Search results

Title: IIT Robotics Initiative (Semester 1 of Unknown), IPRO 316: IIT Robotics Initiative IPRO 316 Project Plan Sp04
Creator: Patel, Shirali, Burica, Nicholas, Demarco, Eugenia, Hovde, Jonathan, Jones, Christopher, Krol, Daniel, Monis, Gabriela, Oyuela, Henry, Stachowitz, Paul
Date: 2004-10, 2004-05
Description: IPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of...
Show moreIPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of the IPRO is to explore and develop robotics while gaining an understanding of robotic systems and functionality and exposing the IIT community to the extensive capabilities of such robots and the necessity of understanding them.
Deliverables
Show less

Title: IIT Robotics Initiative (Semester 1 of Unknown), IPRO 316: IIT Robotics Initiative IPRO 316 Abstract Sp04
Creator: Patel, Shirali, Burica, Nicholas, Demarco, Eugenia, Hovde, Jonathan, Jones, Christopher, Krol, Daniel, Monis, Gabriela, Oyuela, Henry, Stachowitz, Paul
Date: 2004-10, 2004-05
Description: IPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of...
Show moreIPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of the IPRO is to explore and develop robotics while gaining an understanding of robotic systems and functionality and exposing the IIT community to the extensive capabilities of such robots and the necessity of understanding them.
Deliverables
Show less

Title: IIT Robotics Initiative (Semester 1 of Unknown), IPRO 316: IIT Robotics Initiative IPRO 316 Final Report Sp04
Creator: Patel, Shirali, Burica, Nicholas, Demarco, Eugenia, Hovde, Jonathan, Jones, Christopher, Krol, Daniel, Monis, Gabriela, Oyuela, Henry, Stachowitz, Paul
Date: 2004-10, 2004-05
Description: IPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of...
Show moreIPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of the IPRO is to explore and develop robotics while gaining an understanding of robotic systems and functionality and exposing the IIT community to the extensive capabilities of such robots and the necessity of understanding them.
Deliverables
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 IPRO Day Presentation F04
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Project Plan F04
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: Advancing Robotics Experience (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Poster 1 Sp05
Creator: Adu-gyamfi, Kwaku, Becerril, Edgar, Daniels, Ryan, Ornder, Brian, Meyer, Robert, Lee, Shawn, Oh, Taekim, Kim, Kwandong, Shin, Bong Gun, Yanamadula, Megha
Date: 2005-05, 2005-05
Description: The introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative...
Show moreThe introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative concepts of robotics. Through an impressive and beneficial advancement, the program has successfully carried on to the spring 2005 semester. The goals of the program remain simply a quest to advance the art of robotics in the IIT community. The stage has been aptly set by previous IPROS for higher and more substantial progression on this cause. The goals of the IPRO Spring 2005 team will be to create four prototypes of not merely user friendly robots but a sophisticated utilitarian bunch that would gain enough attention in support of the ultimate cause of the introduction of a robotics course. The Peppy, Roomba, Darpa and the Pyro are the four prototypes set for construction this semester.
Deliverables for IPRO 316: Advancing Robotics Experience for the Spring 2005 semester
Show less

Title: Advancing Robotics Experience (semester?), IPRO 316
Creator: Adu-gyamfi, Kwaku, Becerril, Edgar, Daniels, Ryan, Ornder, Brian, Meyer, Robert, Lee, Shawn, Oh, Taekim, Kim, Kwandong, Shin, Bong Gun, Yanamadula, Megha
Date: 2005-05, 2005-05
Description: The introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative...
Show moreThe introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative concepts of robotics. Through an impressive and beneficial advancement, the program has successfully carried on to the spring 2005 semester. The goals of the program remain simply a quest to advance the art of robotics in the IIT community. The stage has been aptly set by previous IPROS for higher and more substantial progression on this cause. The goals of the IPRO Spring 2005 team will be to create four prototypes of not merely user friendly robots but a sophisticated utilitarian bunch that would gain enough attention in support of the ultimate cause of the introduction of a robotics course. The Peppy, Roomba, Darpa and the Pyro are the four prototypes set for construction this semester.
Deliverables for IPRO 316: Advancing Robotics Experience for the Spring 2005 semester
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: IIT Robotics Initiative (Semester 1 of Unknown), IPRO 316
Creator: Patel, Shirali, Burica, Nicholas, Demarco, Eugenia, Hovde, Jonathan, Jones, Christopher, Krol, Daniel, Monis, Gabriela, Oyuela, Henry, Stachowitz, Paul
Date: 2004-10, 2004-05
Description: IPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of...
Show moreIPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of the IPRO is to explore and develop robotics while gaining an understanding of robotic systems and functionality and exposing the IIT community to the extensive capabilities of such robots and the necessity of understanding them.
Deliverables
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Final Report F04
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: Advancing Robotics Experience (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Final Report Sp05
Creator: Adu-gyamfi, Kwaku, Becerril, Edgar, Daniels, Ryan, Ornder, Brian, Meyer, Robert, Lee, Shawn, Oh, Taekim, Kim, Kwandong, Shin, Bong Gun, Yanamadula, Megha
Date: 2005-05, 2005-05
Description: The introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative...
Show moreThe introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative concepts of robotics. Through an impressive and beneficial advancement, the program has successfully carried on to the spring 2005 semester. The goals of the program remain simply a quest to advance the art of robotics in the IIT community. The stage has been aptly set by previous IPROS for higher and more substantial progression on this cause. The goals of the IPRO Spring 2005 team will be to create four prototypes of not merely user friendly robots but a sophisticated utilitarian bunch that would gain enough attention in support of the ultimate cause of the introduction of a robotics course. The Peppy, Roomba, Darpa and the Pyro are the four prototypes set for construction this semester.
Deliverables for IPRO 316: Advancing Robotics Experience for the Spring 2005 semester
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Poster F04
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: IIT Robotics Initiative (Semester 1 of Unknown), IPRO 316: IIT Robotics Initiative IPRO 316 IPRO Day Presentation Sp04
Creator: Patel, Shirali, Burica, Nicholas, Demarco, Eugenia, Hovde, Jonathan, Jones, Christopher, Krol, Daniel, Monis, Gabriela, Oyuela, Henry, Stachowitz, Paul
Date: 2004-10, 2004-05
Description: IPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of...
Show moreIPRO 316 is in the business of innovation. Divided into multiple subgroups, each working on a unique, robotics oriented endeavor, the goal of the IPRO is to explore and develop robotics while gaining an understanding of robotic systems and functionality and exposing the IIT community to the extensive capabilities of such robots and the necessity of understanding them.
Deliverables
Show less

Title: Robotics Initiative at IIT (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Abstract F04
Creator: Sopko, Tyge, Collins, Jesse, Dass, Saurabh, Schwalbach, Eddie, Yang, Eddie, Payonk, Dennis, Todd, Robert, Bieberich, Amanda
Date: 2004-12, 2004-12
Description: This IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of...
Show moreThis IPRO is dedicated to continuing the robotics initiative at Illinois Institute of Technology. There are so many ways that this group of people can accomplish that task. The importance of this overall goal is significant due to the growing use of robotics in the commercial world today.
Deliverables for IPRO 316: Robotics Initiative at IIT for the Fall 2004 semester
Show less

Title: Low-Cost Robotic Controller (Fall 2003) IPRO 358: Low-Cost Robotic Controller IPRO358 Fall2003
Date: 2003, 2003-12
Description: The goal of this interprofessional project will be to develop a test-bed system for a new device targeted at ECE 100 Introduction to...
Show moreThe goal of this interprofessional project will be to develop a test-bed system for a new device targeted at ECE 100 Introduction to Engineering. It may also be useful for an upper-level course in Hardware/Software Design for Embedded Systems. This course is being developed in response to feedback from the Accreditation Board for Engineering and Technology (ABET) that students need a major meaningful design experience involving integrated hardware/software design. An important aspect of this design experience will be the use of open-ended design problems that integrate a micro-controller with some larger system. Ideally, the students in this course would design and build a complete hardware/software system. However, this is unfeasible due to the time constraints of the semester and the cost constraints of providing the necessary parts. Instead, we propose to give students in the class a number of test-bed systems that represent an "almost complete" hardware system that requires additional software and hardware design activities in order to fully complete a system.
Sponsorship: IIT Collaboratory for Interprofessional Studies and the Ed Kaplan Entrepreneurial Studies Program
Project Plan for IPRO 358: Low-Cost Robotic Controller for the Fall 2003 semester
Show less

Title: Advancing Robotics Experience (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Abstract Sp05
Creator: Adu-gyamfi, Kwaku, Becerril, Edgar, Daniels, Ryan, Ornder, Brian, Meyer, Robert, Lee, Shawn, Oh, Taekim, Kim, Kwandong, Shin, Bong Gun, Yanamadula, Megha
Date: 2005-05, 2005-05
Description: The introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative...
Show moreThe introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative concepts of robotics. Through an impressive and beneficial advancement, the program has successfully carried on to the spring 2005 semester. The goals of the program remain simply a quest to advance the art of robotics in the IIT community. The stage has been aptly set by previous IPROS for higher and more substantial progression on this cause. The goals of the IPRO Spring 2005 team will be to create four prototypes of not merely user friendly robots but a sophisticated utilitarian bunch that would gain enough attention in support of the ultimate cause of the introduction of a robotics course. The Peppy, Roomba, Darpa and the Pyro are the four prototypes set for construction this semester.
Deliverables for IPRO 316: Advancing Robotics Experience for the Spring 2005 semester
Show less

Title: Advancing Robotics Experience (semester?), IPRO 316: IIT Robotics Initiative IPRO 316 Poster 2 Sp05
Creator: Adu-gyamfi, Kwaku, Becerril, Edgar, Daniels, Ryan, Ornder, Brian, Meyer, Robert, Lee, Shawn, Oh, Taekim, Kim, Kwandong, Shin, Bong Gun, Yanamadula, Megha
Date: 2005-05, 2005-05
Description: The introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative...
Show moreThe introduction of the robotics IPRO program in its few years has already served the IIT community some rather practical and innovative concepts of robotics. Through an impressive and beneficial advancement, the program has successfully carried on to the spring 2005 semester. The goals of the program remain simply a quest to advance the art of robotics in the IIT community. The stage has been aptly set by previous IPROS for higher and more substantial progression on this cause. The goals of the IPRO Spring 2005 team will be to create four prototypes of not merely user friendly robots but a sophisticated utilitarian bunch that would gain enough attention in support of the ultimate cause of the introduction of a robotics course. The Peppy, Roomba, Darpa and the Pyro are the four prototypes set for construction this semester.
Deliverables for IPRO 316: Advancing Robotics Experience for the Spring 2005 semester
Show less

Title: EVALUATING INTEGRITY FOR MOBILE ROBOT LOCALIZATION SAFETY
Creator: Duenas Arana, Guillermo
Date: 2019
Description: Precise localization is paramount for autonomous navigation. Localization errors are not only dangerous by themselves, but can also mislead...
Show morePrecise localization is paramount for autonomous navigation. Localization errors are not only dangerous by themselves, but can also mislead other dependent systems into moving to a hazardous location. Unfortunately, the problem of quantifying robot localization safety is only sparsely addressed in the robotics literature, and most robotics algorithms still quantify pose estimation performance using a covariance matrix or particle spread, which only accounts for nominal sensor errors. This is insufficient for life- and mission-critical applications, such as autonomous vehicles and other co-robots, where ignoring sensor or sensor or processing faults can lead to catastrophic localization errors. Thus, other methods must be employed to ensure safety.In response, this research leverages prior work in aviation integrity monitoring to tackle the more challenging case of evaluating localization safety in mobile robots. In contrast to aviation applications, that heavily rely on the Global Navigation Satellite System (GNSS) for localization, robots often operate in complex, GNSS-denied environments that require a more sophisticated sensor suite to ensure localization safety. Localization integrity risk is the probability that a robot's pose estimate lies outside pre-defined acceptable limits while no alarm is triggered. In this work, the integrity risk is rigorously upper bounded by accounting for both nominal noise and other non-nominal sensor faults, resulting in a safe upper bound on the localization integrity risk.The main contribution of this dissertation is the design and evaluation of a sequential integrity monitoring methodology applicable to mobile robot localization algorithms that use feature extraction and data association. First, faults introduced during the feature extraction and data association processes are distinguished, and the probability of the latter is rigorously upper bounded using analytical methods. The impact of faults in the estimate error's and fault detector's distributions is then determined to quantify integrity risk, which is evaluated under the worst-possible fault combination. To determine the impact of previous faults without a boundlessly growing number of fault hypotheses, this dissertation presents a novel method that uses a preceding time window to build a limited set of hypotheses and a prior estimate bias to account for faults occurring before the start of the time window. The proposed methodology is applicable to Kalman Filter and fixed-lag smoothing localization. Simulated and experimental results are presented to validate the methodology.
Show less

Title: Modeling and Control Methods for Boundary Constrained Soft Robots
Creator: Zhou, Qiyuan
Date: 2021
Description: Soft and deformable robots have been an active field of research in the past few years. However, they are limited in that they cannot apply...
Show moreSoft and deformable robots have been an active field of research in the past few years. However, they are limited in that they cannot apply much force to an environment due to the limitations of the flexible materials from which they are made of. To help overcome this limitation, a new architecture named the Jamming and Morphing Enabled Bot Array (JAMoEBA) system was conceived. This system consists of a flexible outer membrane which encloses an interior composed of a granular medium. Active sub-units along the flexible outer membrane allow for actuation and locomotion of the system. The granular material coupled with the flexible outer membrane allows the robot to maintain the characteristics typically associated with soft robots (continuum, compliant, configurable). At the same time, the granular material is also able to undergo a solid phase transition with the application of pressure to the flexible outer membrane and allow the system to behave more like a rigid robot if needed. This allows for the robot system to exploit the desirable characteristics of both soft and rigid robots in its tasks.The purpose of this thesis is to offer a discussion and demonstration of various simulation methods for the physically accurate modeling of the JAMoEBA constrained boundary robotic system and to show some of the control methods which have been investigated within the selected modeling framework. Simulation methods based on Lennard-Jones (L-J) potentials, non-smooth contact dynamics (NSCD), as well as the discrete element methods based on complementarity (DEM-C) and penalty (DEM-P) conditions as implemented in the open source physics library Project Chrono are considered. Comparisons are made in the areas of physical accuracy, computational efficiency, and feature availability in the consideration of the best simulation method for the JAMoEBA system. Investigations of control strategies such as leader-follower and heuristics based approaches are carried out using the selected simulation method. Finally, a framework for self contained localization which relies on measurements from onboard sensors and linear Kalman filtering is tested within the simulation framework, and the effectiveness of approximating the shape of the JAMoEBA system using elliptical Fourier descriptors is shown.The main contributions made in this thesis are in the areas of suitable modeling methods, controls strategies, and localization techniques for the novel boundary constrained JAMoEBA soft robot architecture. The work done serves as a solid foundation for the future study of this novel soft robotic architecture due to the demonstration of successful methods for modeling, control, and localization of the system. The work presented is not meant to be a comprehensive or deep dive into any one specific area, but rather a jumping off point for future areas of research.
Show less

Title: An Euclidean norm based criterion to assess robots’ 2D path-following performance, AS2015 Special Issue articles: This issue includes a series of papers from talks, posters and collaborations resulting from and inspired by the Algebraic Statistics Conference held in Genoa, Italy, in June 2015. Special issue guest editors: Piotr Zwiernik and Fabio Rapallo.
Creator: Saggini, Eleonora, Torrente, Maria-Laura
Date: 2016, 2016-07-12
Description: A current need in the robotics field is the definition of methodologies for quantitatively evaluating the results of experiments. This paper...
Show moreA current need in the robotics field is the definition of methodologies for quantitatively evaluating the results of experiments. This paper contributes to this by defining a new criterion for assessing path-following tasks in the planar case, that is, evaluating the performance of robots that are required to follow a desired reference path. Such criterion comes from the study of the local differential geometry of the problem. New conditions for deciding whether or not the zero locus of a given polynomial intersects the neighbourhood of a point are defined. Based on this, new algorithms are presented and tested on both simulated data and experiments conducted at sea employing an Unmanned Surface Vehicle.
Show less
Collection: Journal of Algebraic Statistics

repository.iit

Search the repository

Pages

Pages

Enabled Filters

Refine Results

Type

Date

Academic status of creator

Department

Subject

Creator

Part of

Rights