Page 62 - ASME DSCC 2015 Program

Technical Program

to the performance of the traditional UI. When asked to self-report UI pref- ing the local community in science-based activities.
erence: 26 participants stated they preferred the CRC UI, 6 preferred the
Deployment of a Robotic fish Platform in Informal Science learning
traditional UI, and 14 had no preference. Although the current iteration of
Contributed regular paper. DSCC2015-9751
the CRC UI offered no measurable performance improvements, a remapping
paul phamduy, Maurizio porfiri, New York University Polytechnic School
of the CRC joystick inputs to the end effector motion could make the CRC of Engineering, Brooklyn, NY, United States, Catherine Milne, Mary leou,
UI more intuitive, lead to better performance metrics, and make hydraulic
New York University Steinhardt School of Culture, Education, and Human
excavators safer, more efficient, and easier to use.
Development, New York, NY, United States
Investigation of energy efficiency in force control of pneumatic
This study explores the deployment of one such platform featuring a robotic
Actuators
fish at informal science learning events and venues. We examine the usage
Contributed regular paper. DSCC2015-9926
of three control modes, varying in their degree of interactivity, implemented
Behzad Taheri, David Case, Edmond Richer, Southern Methodist through an iDevice application for maneuvering a robotic fish. Specifical-
University, Dallas, TX, United States ly, we evaluate the time spent by visitors on three control modes of the
Investigation of Energy Efficiency in Force Control of Pneumatic Actuators platform at informal science learning event and venues, and the distribution
of the demographics of the users. This preliminary study is conducted to
A Continuous-field Actuation Method for Transducing optical Color assess the user interest among the control modes.
Images to Magnetic/Eddy-Current Patterns
Contributed regular paper. DSCC2015-9958 Model Predictive Control-Based Probabilistic Search Method for
Autonomous Ground Robot in a Dynamic Environment
Kok Meng lee, Georgia Institute of Technology, Norcross, GA, United
States, Chun-Yeon lin, Min li, Georgia Institute of Technology, Atlanta, GA, Contributed regular paper. DSCC2015-9814
United States Chang liu, J. Karl Hedrick, University of California, Berkeley, Berkeley, CA,
United States, Shengbo Eben li, Tsinghua University, Beijing, China
Motivated by two applications (retinal prosthesis and nondestructive dam-
age detection), this research develops a new actuator utilizing magnetic/ Target search using autonomous robots is an important application for
electric fields as media to enable open-loop induction control of a relatively both civil and military scenarios. In this paper, a model predictive control
high-resolution eddy-current pattern on an electrically conductive sur- (MPC)-based probabilistic search method is presented for a ground robot to
face with a relatively small number of electromagnets (EMs). The actuator localize a stationary target in a dynamic environment. The robot is equipped
referred to here as a magnetic/eddy-current (M/EC) continuous field scanner with a binary sensor for target detection, of which the uncertainties of binary
transduces an image into an M/EC pattern induced by a two-dimensional observation are modeled as a Gaussian function. Under the model predic-
EM array. Unlike traditional digital stimulation devices where the spatial tive control framework, the probability map of the target is updated via the
resolution is defined by discrete spacing between two adjacent electrodes, recursive Bayesian estimation and the collision avoidance with obstacles is
the continuous-field scanner accurately controls the synthesized M/EC fields enforced using barrier functions. By approximating the updated probability
between adjacent EMs. Along with a detailed presentation of an analytical map using a Gaussian Mixture Model, an analytical form of the objective
model and its inverse solutions to enable the continuous-field scanning, this function in the prediction horizon is derived, which is promising to reduce
paper presents a numerical study to investigate the effects of key design the computation complexity compared to numerical integration methods.
parameters, and some preliminary experimental results to validate the con- The effectiveness of the proposed method is demonstrated by performing
cept feasibility of the proposed method. simulations in dynamic scenarios with both static and moving obstacles.
The Stick-Slip Motion of a Chaplygin Sleigh With a Piecewise Smooth
ConTRIBuTED SESSIon
1-21-1 TP5 unmanned, Ground and Surface Robotics nonholonomic Constraint
Emerson Burkhart A 4:00pm–6:00pm Contributed regular paper. DSCC2015-9820
Vitaliy fedonyuk, Phanindra Tallapragada, Clemson University, Clemson,
Session Chair: Garrett Clayton, Villanova University SC, United States
Session Co-Chair: Hanz Richter, Cleveland State University The Chaplygin sleigh is a canonical problem of mechanical systems with
nonholonomic constraints, which arises due to the role of friction. The
a robotic Vehicle for aquatic environmental Monitoring
motion of the cart has often been studied under the assumption that the
Contributed regular paper. DSCC2015-9748
magnitude of friction is as high as necessary to prevent slipping. We relax
jeffrey Laut, Ben high, oded Nov, Maurizio porfiri, New York University this assumption by setting a maximum finite value to the friction. The Chap-
Polytechnic School of Engineering, Brooklyn, NY, United States lygin sleigh is then under a piecewise smooth nonholonomic constraint
Here, we describe an aquatic mobile robot for data collection in a polluted and transitions between `slip’ and `stick’ modes. We investigate these
waterway. The robot is part of an environmental monitoring project known transitions and the resulting non smooth dynamics of the system. Further
as ‘Brooklyn Atlantis,’ and collects water quality data and images within more the piecewise smooth constraint offers the possibility of controlling the
the Gowanus Canal in Brooklyn, NY. Water quality is analyzed offline, while orientation and speed of the sleigh and we investigate this with numerical
images are classified using citizen science through a web-based interface. simulations.
To provide an added degree of interactivity to the participants of the project,
an automated pan-tilt camera rig is developed, capable of providing 360
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degree panorama photos that can be manipulated by a user. Beyond data
collection, the robot serves as a useful tool for outreach and directly engag-