Master of Science (MS), Ohio University, 2006, Mechanical Engineering (Engineering)

Traditional automated machining and material deposition systems are not easily scalable and can be expensive. This thesis presents a less expensive, scalable alternative – a seven degree-of-freedom (DOF) cable-suspended robot (CSR) for use in 3D sculpting, with further applications in automated machining, rapid prototyping, and construction. Two important novelties are a passive pose metrology system independent of the active drive system, and a simple yet non-traditional method of cable tensioning utilizing a spring mounted inline on the seventh active cable. This thesis presented the final design, construction, and controller implementation using a classical joint-level PID real-time control architecture, and the novel implementation of a 3D digitizer, called MicroScribe, as a master input device. The control system was applied to a full-scale robot at NIST where a scaled 3D duplication was performed using a MicroScribe to trace a maquette while the CSR cut an enlarged duplicate out of polystyrene in real-time.

Committee: Robert Williams (Advisor) Subjects:

Master of Science, The Ohio State University, 2005, Graduate School

Committee: Not Provided (Other) Subjects:

Master of Science, The Ohio State University, 2008, Graduate School

Committee: Not Provided (Other) Subjects:

Master of Science, University of Toledo, 2020, Mechanical Engineering

This work supports a research program that seeks to radically improve the monitoring and physical collection of harmful algal blooms. The proposed system will outperform current manual, aerial, and satellite observations in both spatial and temporal resolution, via the coordination of unmanned aerial vehicles and unmanned surface vehicles in a collaborative heterogeneous robotic swarm system. In this thesis research, a low-cost highly scalable prototype for autonomously monitoring and mitigating the algal blooms is being developed and tested experimentally. New contributions include development and programming of a scalable low-cost agent-to-agent wireless communication platform. The unmanned surface vehicles are studied with different autonomous navigation patterns for target detection, to improve the overall process efficiency. Initial field experiments are performed with the autonomous boat platforms to establish ground truths on the hardware level.

Committee: Brian Trease (Committee Chair); Adam Schroeder (Committee Member); Ala Qattawi (Committee Member) Subjects: Computer Engineering; Electrical Engineering; Engineering; Environmental Engineering; Environmental Science; Environmental Studies; Experiments; Mechanical Engineering; Ocean Engineering; Robotics; Robots

MS, Kent State University, 2016, College of Arts and Sciences / Department of Computer Science

Given a set of n >= 1 autonomous, anonymous, history-oblivious, silent, and possibly disoriented mobile robots operating following Look-Compute-Move cycles in the Euclidean plane, we consider the fundamental problem of providing mutual visibility for them, i.e., the robots must reposition themselves to reach a configuration in finite time without collisions where they all see each other. This problem arises under obstructed visibility where a robot can not see another robot if there lies a third robot on the line segment connecting their positions. This problem is important since it provides a basis to solve many other problems under obstructed visibility, and it has applications in many scenarios including coverage, intruder detection, etc. The literature on this problem assumed that the robots are dimensionless points, i.e., they occupy no space. However, this assumption can be easily refuted. For example, in reality, robots are not dimensionless, but they have a physical extent. Therefore, in this thesis, we initiate the study of the mutual visibility problem for the robots with extents. We address this problem in the recently proposed robots with lights model, where each robot is equipped with an externally visible persistent light that can assume colors from a fixed set of colors. This model corresponds to the classical oblivious robots model when the number of colors in the set is 1. In particular, we first develop a deterministic algorithm that provides mutual visibility for robots with extents of unit disc size avoiding collisions using only 4 colors in the color set. Note that this algorithm works for fat robots under the fully synchronous and semi-synchronous settings. We then present a faster algorithm that solves this problem in O(n) rounds in the fully synchronous setting.

Committee: Gokarna Sharma (Advisor); Feodor Dragan (Committee Member); Hassan Peyravi (Committee Member) Subjects: Computer Science

Master of Science (MS), Ohio University, 2003, Mechanical Engineering (Engineering)

The planar cable-direct-driven-robot was designed, constructed, simulated and controlled in this thesis. A new design of cross cable configuration was implemented. The kinematics, statics and dynamics modeling of the proposed design were derived. The static workspace was determined for the new design. Only the translational CDDR whose end-effector may be fitted with a traditional serial wrist mechanism to provide rotational freedom was considered in this thesis. The robot was simulated using Simulink and Matlab software. The hardware of the cable-direct-driven-robot was designed and constructed. The hardware was interfaced with the computer. Wincon software and Quanser control boards were used for real time implementation. The inverse kinematics of the robot was implemented for generating linear and circular trajectory in real time control. The independent cable length PD controller was implemented for the Cartesian coordinated control. The repeatability of the CDDR was evaluated.

Committee: Robert II Williams (Advisor) Subjects:

Master of Science, The Ohio State University, 2006, Graduate School

Committee: Not Provided (Other) Subjects:

Master of Science, The Ohio State University, 2007, Graduate School

Committee: Not Provided (Other) Subjects:

Master of Science, The Ohio State University, 2006, Graduate School

Committee: Not Provided (Other) Subjects:

Master of Engineering, Case Western Reserve University, 2024, EMC - Mechanical Engineering

Robots that are heavy enough to lift objects in coastal environments often have problems sinking into the terrain. My proposed solution is 3D printing fabric attachments onto the feet of a crab-like robot. The fabric is embedded between the layers of the 3D print. Similar techniques have been described in artistic and hobbyist applications, however they have not been documented in load-bearing robotics parts, to my knowledge. The resulting attachments improved the walking speed of the robot in sand deeper than the dactyl depth by limiting the penetration of the dactyls into the sand. Specifically, by limiting dactyl penetration to 5.6cm, the robot's forward and sideways gaits are four to nine times faster. These results begin to show the utility of fabric basket dactyls, and future work can highlight the utility of similar passive ankles for climbing slopes.

Committee: Kathryn Daltorio (Committee Chair); Roger Quinn (Committee Member); Richard Bachmann (Committee Member) Subjects: Engineering; Mechanical Engineering; Textile Research

Doctor of Philosophy, Case Western Reserve University, 2021, EECS - Electrical Engineering

For the last decade, robotic catheters have emerged as a promising technology for catheter ablation. The development of magnetic resonance image (MRI) guided robotic catheters is complicated by the need to track the position and orientation of these instruments within the MRI scanner, accurate localization of the desired target on cardiac surface, and precise control of the catheter. In order to accurately navigate the catheter to the desired location on the heart via MR images, it is necessary to register the robot space to the MR scanner's image space as well as track the catheter position and the cardiac surface motion from the MR images, while precisely controlling the catheter. This thesis details novel approaches to address the challenges in these topics. The first contribution of this work is to describe a framework to register robotic catheter to the MRI scanner, while taking into account the scanner related geometric distortions in the MR images. The geometric distortion is identified via a grid-based, custom-built 3D phantom, where morphological operations are applied to localize the control points in the phantom images, which in turn are used to determine the distortion map. The underlying distortion is modeled and corrected by employing thin plate splines. The catheter to scanner registration is performed via a differential, multi-slice image-based registration approach utilizing active fiducial coils. In the proposed scheme, the registration is performed with the help of a registration frame, which has a set of embedded electromagnetic coils designed to actively create MR image artifacts. These coils are detected in the MRI scanner's coordinate system by background subtraction. The detected coil locations in each slice are weighted by the artifact size and registered to known ground truth coil locations in the catheter's coordinate system via least-squares fitting. The proposed approach is validated by using a set of target coils placed within the wo (open full item for complete abstract)

Committee: Murat Cenk Cavusoglu PhD (Advisor); Murat Cenk Cavusoglu PhD (Committee Chair); Wyatt Newman PhD (Committee Member); Frank Merat PhD (Committee Member); Mark Griswold PhD (Committee Member); Nicole Seiberlich PhD (Committee Member) Subjects: Electrical Engineering; Engineering; Medical Imaging; Robotics; Surgery

Doctor of Philosophy, Case Western Reserve University, 2020, EMC - Mechanical Engineering

Earthworms locomote using traveling waves of segment contraction and expansion, which when symmetric, result in straight-line locomotion and when biased result in turning. The mechanics of the soft body permit a large range of possible body shapes which both comply with the environment and contribute to directed locomotion. Inspired by earthworms, a new platform: Compliant Modular Mesh Worm robot (CMMWorm) is presented to study this type of locomotion. Using this platform as the basis for evaluation, I show that locomotion efficiency is sensitive to body stiffness. Furthermore, using simplified beam theory, I demonstrate the power required for peristaltic locomotion is related to the geometrical properties, structural properties and gait pattern of the robot. The analyses of peristaltic locomotion demonstrate energetic losses to frictional slip is the key reason for loss of power efficiency. By representing segments as isosceles trapezoids with reasonable ranges of motion, I determine control waves that in simulation do not require slip. I apply the resulting control wave on our robotic platform that leads to a decrease in prediction error, improving kinematic motion prediction for planning. To mimic the ability of an earthworm to adapt to external perturbations, I equipped the CMMWorm with pressure and stretch sensors for improving locomotion efficiency in constrained environments. I show that using a closed-loop controller helps eliminate slip in constrained environments thereby increasing locomotion efficiency. These analyses can help in the development of design criteria and control for future soft robotic peristaltic devices.

Committee: Roger Quinn (Advisor); Kathryn Daltorio (Advisor); Hillel Chiel (Advisor); Robert Gao (Committee Member) Subjects: Biology; Biomechanics; Mechanical Engineering; Robotics; Robots

Master of Arts (M.A.), Xavier University, 2019, Psychology

Robots are becoming social actors in organizational systems. For robots to integrate into an organization's team, their human coworkers must first be able to accept their presence. Research has supported that those who self-reported higher levels of anxiety and negative attitudes toward robots were more hesitant to interact with a robot when given the opportunity. Despite this, limited research has addressed variables that could be related to increased levels of anxiety and negative attitudes toward robots, especially in the workplace. A sample of 132 online participants completed a battery measuring technology exposure, technological unemployment, extraversion, neuroticism, employee industry, and employment status. Results indicated that the average length of exposure to technology was predictive of negative attitudes and anxiety toward robots. Further, neuroticism and thoughts of technological unemployment were predictive of higher levels of negative attitudes and anxiety, and there was not a difference in negative attitude or anxiety toward robots across industries. Lastly, hourly employees' average anxiety toward robots was significantly higher than their salaried counterparts. Implications for both researchers and practitioners, as well as future research directions, are discussed.

Committee: Morrie Mullins (Advisor); Dalia Diab (Committee Member); Mark Nagy (Committee Member) Subjects: Occupational Psychology; Psychology; Robotics; Robots; Technology

Master of Science in Electrical Engineering (MSEE), Wright State University, 2017, Electrical Engineering

For purposes of travelling on all-terrains surfaces that are both uneven and discontinuous, legged robots have upper-hand over wheeled and tracked vehicles. The robot used in this thesis is a simulated hexapod with 3 degrees of freedom per leg. The main aim is to reduce the energy consumption of the system during walking by attaching a passive linear spring to each leg which will aid the motors and reduce the torque required while walking. Firstly, the ideal stiffness and location or the coordinates for mounting the spring is found out using gradient based algorithm called `Simultaneous Perturbation and Stochastic Approximation Algorithm' (SPSA) on a flat terrain using data from a single walking step. Motor load is approximated by computing the torque impulse, which is the summation of the absolute value of the torque output for each joint during walking. Once the ideal spring and mount is found, the motor loading of the robot with the spring attached is observed and compared on three different terrains with the original loading without the spring. The analysis is made on a single middle leg of the robot, which is known to support the highest load when the alternating tripod gait is used. The obtained spring and mounting locations are applied to other legs to compute the overall energy savings of the system. Through this work, the torque impulse was decreased by 14 % on uneven terrain.

Committee: Luther Palmer, III. Ph.D. (Advisor); Zach Fuchs Ph.D. (Committee Member); Xiaodong Zhang Ph.D. (Committee Member) Subjects: Electrical Engineering; Robotics

Master of Science (MS), Ohio University, 2016, Mechanical Engineering (Engineering and Technology)

The need for additional research tools that allow for more extensive analysis exists in the field of Cable Suspended Robots (CSR) research. This system addresses that need by providing a hardware model as a type synthesis system that can be used to determine the possible designs, given a vast range of design specifications. This two part system was configured to be adaptable, transferable, and modular, allowing a workspace and trajectory validation and singularity analysis to be completed on an easy to use hand operated Subsystem #1. Offering visual and haptic feedback and potential control validation on Subsystem #2, which allows for a desired trajectory to be automated with easy to use microcontrollers and software program. The system was validated using two real-world CSR models, proving it can adequately represent a CSR. A prototype configuration was deployed onto the system, validation and trajectory results were positive; leading to the conclusion that this system is useful for type synthesis and prototyping of CSR configurations.

Committee: Robert Williams II Ph.D. (Advisor) Subjects: Engineering; Robotics

Doctor of Philosophy, Case Western Reserve University, 2016, EMC - Mechanical Engineering

This work seeks to advance understanding of how to construct and control tensegrity spines: highly compliant robots with many degrees of freedom inspired by biological spines. Tensegrity describes systems of rigid bodies stabilized by cables, where on a simulated twelve segment robot up to 72 degrees of freedom require constraints or control. To coordinate the high number of actuators, central pattern generator (CPG) based controllers provide goal directed, adaptive trajectories for movement on rough terrain. As a result, this work details, to the author's knowledge, the first CPG based robotic control capable of goal directed locomotion on rough terrain. This control scheme is implemented on four different tensegrity spine designs. Prior to this work, tensegrity spines were passive, hand constructed models; the open source NASA Tensegrity Robotics Toolkit (NTRT) was created to develop robots inspired by these and other tensegrity models using physics based simulation. This work also discusses the development and implementation within NTRT of a cable model with contact dynamics and realistic forces. Finally, the simulations are validated against the forces measured in the hardware implementation of a three segment tensegrity spine robot.

Committee: Roger Quinn (Advisor); Kiju Lee (Committee Member); Joeseph Prahl (Committee Member); M. Cenk Çavusoglu (Committee Member) Subjects: Mechanical Engineering; Robotics; Robots

Master of Science (MS), Ohio University, 2003, Mechanical Engineering (Engineering)

This thesis presents a brief overview of mobile robots and omni-directional motion. The design process of the Ohio University RoboCup robots is also explained in detail, along with recommended design changes for future robots. The forward and inverse kinematic equations are derived along with the dynamic equations of motion. These equations were then used to perform computer simulations and hardware experiments to evaluate and improve on the current performance of the robot. Hardware experiments were also done using a vision-based system. These results were then compared to the results of the hardware simulations completed with a tethered robot. Experiments were also run to show the effects of slippage as the speed of the robot is increased. The results show that the dynamic model used in Simulink properly represents the actual robot. They also show that some type of higher order path planning is needed in order for the robot to make smooth movements. In comparing the hardware experiments, the tethered robot shows a definite improvement in the speed and accuracy of the robot while completing predetermined patterns.

Committee: Robert Williams, II. (Advisor) Subjects: Engineering, Mechanical

Master of Science (MS), Ohio University, 2001, Mechanical Engineering (Engineering)

In this Thesis, a brief overview of mobile robots and omni-directional robots is presented, as well as a detailed history of the RoboCup competition. The player robot design process undertaken by the Ohio University Mechanical Engineering department led by the author) is discussed in detail, and the inverse kinematic equations and dynamic equations of motion are derived. These dynamic equations were then used to create two Simulink simulations, the simple and complex dynamic models. A third simulation was created to compensate for the slipping disturbances in the wheel motivated by initial experimental work. The most accurate of the simulations (the third, dubbed the Slip Simulation) was then compared with the experimental data.

Committee: Robert Williams, II (Advisor) Subjects: Engineering, Mechanical

Master of Sciences, Case Western Reserve University, 2024, EECS - Computer and Information Sciences

The process of handcrafting robotic spray-painting instructions is arduous, time-consuming, and inefficient. Nonetheless, these painting instructions are required to paint non-uniform vector graphics as road markings on the roadway. Therefore, an automated path planning process is desirable and necessary to translate arbitrary vector graphics into executable spray-painting instructions which meet the specific requirements of road painting robotic systems. Unfortunately, robotic spray-painting and associated path planning processes are not trivial; having many complexities and constraints. This paper presents an introduction to the problem, related research, an automated path planning technique, and an associated web application for visualizing, editing, post-processing, and exporting the automatically generated painting instructions.

Committee: Wyatt Newman (Advisor); Soumya Ray (Committee Member); Michael Lewicki (Committee Member) Subjects: Computer Science; Robotics

Master of Science, The Ohio State University, 1982, Graduate School

Committee: Not Provided (Other) Subjects: