neurological disorders and strokes will place a greater burden

The global population over the age of 60 is estimated to rise to 23% by 2050 only increase the prevalence of functional neurological disorders and stroke. Increase in cases of functional neurological disorders and strokes will place a greater burden on the healthcare industry, specifically physical therapy. Physical therapy is vital for a patient’s recovery of motor function which is time demanding and taxing on the physical therapist. Wearable robotics have been proven to improve functional outcomes in gait rehabilitation by providing controlled high dosage and high-intensity training. Accurate control strategies for assistive robotic exoskeletons are vital for repetitive high precisions assistance for cerebral plasticity to occur.

This thesis presents a preliminary determination and design of a control algorithm for an assistive ankle device developed by the ASU RISE Laboratory. The assistive ankle device functions by compressing a spring upon heel strike during gait, remaining compressed during mid-stance and then releasing upon initiation of heel-off. The relationship between surface electromyography and ground reactions forces were used for identification of user-initiated heel-off. The muscle activation of the tibialis anterior combined with the ground reaction forces of the heel pressure sensor generated potential features that will be utilized in the revised control algorithm for the assistive ankle device. Work on this project must proceed in order to test and validate the revised control algorithm to determine its accuracy and precision.

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Date Created
2019-05

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DEVELOPMENT OF A SOFT ROBOTIC THIRD ARM

Description

For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I contributed to the design and evaluation of two prototypes: the

For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I contributed to the design and evaluation of two prototypes: the silicon based Soft Poly Limb (SPL) and one bladder-based fabric arm, the fabric Soft Poly Limb (fSPL). For both arms I was responsible for the design of 3D printed components (molds, end caps, etc.) as well as the evaluation of the completed prototypes by comparing the actual performance of the arms to the finite element predictions. I contributed to the writing of two published papers describing the design and evaluation of the two arms. After the completion of the fSPL I attempted to create a quasi-static model of the actuators driving the fSPL.

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Date Created
2019-05

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Design, Characterization, and Evaluation of a Dynamic Soft Robotic Prosthetic Socket Interface

Description

Prosthetic sockets are a static interface for dynamic residual limbs. As the user's activity level increases, the volume of the residual limb decreases by up to 11% and increases by as much as 7% after activity. Currently, volume fluctuation is

Prosthetic sockets are a static interface for dynamic residual limbs. As the user's activity level increases, the volume of the residual limb decreases by up to 11% and increases by as much as 7% after activity. Currently, volume fluctuation is addressed by adding/removing prosthetic socks to change the profile of the residual limb. However, this is time consuming. These painful/functional issues demand a prosthetic socket with an adjustable interface that can adapt to the user's needs. This thesis presents a prototype design for a dynamic soft robotic interface which addresses this need. The actuators are adjustable depending on the user's activity level, and their structure provides targeted compression to the soft tissue which helps to limit movement of the bone relative to the socket. The engineering process was used to create this design by defining system level requirements, exploring the design space, selecting a design, and then using testing/analysis to optimize that design. The final design for the soft robotic interface meets the applicable requirements, while other requirements for the electronics/controls will be completed as future work. Testing of the prototype demonstrated promising potential for the design with further refinement. Work on this project should be continued in future research/thesis projects in order to create a viable consumer product which can improve lower limb amputee's quality of life.

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2018-05

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Atrophy Mitigation of Long-Term Exposure to Zero-Gravity with a Soft Robotic Exosuit

Description

Interplanetary space travel has seen a surge of interest in not only media but also within the academic field as well. No longer are we designing and investigating extravehicular activity (EVA) suits, scholars and researchers are also engineering the future

Interplanetary space travel has seen a surge of interest in not only media but also within the academic field as well. No longer are we designing and investigating extravehicular activity (EVA) suits, scholars and researchers are also engineering the future suit to protect humans on the surfaces of Martian planets. As we are progressing with technology capable of taking us even further distances than before imaginable, this thesis aims to produce an exosuit that will find a place between the planets and stars, by providing countermeasures to muscle and bone atrophy. This is achieved through the rapidly growing field of soft robotics and the technology within it. An analytical model governing torque production of an array of soft pneumatic actuators was created to provide resistive forces on the human joints. Thus, we can recreate and simulate a majority of the loads that would be experienced on earth, in microgravity. Where push-ups on earth require on average 30Nm of torque about the elbow joint, by donning this exosuit, the same forces can be experienced when pushing off of surfaces while navigating within the space capsule. It is ergonomic, low-cost, and most importantly lightweight. While weight is negligible in micro-G, the payloads required for transporting current exercising equipment are costly and would take up valuable cargo space that would otherwise be allocated to research related items or sustenance. Factor in the scaling of current "special space agent" missions times 20-50, and the problem is further exacerbated. Therefore, the proposed design has warranted potential for the short term need of Mars missions, and additionally satisfy the long-term goal of taking humanity to infinite and beyond.

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2018-05

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Tail Stability

Description

This paper describes the attempt of designing and building a two wheeled platform that is inherently unstable and discovering what tail design is suitable for stabilizing the platform. The platform is a 3D printed box that carries an Arduino, breadboard,

This paper describes the attempt of designing and building a two wheeled platform that is inherently unstable and discovering what tail design is suitable for stabilizing the platform. The platform is a 3D printed box that carries an Arduino, breadboard, MPU6050, a battery and a servo. This box is connected to two continuous servo motors (one on each side) that are attached to wheels, the breadboard and Arduino are mounted on the inside and the MPU6050 is mounted on the back of the base. The MPU6050 collects the data. In the program, that data will be the position of the accelerometer’s x-axis and that data will be sent to the servo motor with the tail for the controls aspect.

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2020-05

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A Supernumerary Wearable Soft Robotic Arm for Task Execution Assistance

Description

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not limited in size and location to the user's arm as with exoskeletal devices. Soft robotics differ from traditional robotics in that they are made using soft materials such as silicone elastomers rather than hard materials such as metals or plastics. This thesis presents the design, fabrication, and testing of the arm, including the joints and the actuators to move them, as well as the design and fabrication of the human-body interface to unite man and machine. This prototype utilizes two types of pneumatically-driven actuators, pneumatic artificial muscles and fiber-reinforced actuators, to actuate the elbow and shoulder joints, respectively. The robotic limb is mounted at the waist on a backpack frame to avoid interfering with the wearer's biological arm. Through testing and evaluation, this prototype device proves the feasibility of soft supernumerary limbs, and opens up opportunities for further development into the field.

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2016-05

Design of a Cable Driven Drone for Perching

Description

The researchers build a drone with a grasping mechanism to wrap around branches to perch. The design process and methodology are discussed along with the software and hardware configuration. The researchers explain the influences on the design and the possibilities for what it could inspire.

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2021-05