Robotics Engineering PowerPoint Presentations

Atwater Kent Labs, Newell Hall Room 116 11.15 a.m. RBE2001 Virtual Textbook (IQP) Christopher Conley, Gilmar Da Vitoria, Jessica Gwozdz, Olivia Hugal Advisors: Michael Gennert (CS/RBE), Craig Putnam (RBE) 11:30 a.m. Autonomous Personal Transportation (IQP) Sean Casley, Alex Quartulli, Adam Jardim Advisor: David Brown (CS) 11:45 a.m. RoboKids (IQP) Carly Buchanan, Julieth Ochoa-Canizares Advisors: Kenneth Stafford, (ME /RBE) and Colleen Shaver (RBE) 12:00 pm LUNCH MQP’s 1:00 p.m. Mobile Manipulation for the KUKA youBot Platform Timothy Jenkel, Richard Kelly, Paul Malmsten, Paul Shepanski Advisors: Sonia Chernova (CS/RBE), Charles Rich (CS) 1:15 pm I-Pass Adam Blumenau, Alec Ishak, Brett Limone, Zachary Mintz, Corey Russell, Adrian Sudol Advisor: Taskin Padir (ECE/RBE); Lifeng Lai (ECE) 1:30 pm Design and Construction of a Tree Climbing Robot Ian Campbell, Eric Cobane, Ryan Giovacchini, Thomas Murray Advisors: Michael Gennert (CS/RBE), Zhikun Hou (ME) 1:45 pm Avian Sensors for Aerospace Applications Anthony Spencer, Michael Yeroshalmi Advisors: Eduardo Torres-Jara, (CS/RBE), David Olinger (ME) 2:00 pm BREAK – Demonstrations and Poster Presentation, Atwater Kent 1st floor 2:30 pm Robosub Briefing Sidney Batchfelder, Anna Chase, Nicholas Corso, Ijeoma Ezeonyebuchi, Cory Lauer, Breanna McElroy, Daniel Miller, Elizabeth Morris, Edward Osowski, Christopher Overton, Neal Sacks, Angel Trifonov, Adam Vadala-Roth Advisors: Michael Ciaraldi (CS), Craig Putnam (RBE), Stephen Nestinger (ME/RBE), Kenneth Stafford (ME/RBE), Susan Jarvis (ECE)

2:35 pm Robosub Group I Sidney Batchfelder, Anna Chase, Nicholas Corso, Cory Lauer, Elizabeth Morris, Christopher Overton Advisors: Stephen Nestinger (ME/RBE), Kenneth Stafford (ME/RBE) 2:50 pm Robosub Group II Ijeoma Ezeonyebuchi, , Breanna McElroy, Neal Sacks, Adam Vadala-Roth Advisors: Craig Putnam (RBE), Susan Jarvis (ECE) 3:05 pm Robosub Group III Daniel Miller, Edward Osowski, Angel Trifonov Advisors: Michael Ciaraldi (CS) 3:20pm BREAK – Demonstrations and Poster Presentation, Atwater Kent 1st floor 4:00 pm Soft Robotics Exo Muscular Arm Michael Brauckmann, Elliott Calamari, Benjamin Leone, Seth Lipkind, Christopher Molica, Amanda Piscopiello, William Terry Advisors: Gregory Fischer (ME/RBE), Edward Clancy (CS), Marco Popovic (MATH) Eduardo Torres-Jara (RBE) 4:15 pm CPS: Semiautonomous Wheelchair Ross Desmond, Matthew Dickerman, James Fleming Advisors: Taskin Padir (ECE/RBE), Sonia Chernova (CS/RBE), Jerome Schaufeld (BUS) 4:30 pm Inspection and Reconnaissance Microrover for Use in Extraterrestrial Environments Andrew Cunningham, Quan Peng, Cody Shultz, Jivesh Tolani Advisors: Taskin Padir (ECE/RBE); Michael Gennert (CS/RBE); Kenneth Stafford (ME/RBE); Bradley Miller (ME) 4:45 pm GE Aviation Tube Polishing David Iglesias, Xueyang Lin, James Loy, Fernando Perez Advisors: Stephen Nestinger (ME/RBE), Craig Putnam (RBE) 5:00 pm Design of a Gesture-Recognition Robot Max Saccoccio, JB Taleb Advisors: Stephen Nestinger (ME/RBE); Yiming (Kevin) Rong (ME) 5:15 pm Autonomous Robotic Man Overboard System Frederick Hunter , Thomas Hunter Advisors: David Cyganski (CS), Kenneth Stafford (ME/RBE) 5:30 pm Robot Localization for FIRST Robotics Scott Burger, Adam Moriarty, Sam Patterson, Dan Riches Advisors: David Cyganski, James Duckworth

Soft Robotics Exo Muscular Arm

Michael Brauckmann, Elliott Calamari, Benjamin Leone, Seth Lipkind, Christopher Molica, Amanda Piscopiello, William Terry Advisors: Gregory Fischer, Edward Clancy, Marko Popovic, Eduardo Torres-Jara Abstract The goal of this project is to assist patients with impaired movement and to regain control of their arm. A robotic brace was developed to assist with movement, using signals generated from the user’s muscles to drive the arm. This brace was biologically inspired, allowing the user to complete the range of motions of a healthy individual. Different actuators and sensors were evaluated in order to design the best model for home and patient use.

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Microsoft Kinect-Based Gesture and Speech Recognition Robot Max Saccoccio and JB Taleb in collaboration with Wei Bo, Wang Li, Kang Lutan and Xie Man Advisors: Stephen Nestinger, Yiming (Kevin) Rong Abstract Using Microsoft Robotics Developer Studio and the Parallax Eddie robot platform, a mobile robot car was developed using the Microsoft Kinect as the primary computer vision sensor to identify and respond to voice and gesture commands. The project sponsor, Depush Technology of Wuhan, China has requested a commercially viable educational platform. The end user programs the robot using Microsoft Visual Programming Language to implement code written in C#.

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Mobile Manipulation for the KUKA youBot Platform Timothy Jenkel, Richard Kelly, Paul Malmsten, Paul Shepanski Advisors: Sonia Chernova, Charles Rich Abstract This project details the implementation of object manipulation and navigation capabilities for the KUKA youBot platform. Our system builds upon existing approaches taken from other robot platforms and the open source Robot Operating System, and extends these capabilities to the youBot, resulting in a system that can detect objects in its environment, navigate to them autonomously, and both pick up and place the objects with a simple user interface. This project is part of the larger Robot Autonomy and Interactive Learning Lab project to provide web-based control of the youBot to public users.

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Autonomous Man Overboard Rescue Equipment (AMORE)

Thomas Hunter, Frederick Hunter Advisors: Kenneth Stafford, David Cyganski Abstract The scope of this project aimed to address the particular niche of larger vessels at risk of man overboard situations. The project focused on creating equipment for the large vessel, the autonomous rescue craft and the personal locator device that results in autonomous rescuing of persons gone overboard. The final system incorporates GPS for general localization and an AM transmitter and receiver for close-range localization of the victim.

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Waterborne Autonomous VEhicle (WAVE)

Sidney Batchelder, Anna Chase, Ijeoma Ezeonyebuchi , Cory Lauer, Breanna McElroy, Daniel Miller, Elizabeth Morris, Edward Osowski , Christopher Overton, Neal Sacks, Angel Trifonov, Adam Vadala-Roth Advisors: Michael Ciaraldi , Susan Jarvis, Stephen Nestinger, Craig Putnam, Kenneth Stafford Abstract The Modular Underwater Robotics PlatformThis project designed and realized the Waterborne Autonomous VEhicle (WAVE), a submersible modular robotic platform to enable research on underwater technologies at WPI at minimal cost. WAVE’s primary design objectives were modularity and expandability while adhering to the regulations for the international competition held by the Association for Underwater Vehicle Systems International. WAVE’s core features include a six degree-of-freedom chassis, a modular electronic infrastructure, and an easily configurable software framework.

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Human-in-the-Loop Cyber Physical Systems: Modular Designs for Semi-Autonomous Wheelchair Navigation

Ross Desmond, Matthew Dickerman, James Fleming Advisors: Taskin Padir, Sonia Chernova, Jerome Schaufeld, Dmitry Sinyukov Abstract This project involves the design and development of a prototyping platform and open design framework for a semi-autonomous wheelchair to realize a human-in-the-loop cyber physical system (HiLCPS) as an assistive technology. The system is designed to assist physically locked-in individuals in navigating indoor environments through the use of modular sensor, communication, and control designs. This enables the user to share control with the wheelchair and allows the system to operate semi-autonomously with human-in-the-loop. The Wheelchair Add-on Modules (WAMs) developed for use in this project are platform-independent. These modules facilitate development and application of semi-autonomous functionalities. By using the WAMs, a team of three can convert similar powered wheelchairs into a semi-autonomous mobility platform in less than ninety minutes.

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Design and Construction of a Tree Climbing Robot

Ian Campbell, Eric Cobane, Ryan Giovacchini Advisors: Michael Gennert, Zhikun Hou Abstract This report describes the research, mechanical analysis, design methodology, and testing procedures that were used to design and build a tree-climbing robot. The goal of this project was to build a tree-climbing robot to satisfy the requirements established by the USDA and aid in the detection of Asian Longhorn Beetles. The following report details the threat that invasive beetle species pose to the United States, how tree climbing robots may help eliminate invasive species, a review of robots that have successfully climbed trees, and how effective they may be at locating beetles, our considerations when developing a tree climbing robot design, the preliminary robot design, the final robot design, mechanical analysis, programming structure, and the results that were achieved by the robot.

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Robot Localization for FIRST Robotics

Scott Burger, Adam Moriarty, Sam Patterson, Dan Riches Advisors: David Cyganski, James Duckworth Abstract The goal of this project is to develop a camera-based system that can determine the (x,y) coordinates of one or more robots during FIRST Robotics Competition game play and transmit this information to the robots. The intent of the system is to introduce an interesting new dynamic to the competition for both the autonomous and user guided parts of play. To accomplish this, robots are fitted with custom matrix LED beacons. Two to six cameras may then capture images of the field while a FPGA embedded system at each camera performs image processing to identify the beacons. This information is sent to a master computer which combines the six images to reconstruct robot coordinates. The effort included development of location algorithms, simulation from image composition through imaging, design of the FPGA processor and algorithms, beacon system and hardware for prototype deployment.

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Inspection and Reconnaissance Microrover for Use in Extraterrestrial Environments

Andrew Cunningham, Quan Peng, Cody Shultz, Jivesh Tolani Advisors: Taskin Padir, Michael Gennert, Kenneth Stafford, Bradley Miller Abstract The goal of this project is to design and implement a micro-rover capable of supporting a primary rover to complete mission specific tasks and objectives. This rover is designed with the intent of interfacing with many different robotic systems due to the ease of integration with Robot Operating System (ROS) and its small size. The project demonstrates the possibilities for smaller and lighter robotic rovers by exhibiting a small tele-operated, two-wheel, self-righting micro-rover under 2.5kg with semiautonomous features and a HD video stream for use in space applications. The micro-rover project proves the capabilities of creating a small inexpensive secondary rover to play a key supportive role, allowing the primary rover to complete mission objectives faster and more efficiently.

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GE Aviation Tube Polishing

David Iglesias, Xueyang Lin, James Loy, Fernando Perez Advisors: Stephen Nestinger, Craig Putnam Abstract The goal of this project is to automate the process of polishing brazed or welded areas on a tube assembly supplied by GE Aviation. An end-of-arm-tooling for a Fanuc 200iB was designed and fabricated to manipulate the tube. A work cell layout was determined and part fixtures were developed. A force controlled grinding system was implemented and interfaced with the Fanuc 200iB. Analytical and experimental analyses were conducted to determine the necessary polishing forces. Design considerations were made for future enhancements to the automated tube polishing system.

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Design and Implementation of an Intelligent Portable Aerial Surveillance System (IPASS)

Adam Blumenau, Alec Ishak, Brett Limone, Zachary Mintz, Corey Russell, Adrian Sudol Advisors: Taşkin Padir, Lifeng Lai, Richard van Hook (AFRL), RJ Linton Abstract This presents the design and implementation of a light-weight, inexpensive, and one-man operable UAV for short range surveillance. The UAV design weighs less than five pounds, fits inside a cubic foot of volume when unassembled, distinguishes a human at a one-hundred foot range, displays image data at a rate of at least one image every five seconds, and is radio controlled. The system is comprised of an integrated propulsion system, an electronics box housing three cameras and two microcontrollers, and a ground station incorporating a graphical user interface for the human-in-the-loop. The design and preliminary results demonstrate a prototype system for the advancement of man-portable aerial surveillance systems. We present our work-in-progress and preliminary results on systems integration, communications and image stitching using the on-board cameras.

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Avian Sensors for Aerospace Applications

Anthony Spencer, Michael Yeroshalmi Advisors: Professor Eduardo Torres-Jara, Professor David Olinger Abstract The goal of this project is to develop and test a new sensor, for robotic aircraft, that has the ability to sense airflow conditions, similar to that of a bird. This project focuses on the concept of having numerous sensors to detect the environment instead of a single sensor such as a pitot tube, which is often used on standard aircraft. By using their feathers, birds have the ability to sense the airflow over their entire wing. This is why they are capable of more stable, yet complex flight patterns. The feathers are mounted on a AH 93-W-300 airfoil, while strain gauges are used to measure the vibration of the feathers. The feathers are designed so that they can vibrate at a frequency near the vortex shedding frequency that is caused by the wake flow of the airfoil. This biologically inspired sensor is designed, constructed, and tested to be utilized on a robotic aircraft platform.

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Robotics Engineering Worcester Polytechnic Institute

100 Institute Road Worcester, MA 01609 http://robotics.wpi.edu

rbe@wpi.edu 508-831-6665