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Bettaieb, Luc AlexandreA Deep Learning Approach To Coarse Robot Localization
Master of Sciences (Engineering), Case Western Reserve University, 2017, EECS - Electrical Engineering
This thesis explores the use of deep learning for robot localization with applications in re-localizing a mislocalized robot. Seed values for a localization algorithm are assigned based on the interpretation of images. A deep neural network was trained on images acquired in and associated with named regions. In application, the neural net was used to recognize a region based on camera input. By recognizing regions from the camera, the robot can be localized grossly, and subsequently refined with existing techniques. Explorations into different deep neural network topologies and solver types are discussed. A process for gathering training data, training the classifier, and deployment through a robot operating system (ROS) package is provided.

Committee:

Wyatt Newman (Advisor); Murat Cavusoglu (Committee Member); Gregory Lee (Committee Member)

Subjects:

Computer Science; Electrical Engineering; Robotics

Keywords:

robotics; localization; deep learning; neural networks; machine learning; state estimation; robots; robot; robot operating system; ROS; AMCL; monte carlo localization; particle filter; ConvNets; convolutional neural networks

Starkman, JamesThe Robot Operating System in Transition: Experiments and Tutorials
Master of Sciences (Engineering), Case Western Reserve University, 2018, EECS - System and Control Engineering
ROS, the Robot Operating System, was first made available in 2007. Since then, usage has grown considerably, along with the number of potential applications and use cases. Unfortunately, design decisions made when ROS was in its infancy still apply today and have begun to show their age. These decisions include: only being supported on the Ubuntu Linux distribution, assuming the use of powerful workstations, adhering to older versions of libraries and programming languages, and the lack of encrypted communications. Rather than addressing the limitations of ROS within the confines of the existing development framework, the Open Source Robotics Foundation decided in 2014 to develop an entirely new project, ROS2, which is backwards-incompatible with ROS1. This new project aims to address all of the above limitations and more. This thesis explores the trade-offs between ROS1 and ROS2.

Committee:

Wyatt Newman (Committee Chair); Cenk Cavusoglu (Committee Member); Greg Lee (Committee Member)

Subjects:

Computer Science; Robotics; Robots

Keywords:

ROS; robot operating system; port; migrate

Shakeel, AmlaanService robot for the visually impaired: Providing navigational assistance using Deep Learning
Master of Science, Miami University, 2017, Computational Science and Engineering
Assistive technology helps improve the day to day activities for people with disabilities. One of the methods utilized by assistive technologists employs the use of robots. These are called service robots. This thesis explores the idea of a service robot for the visually impaired to assist with navigation and is inspired by the use of guide dogs. The focus of this thesis is to develop a robot to achieve autonomous indoor navigation using computer vision to identify image based goals in an unfamiliar environment. The method presented in this thesis utilizes a deep learning framework, called Faster R-CNN, to train a computer to classify and localize exit signs in real time. A proof of concept is presented using NVIDIA Jetson, and TurtleBot, a robot kit, which runs a robot software development framework Robot Operating System (ROS). The model is trained successfully using Faster R-CNN and is validated. The model is used for real-time object classification on the prototype robot.

Committee:

Yamuna Rajasekhar (Advisor); John Femiani (Committee Member); Donald Ucci (Committee Member)

Subjects:

Computer Science; Electrical Engineering; Robotics

Keywords:

Assistive technology; Deep learning; Robotics; Indoor navigation; Computer vision; Robot Operating System; ROS; Caffe; Faster R-CNN; Convolutional Neural Networks; CNN; Microsoft Kinect; Service robots; visually impaired; mobility; depth perception