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Georgia Tech
1.
Keselman, Leo.
Motion planning for redundant manipulators and other high degree-of-freedom systems.
Degree: MS, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/51895 
► Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for…
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▼ Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.
Advisors/Committee Members: Vela, Patricio (advisor), Howard, Ayanna M. (advisor), Verriest, Erik (advisor).
Subjects/Keywords: Motion planning; RRT; Manipulators; Manipulator; Redundant manipulator; Planning; Inverse kinematics; Kinematics; Robotics; Serial link; Machinery, Kinematics of; Robots Kinematics; Manipulators (Mechanism); Robots, Industrial; Robots
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APA (6th Edition):
Keselman, L. (2014). Motion planning for redundant manipulators and other high degree-of-freedom systems. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51895
Chicago Manual of Style (16th Edition):
Keselman, Leo. “Motion planning for redundant manipulators and other high degree-of-freedom systems.” 2014. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/51895.
MLA Handbook (7th Edition):
Keselman, Leo. “Motion planning for redundant manipulators and other high degree-of-freedom systems.” 2014. Web. 28 Feb 2021.
Vancouver:
Keselman L. Motion planning for redundant manipulators and other high degree-of-freedom systems. [Internet] [Masters thesis]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/51895.
Council of Science Editors:
Keselman L. Motion planning for redundant manipulators and other high degree-of-freedom systems. [Masters Thesis]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51895
Georgia Tech
2.
Nixon, Mason Earl.
Utilization of auditory cues to enhance therapy for children with cerebral palsy.
Degree: MS, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/51736
► The objective of the research is to examine the impact of auditory stimulus on improving reaching performance in children with cerebral palsy. A form of…
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▼ The objective of the research is to examine the impact of auditory stimulus on improving reaching performance in children with cerebral palsy. A form of auditory stimulus, called rhythmic auditory stimulation (RAS), is well-established in neurological fields as well as in music-based rehabilitation and therapy. RAS is a method in which the rhythm functions as a sensory cue to induce temporal stability and enhancement of movement patterns by what is believed to be a temporal constraint of the patient’s internal optimized path of motion. In current neurological studies, it is suggested that activity in the premotor cortex may represent the integration of auditory information with temporally organized motor action during rhythmic cuing. Based on this theory, researchers have shown that rhythmic auditory stimulation can produce significant improvement in mean gait velocity, cadence, and stride length in patients with Parkinson’s disease. Evidence validating this observation was also seen in a study on hemiparetic stroke wherein patients displayed improvements in spatio-temporal arm control, reduction in variability of timing and reaching trajectories, and kinematic smoothing of the wrist joint during rhythmic entrainment. Lastly, studies have suggested an accompaniment of sound feedback in addition to visual feedback can result in a positive influence and higher confidence in patients who have had a stroke or spinal cord injury. Although an effect of rhythmic cuing on upper extremity therapy has been explored in areas where brain injury has occurred (such as patients who have incurred stroke, spinal injury, traumatic brain injury, etc.), what has not been explored is the effect of rhythmic cuing on upper extremity therapy for individuals with neurological movement disorders, such as cerebral palsy. Thus, in this research, we set out to explore the effect of RAS in therapeutic interventions for children with cerebral palsy. Through this investigation, we examine its effect on reaching performance as measured through range of motion, peak angular velocity, movement time, path length, spatio-temporal variability, and movement units. For this assessment, we created a virtual system to test the aforementioned principles. We established clinically based angular measurements that include elbow flexion, shoulder flexion, and shoulder abduction using a 3D depth sensor to evaluate relevant metrics in upper extremity rehabilitation. We validated the output of our measurements through a comparison with a Vicon Motion Capture System. We then confirmed the trends of the metrics between groups of adults, children, and children with cerebral palsy. Through testing our system with adults, children, and children with cerebral palsy, we believe we have constructed a system that may induce engagement, which is critical to physical therapy, and may also have a positive impact on the metrics. Although we see trends indicative of an effect through use of the system on children with cerebral palsy, we believe further testing is needed in order…
Advisors/Committee Members: Howard, Ayanna M. (advisor), Lanterman, Aaron (committee member), Wills, Linda (committee member).
Subjects/Keywords: Upper extremity; Carebral palsy; Range of motion; Microsoft; Kinect; Rehabilitation; Auditory evoked response; Kinect (Programmable controller)
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APA (6th Edition):
Nixon, M. E. (2013). Utilization of auditory cues to enhance therapy for children with cerebral palsy. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51736
Chicago Manual of Style (16th Edition):
Nixon, Mason Earl. “Utilization of auditory cues to enhance therapy for children with cerebral palsy.” 2013. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/51736.
MLA Handbook (7th Edition):
Nixon, Mason Earl. “Utilization of auditory cues to enhance therapy for children with cerebral palsy.” 2013. Web. 28 Feb 2021.
Vancouver:
Nixon ME. Utilization of auditory cues to enhance therapy for children with cerebral palsy. [Internet] [Masters thesis]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/51736.
Council of Science Editors:
Nixon ME. Utilization of auditory cues to enhance therapy for children with cerebral palsy. [Masters Thesis]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/51736
Georgia Tech
3.
Noah, Brittany Elise.
Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.
Degree: MS, Psychology, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/60205
► Current commercial vehicles are beginning to include automated features such as adaptive cruise control and automated lane keeping. This is a first step towards full…
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▼ Current commercial vehicles are beginning to include automated features such as adaptive cruise control and automated lane keeping. This is a first step towards full vehicle automation which is predicted to be possible within the next five years. As automated features are integrated into vehicles, the driver must know how to properly interact with and trust these systems. A key element of drivers interacting and relying on these systems is the handover of control between the vehicle and driver. This handover, occurring during times of automation error, will be a critical point of high workload for drivers when driving a partially or fully automated vehicle. If the driver is aware of the system’s performance and can appropriately calibrate his or her trust, then these instances of handover may become less stressful and easier to complete successfully. This study explored the driving performance, trust, visual scanning behaviors, perceived workload, and objective workload for handover scenarios. There were four between-subjects display conditions: (1) no display; and reliability displays using (2) quantitative information (percentage of reliability); (3) qualitative information (direct representation of a number); and (4) representational information (abstract representation of a number). Participants completed two drives. The first drive aided in familiarization with the automated lane keeping system. In the second drive, the handover drive, participants experienced an automation failure resulting in transition of control from automated to manual. Results from this study showed that there was a difference in subjective experience between the baseline and handover drive due to experiencing an automation failure. Participants in the no display condition were more affected by the automation failure, greatly decreasing their overall trust in the automated lane keeping system. Participants with reliability displays were able to appropriately calibrate their trust to system performance and were less impacted by the automation failure, experiencing a slight, statistically insignificant, decrease in trust. These findings will impact the implementation and design of automation reliability displays and shows that drivers with reliability displays are less impacted by automation failure than those without reliability displays.
Advisors/Committee Members: Walker, Bruce N. (advisor), Howard, Ayanna M. (committee member), Gorman, Jamie C. (committee member).
Subjects/Keywords: Automation; Automated driving; Displays; Vehicle displays; Trust in automation
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APA (6th Edition):
Noah, B. E. (2018). Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60205
Chicago Manual of Style (16th Edition):
Noah, Brittany Elise. “Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.” 2018. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/60205.
MLA Handbook (7th Edition):
Noah, Brittany Elise. “Understanding automation handoff impacts on workload and trust when mitigated by reliability displays.” 2018. Web. 28 Feb 2021.
Vancouver:
Noah BE. Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. [Internet] [Masters thesis]. Georgia Tech; 2018. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/60205.
Council of Science Editors:
Noah BE. Understanding automation handoff impacts on workload and trust when mitigated by reliability displays. [Masters Thesis]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/60205
Georgia Tech
4.
Ali, Ashar.
3D human pose estimation.
Degree: MS, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/61286
► The objective of the proposed work is to understand how using synthetic datasets and automatic annotation policies can further state of the art research for…
(more)
▼ The objective of the proposed work is to understand how using synthetic datasets and automatic annotation policies can further state of the art research for 3D Human Pose Estimation. Given an input depth image, algorithms estimating 3D human pose can be grouped into two major categories. Some directly regress 3D joints from depth images (or corresponding point clouds / voxels), often referred to as Single-Stage approaches. Others resort to Two-Stage solutions, where they first segment these depth images with dense labels and then use corresponding (segmented) point clouds to regress joint coordinates in 3D. Contribution of work proposed in this thesis would be three-fold. First, we demonstrate that present Two-Stage approaches can be improved using automated labeling techniques on real as well as synthetic datasets individually. Second, a novel Single-Stage algorithm is designed, which inputs human point cloud and outputs the pose in 3D world coordinates.Finally, this work studies the impact of fusing synthetic datasets with real datasets while training.
Advisors/Committee Members: Vela, Patricio A. (advisor), Howard, Ayanna M. (advisor), Essa, Irfan (advisor), Yezzi, Anthony J. (advisor).
Subjects/Keywords: 3D computer vision; Human pose estimation; Point cloud processing; Deep learning on point clouds
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APA (6th Edition):
Ali, A. (2019). 3D human pose estimation. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61286
Chicago Manual of Style (16th Edition):
Ali, Ashar. “3D human pose estimation.” 2019. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/61286.
MLA Handbook (7th Edition):
Ali, Ashar. “3D human pose estimation.” 2019. Web. 28 Feb 2021.
Vancouver:
Ali A. 3D human pose estimation. [Internet] [Masters thesis]. Georgia Tech; 2019. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/61286.
Council of Science Editors:
Ali A. 3D human pose estimation. [Masters Thesis]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61286
Georgia Tech
5.
Santos Fernandez, Maria Teresa.
Musical abstractions for multi-robot coordination.
Degree: MS, Electrical and Computer Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/55049
► This work presents a new approach to human-swarm interactions, a discipline which addresses the problem of how a human operator can influence the behavior of…
(more)
▼ This work presents a new approach to human-swarm interactions, a discipline which addresses the problem of how a human operator can influence the behavior of large groups of robots, providing high-level information understandable by the team. While there exist potential advantages of introducing a human in the control loop of a robot swarm, how the human must be incorporated is not a simple problem. For the intervention of a human operator to be favorable to the performance of the team, the means and form of the information between the human and the robot swarm must be adequately defined: we need to design which device will be provided to the operator to interact with the swarm and how the information will be shaped so that both the human and the robot team understand it. Coordination of multi-robot systems involves the generation of involved motion patterns for the individual agents that result in an overall organized movement. We introduce in this thesis a new human-swarm interaction modality based on music theory, a discipline studied for centuries and capable of creating complex sound structures. In particular, we have focused on understanding how we can apply rules and structures from music theory to an operator's input so that each command both specifies the goal location to be visited and the geometry to be adopted by the swarm. We interpret the sequence of locations to be visited by the swarm as a musical melody, identifying each note with a certain location in the robots' workspace. Once the objective path is defined in the form of a melody, we can apply rules from harmony, a discipline of music theory, to create chords that harmonize the input melody. The interest in using these chords lies fundamentally in that they are structured combinations of pitches, heard simultaneously. These inherent structures will be used to determine the geometry that should be displayed by the team. The developed multi-robot control is applied to a team of differential drive mobile robots through an electronic piano.
Advisors/Committee Members: Egerstedt, Magnus B. (advisor), Riley, George F. (committee member), Howard, Ayanna M. (committee member).
Subjects/Keywords: Human-swarm interactions; Formation control; Robotics; Music theory
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APA (6th Edition):
Santos Fernandez, M. T. (2016). Musical abstractions for multi-robot coordination. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55049
Chicago Manual of Style (16th Edition):
Santos Fernandez, Maria Teresa. “Musical abstractions for multi-robot coordination.” 2016. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/55049.
MLA Handbook (7th Edition):
Santos Fernandez, Maria Teresa. “Musical abstractions for multi-robot coordination.” 2016. Web. 28 Feb 2021.
Vancouver:
Santos Fernandez MT. Musical abstractions for multi-robot coordination. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/55049.
Council of Science Editors:
Santos Fernandez MT. Musical abstractions for multi-robot coordination. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55049
6.
Bartholomew, Paul D.
Optimal behavior composition for robotics.
Degree: MS, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/51872
► The development of a humanoid robot that mimics human motion requires extensive programming as well as understanding the motion limitations of the robot. Programming the…
(more)
▼ The development of a humanoid robot that mimics human motion requires extensive programming as well as understanding the motion limitations of the robot. Programming the countless possibilities for a robot’s response to observed human motion can be time consuming. To simplify this process, this thesis presents a new approach for mimicking captured human motion data through the development of a composition routine. This routine is built upon a behavior-based framework and is coupled with optimization by calculus to determine the appropriate weightings of predetermined motion behaviors. The completion of this thesis helps to fill a void in human/robot interactions involving mimicry and behavior-based design. Technological advancements in the way computers and robots identify human motion and determine for themselves how to approximate that motion have helped make possible the mimicry of observed human subjects. In fact, many researchers have developed humanoid systems that are capable of mimicking human motion data; however, these systems do not use behavior-based design. This thesis will explain the framework and theory behind our optimal behavior composition algorithm and the selection of sinusoidal motion primitives that make up a behavior library. This algorithm breaks captured motion data into various time intervals, then optimally weights the defined behaviors to best approximate the captured data. Since this routine does not reference previous or following motion sequences, discontinuities may exist between time intervals. To address this issue, the addition of a PI controller to regulate and smooth out the transitions between time intervals will be shown. The effectiveness of using the optimal behavior composition algorithm to create an approximated motion that mimics capture motion data will be demonstrated through an example configuration of hardware and a humanoid robot platform. An example of arm motion mimicry will be presented and includes various image sequences from the mimicry as well as trajectories containing the joint positions for both the human and the robot.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Howard, Ayanna M. (committee member), Zhang, Fumin (committee member).
Subjects/Keywords: Mimicry; Humanoid; Behavior; Robotics; Mobile robots; Human-robot interaction; Robots Motion; Machine learning
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APA (6th Edition):
Bartholomew, P. D. (2014). Optimal behavior composition for robotics. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51872
Chicago Manual of Style (16th Edition):
Bartholomew, Paul D. “Optimal behavior composition for robotics.” 2014. Masters Thesis, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/51872.
MLA Handbook (7th Edition):
Bartholomew, Paul D. “Optimal behavior composition for robotics.” 2014. Web. 28 Feb 2021.
Vancouver:
Bartholomew PD. Optimal behavior composition for robotics. [Internet] [Masters thesis]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/51872.
Council of Science Editors:
Bartholomew PD. Optimal behavior composition for robotics. [Masters Thesis]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51872
Georgia Tech
7.
English, Brittney Ann.
A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.
Degree: PhD, Electrical and Computer Engineering, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/62181
► The objective this research is to design a passive therapy device with rehabilitation gaming suite that employs an adaptive algorithm that alters game play in…
(more)
▼ The objective this research is to design a passive therapy device with rehabilitation gaming suite that employs an adaptive algorithm that alters game play in order to best fit the needs of the user. The goal of physical therapeutic exercises is to increase proficiency of a motor skill. Physical therapeutic exercises are commonly prescribed to individuals with motor disabilities. During the physical therapy process, individuals will usually practice once a week with the assistance of a clinician and six days a week in isolation. When practicing exercises in the presence of a skilled clinician, an individual receives several benefits including: (1) real-time feedback on accuracy of motions; (2) real-time adaptations to an exercise plan that accommodates the client's skill level and performance; (3) social interactions that increase engagement; and (4) positive feedback that increases morale. These benefits are not realized by the client when practicing exercises in isolation, causing clients to struggle to comply with therapeutic regimens at home. To create this system, first, we designed a passive exoskeleton with a rehabilitation gaming suite that encourages therapeutic motions. Then, we verified its ability to increase participant engagement while completing therapeutic exercises. Next, we verified the ability of our system to encourage accurate therapeutic motions. We then used machine learning techniques to process data from popular video games in order to classify task difficulty and make the rehabilitation game adaptive, so it has the capability to learn and grow with users. A final experiment was conducted with elderly adults and stroke survivors that suggests that adaptive user experiences help promote expedited learning of the task.
Advisors/Committee Members: Howard, Ayanna M. (advisor), Wills, Linda (committee member), Lanterman, Aaron (committee member), Essa, Irfan (committee member), Anderson, David (committee member).
Subjects/Keywords: Rehabilitation robotics
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APA (6th Edition):
English, B. A. (2018). A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/62181
Chicago Manual of Style (16th Edition):
English, Brittney Ann. “A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.” 2018. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/62181.
MLA Handbook (7th Edition):
English, Brittney Ann. “A physical therapy system for encouraging specific motion in wrist rehabilitation exercises.” 2018. Web. 28 Feb 2021.
Vancouver:
English BA. A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/62181.
Council of Science Editors:
English BA. A physical therapy system for encouraging specific motion in wrist rehabilitation exercises. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/62181
Georgia Tech
8.
Li, Jiaming.
A novel human-machine interface framework for conflict resolution.
Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/58146
► This thesis introduces a novel architecture for human-machine interface focusing primarily on the human aspects as applied to aircraft and unmanned systems. There is a…
(more)
▼ This thesis introduces a novel architecture for human-machine interface focusing primarily on the human aspects as applied to aircraft and unmanned systems. There is a need to explore new human-machine interface strategies stemming from the proliferation over the past years of accidents due to system complexity, failure modes and human errors. Concepts of autonomy establish the foundational elements of the work. We pursue a rigorous systems engineering process to analyze and design the tools and techniques for automated vehicle health monitoring, human-automation interface and conflict resolution enabled by innovative methods from game theory and reasoning algorithms. The general structure is illustrated in the paper. This paper addresses the general interface framework while emphasizing the human’s (pilots) intended actions following an adverse event on-board the vehicle, i.e. critical component fault/failure modes. When combined with automated health state assessment means on-board the aircraft, the proposed strategy assists to improve the reliability of estimated actions the pilot must execute to mitigate possible catastrophic consequences. A “smart” knowledge base is exploited as the reasoning paradigm where cases are stored and new ones are compared with similar ones available in the case library. Learning and adaptation tools are used to improve the decision making process. The emphasis of this contribution is on methods and tools for conflict resolution when the automated system’s advisories are coincident with the human’s intended actions. Appropriate similarity metrics are defined and used for this purpose. The efficacy of the approach is demonstrated via an interface built in MATLAB highlighting the performance of the algorithmic modules for assessment and conflict resolution.
Advisors/Committee Members: Vachtsevanos, George (advisor), Howard, Ayanna M. (committee member), Bennett, Gisele (committee member), Buck, John A. (committee member), Mavris, Dimitri N. (committee member).
Subjects/Keywords: Human-machine interface; Simulation
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APA ·
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APA (6th Edition):
Li, J. (2015). A novel human-machine interface framework for conflict resolution. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/58146
Chicago Manual of Style (16th Edition):
Li, Jiaming. “A novel human-machine interface framework for conflict resolution.” 2015. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/58146.
MLA Handbook (7th Edition):
Li, Jiaming. “A novel human-machine interface framework for conflict resolution.” 2015. Web. 28 Feb 2021.
Vancouver:
Li J. A novel human-machine interface framework for conflict resolution. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/58146.
Council of Science Editors:
Li J. A novel human-machine interface framework for conflict resolution. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/58146
Georgia Tech
9.
Zhao, Huihua.
From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.
Degree: PhD, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/56237
► When modeled after the human form, humanoid robots more easily garner societal acceptance and gain increased dexterity in human environments. During this process of humanoid…
(more)
▼ When modeled after the human form, humanoid robots more easily garner societal acceptance and gain increased dexterity in human environments. During this process of humanoid robot design, research on simulated bodies also yields a better understanding of the original biological system. Such advantages make humanoid robots ideal for use in areas such as elderly assistance, physical rehabilitation, assistive exoskeletons, and prosthetic devices. In these applications specifically, an understanding of human-like bipedal robotic locomotion is requisite for practical purposes. However, compared to mobile robots with wheels, humanoid walking robots are complex to design, difficult to balance, and hard to control, resulting in humanoid robots which walk slowly and unnaturally. Despite emerging research and technologies on humanoid robotic locomotion in recent decades, there still lacks a systematic method for obtaining truly kinematic and fluid walking. In this dissertation, we propose a formal optimization framework for achieving stable, human-like robotic walking with natural heel and toe behavior. Importantly, the mathematical construction allows us to directly realize natural walking on the custom-designed physical robot, AMBER2, resulting in a sustainable and robust multi-contact walking gait. As one of the ultimate goals of studying human-like robotic locomotion, the proposed systematic methodology is then translated to achieve prosthetic walking that is both human-like and energy-efficient, with reduced need for parameter tuning. We evaluate this method on two custom, powered transfemoral prostheses in both 2D (AMPRO1) and 3D (AMPRO3) cases. Finally, this dissertation concludes with future research opportunities.
Advisors/Committee Members: Ames, Aaron D. (advisor), Rogers, Jonathan (advisor), Ueda, Jun (committee member), Goldman, Daniel (committee member), Howard, Ayanna M. (committee member).
Subjects/Keywords: Powered prostheses; Bipedal robots; Humanoid robots; Multi-contact; Hybrid systems; Control Lyapunov function; Optimal control; Quadratic programming; Locomotion
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APA ·
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APA (6th Edition):
Zhao, H. (2016). From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56237
Chicago Manual of Style (16th Edition):
Zhao, Huihua. “From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.” 2016. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/56237.
MLA Handbook (7th Edition):
Zhao, Huihua. “From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach.” 2016. Web. 28 Feb 2021.
Vancouver:
Zhao H. From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/56237.
Council of Science Editors:
Zhao H. From bipedal locomotion to prosthetic walking: A hybrid system and nonlinear control approach. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56237
Georgia Tech
10.
DeMarco, Kevin James.
Detection and tracking of divers for underwater human-robot interaction scenarios.
Degree: PhD, Electrical and Computer Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/56268
► The underwater domain is a dangerous and complex environment for human divers. Often, divers have to monitor their own life support systems as they navigate…
(more)
▼ The underwater domain is a dangerous and complex environment for human divers. Often, divers have to monitor their own life support systems as they navigate to the work site or operate dangerous machinery. Military divers have to navigate for extended periods of time without surfacing or without using localization techniques that might give away their positions. Human divers have operated under these harsh conditions for decades with few advancements in technology. In fact, a diver performs the basic task of navigation by aligning the body with a compass and counting leg kicks (i.e., human-oriented dead-reckoning). It is proposed that an Underwater Robotic Assistant (UWRA) will improve the efficiency and safety of the diver's underwater operations by providing several key capabilities. For example, the UWRA can provide navigation assistance, ferry tools from the surface, enter structures too dangerous for human divers, and carry hazardous materials. However, in unstructured environments, underwater robots are limited in their ability to localize and track a human diver at the resolution required to enable diver-robot interactions. Optical cameras can be rendered useless by the turbidity of the water, localizing radio signals do not propagate well through the water medium, and acoustic positioning systems can be expensive to deploy. We propose that by developing novel 2D imaging sonar processing techniques, an underwater robot can detect, track, and trail a human diver. The objective of this research is to detect and track human divers in 2D imaging sonar data. While the physical properties of sonar allow it to detect objects at longer ranges than optical cameras in underwater scenarios, it is plagued with noise and multi-path propagation. Also, when a diver is ensonified with a 2D imaging sonar, a fragmented acoustic reflection is returned. The fact that a single object can produce multiple returns means that tracking the human diver cannot be solved by applying traditional multiple hypothesis tracking algorithms, which operate on the assumption of each object generating only a single measurement. To overcome the sonar noise and multiple fragmented returns, we developed a novel adaptive thresholding algorithm and a hierarchical multiple object tracking algorithm. While the Kalman filter is extensively used in our tracking algorithms, we developed a novel method for adaptively modifying the Kalman filter's measurement matrix to track objects that generate multiple measurements.
Advisors/Committee Members: Howard, Ayanna M. (advisor), Collins, Thomas R. (committee member), Egerstedt, Magnus B. (committee member), Balch, Tucker (committee member), West, Michael E. (committee member).
Subjects/Keywords: Diver detection; Sonar image processing; Tracking; Underwater human-robot interaction
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APA (6th Edition):
DeMarco, K. J. (2016). Detection and tracking of divers for underwater human-robot interaction scenarios. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56268
Chicago Manual of Style (16th Edition):
DeMarco, Kevin James. “Detection and tracking of divers for underwater human-robot interaction scenarios.” 2016. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/56268.
MLA Handbook (7th Edition):
DeMarco, Kevin James. “Detection and tracking of divers for underwater human-robot interaction scenarios.” 2016. Web. 28 Feb 2021.
Vancouver:
DeMarco KJ. Detection and tracking of divers for underwater human-robot interaction scenarios. [Internet] [Doctoral dissertation]. Georgia Tech; 2016. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/56268.
Council of Science Editors:
DeMarco KJ. Detection and tracking of divers for underwater human-robot interaction scenarios. [Doctoral Dissertation]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56268
11.
Brooks, Douglas A.
Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.
Degree: PhD, Electrical and Computer Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/48970
► The objective of this research effort is to further rehabilitation techniques for children by developing and validating the core technologies needed to integrate therapy instruction…
(more)
▼ The objective of this research effort is to further rehabilitation techniques for children by developing and validating the core technologies needed to integrate therapy instruction with child-robot play interaction in order to improve upper-arm rehabilitation. Using computer vision techniques such as Motion History Imaging (MHI), Multimodal Mean, edge detection, and Random Sample Consensus (RANSAC), movements can be quantified through robot observation. Also incorporating three-dimensional data obtained via an infrared projector coupled with a Principle Component Analysis (PCA), depth information can be utilized to create a robust algorithm. Finally, utilizing prior knowledge regarding exercise data, physical therapeutic metrics, and novel approaches, a mapping to therapist instructions can be created allowing robotic feedback and intelligent interaction.
Advisors/Committee Members: Howard, Ayanna M. (advisor), Bhatti, Pamela (committee member), Kemp, Charlie (committee member), Vela, Patricio (committee member), Wills, Linda (committee member).
Subjects/Keywords: Rehabilitation; Human-robot interaction; Robotics; Computer vision; Robots; Androids; Robotics in medicine
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APA (6th Edition):
Brooks, D. A. (2012). Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/48970
Chicago Manual of Style (16th Edition):
Brooks, Douglas A. “Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.” 2012. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/48970.
MLA Handbook (7th Edition):
Brooks, Douglas A. “Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot.” 2012. Web. 28 Feb 2021.
Vancouver:
Brooks DA. Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/48970.
Council of Science Editors:
Brooks DA. Towards quantifying upper-arm rehabilitation metrics for children through interaction with a humanoid robot. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/48970
12.
Chopra, Smriti.
Spatio-temporal multi-robot routing.
Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/53383
► We analyze spatio-temporal routing under various constraints specific to multi-robot applications. Spatio-temporal routing requires multiple robots to visit spatial locations at specified time instants, while…
(more)
▼ We analyze spatio-temporal routing under various constraints specific to multi-robot applications. Spatio-temporal routing requires multiple robots to visit spatial locations at specified time instants, while optimizing certain criteria like the total distance traveled, or the total energy consumed. Such a spatio-temporal concept is intuitively demonstrable through music (e.g. a musician routes multiple fingers to play a series of notes on an instrument at specified time instants). As such, we showcase much of our work on routing through this medium. Particular to robotic applications, we analyze constraints like maximum velocities that the robots cannot exceed, and information-exchange networks that must remain connected. Furthermore, we consider a notion of heterogeneity where robots and spatial locations are associated with multiple skills, and a robot can visit a location only if it has at least one skill in common with the skill set of that location. To extend the scope of our work, we analyze spatio-temporal routing in the context of a distributed framework, and a dynamic environment.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Zhang, Fumin (committee member), Howard, Ayanna M. (committee member), Reveliotis, Spiridon (committee member), Balch, Tucker (committee member).
Subjects/Keywords: Assignment problems; Combinatorial optimization; Distributed algorithms; Networked robotics; Vehicle routing; Music
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APA (6th Edition):
Chopra, S. (2015). Spatio-temporal multi-robot routing. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53383
Chicago Manual of Style (16th Edition):
Chopra, Smriti. “Spatio-temporal multi-robot routing.” 2015. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/53383.
MLA Handbook (7th Edition):
Chopra, Smriti. “Spatio-temporal multi-robot routing.” 2015. Web. 28 Feb 2021.
Vancouver:
Chopra S. Spatio-temporal multi-robot routing. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/53383.
Council of Science Editors:
Chopra S. Spatio-temporal multi-robot routing. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53383
13.
Drayer, Gregorio E.
Situation-oriented integration of humans and automation for the operation of regenerative life support systems.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50311
► The objective of the proposed research is to study the integration of humans and automation for the operation of regenerative life support systems (RLSS). RLSS…
(more)
▼ The objective of the proposed research is to study the integration of humans and automation for the operation of regenerative life support systems (RLSS). RLSS combine physico-chemical and biological processes with the purpose of increasing the autonomy of space habitats and the life quality of their living organisms by properly reusing byproducts and regenerating consumable resources. However, these processes require energy and time to transform chemical compounds and organic wastes into nutrients, consumables, and edible products. Consequently, the maintenance of RLSS imposes a considerable workload on human operators. In addition, the uncertainties introduced by unintended chemical reactions promoted by material loop closure may create unexpected situations that, if unattended, could translate into performance deterioration, human errors, and failures. The availability of novel chemical and biological sensors together with computational resources enable the development of monitoring and automation systems to alleviate human workload, help avoid human error, and increase the overall reliability of these systems.
This research aggregates sensor data and human-expert situation assessments to create a representation of their situation knowledge base (\gloss{skb}). The representation is used in a switched control approach to the automation of RLSS, for decision support, and human-automation coordination. The aggregation method consists of an optimization process based on particle swarms. The purpose of this work is to contribute to the methodological development of situation-oriented and user-centered design approaches to human-automation systems. Experiments and simulations are supported on the process of respiration in an aquatic habitat acting as a RLSS.
Advisors/Committee Members: Vela, Patricio (advisor), Howard, Ayanna M. (committee member), Vachtsevanos, George (committee member), Koblasz, Arthur (committee member), Feigh, Karen (committee member).
Subjects/Keywords: Regenerative life support systems; Automation; Situation awareness; Situation knowledge base; User-centered design; Life support systems (Space environment); Closed ecological systems (Space environment)
…the Georgia Tech
Integrated Product and Process Development (IPPD) Methodology…
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APA (6th Edition):
Drayer, G. E. (2013). Situation-oriented integration of humans and automation for the operation of regenerative life support systems. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50311
Chicago Manual of Style (16th Edition):
Drayer, Gregorio E. “Situation-oriented integration of humans and automation for the operation of regenerative life support systems.” 2013. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/50311.
MLA Handbook (7th Edition):
Drayer, Gregorio E. “Situation-oriented integration of humans and automation for the operation of regenerative life support systems.” 2013. Web. 28 Feb 2021.
Vancouver:
Drayer GE. Situation-oriented integration of humans and automation for the operation of regenerative life support systems. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/50311.
Council of Science Editors:
Drayer GE. Situation-oriented integration of humans and automation for the operation of regenerative life support systems. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50311
14.
Wang, Chuanfeng.
Collective dynamics and control of a fleet of heterogeneous marine vehicles.
Degree: PhD, Mechanical Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50336
► Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV.…
(more)
▼ Cooperative control enables combinations of sensor data from multiple autonomous underwater vehicles (AUVs) so that multiple AUVs can perform smarter behaviors than a single AUV. In addition, in some situations, a human-driven underwater vehicle (HUV) and a group of AUVs need to collaborate and preform formation behaviors. However, the collective dynamics of a fleet of heterogeneous underwater vehicles are more complex than the non-trivial single vehicle dynamics, resulting in challenges in analyzing the formation behaviors of a fleet of heterogeneous underwater vehicles. The research addressed in this dissertation investigates the collective dynamics and control of a fleet of heterogeneous underwater vehicles, including multi-AUV systems and systems comprised of an HUV and a group of AUVs (human-AUV systems). This investigation requires a mathematical motion model of an underwater vehicle. This dissertation presents a review of a six-degree-of-freedom (6DOF) motion model of a single AUV and proposes a method of identifying all parameters in the model based on computational fluid dynamics (CFD) calculations. Using the method, we build a 6DOF model of the EcoMapper and validate the model by field experiments. Based upon a generic 6DOF AUV model, we study the collective dynamics of a multi-AUV system and develop a method of decomposing the collective dynamics. After the collective dynamics decomposition, we propose a method of achieving orientation control for each AUV and formation control for the multi-AUV system. We extend the results and propose a cooperative control for a human-AUV system so that an HUV and a group of AUVs will form a desired formation while moving along a desired trajectory as a team. For the post-mission stage, we present a method of analyzing AUV survey data and apply this method to AUV measurement data collected from our field experiments carried out in Grand Isle, Louisiana in 2011, where AUVs were used to survey a lagoon, acquire bathymetric data, and measure the concentration of reminiscent crude oil in the water of the lagoon after the BP Deepwater Horizon oil spill in the Gulf of Mexico in 2010.
Advisors/Committee Members: Schaefer, Dirk (advisor), Zhang, Fumin (committee member), Howard, Ayanna M. (committee member), Ueda, Jun (committee member), Jiao, Jianxin (committee member).
Subjects/Keywords: Underwater vehicle; Dynamic modeling; Formation control; Cooperative control; Human-robot interaction; Curve tracking; Remote submersibles; Oceanographic submersibles; Degree of freedom; Control theory; Traffic flow; Fluid dynamics
…24
13
West Pond in Georgia Tech Savannah Campus… …experiments carried out in the west pond in
the Georgia Tech Savannah Campus.
Based on a generic six… …example, the Yellowfin (an autonomous underwater vehicle developed at the Georgia Tech… …in the Georgia Tech Savannah
Campus.
7
The remainder of this chapter is organized as…
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APA (6th Edition):
Wang, C. (2013). Collective dynamics and control of a fleet of heterogeneous marine vehicles. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50336
Chicago Manual of Style (16th Edition):
Wang, Chuanfeng. “Collective dynamics and control of a fleet of heterogeneous marine vehicles.” 2013. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/50336.
MLA Handbook (7th Edition):
Wang, Chuanfeng. “Collective dynamics and control of a fleet of heterogeneous marine vehicles.” 2013. Web. 28 Feb 2021.
Vancouver:
Wang C. Collective dynamics and control of a fleet of heterogeneous marine vehicles. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/50336.
Council of Science Editors:
Wang C. Collective dynamics and control of a fleet of heterogeneous marine vehicles. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50336
15.
Elton, Mark David.
Matching feedback with operator intent for efficient human-machine interface.
Degree: PhD, Mechanical Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/50152
► Various roles for operators in human-machine systems have been proposed. This thesis shows that all of these views have in common the fact that operators…
(more)
▼ Various roles for operators in human-machine systems have been proposed. This thesis shows that all of these views have in common the fact that operators perform best when given feedback that matches their intent. Past studies have shown that position control is superior to rate control except when operating large-workspace and/or dynamically slow manipulators and for exact tracking tasks. Operators of large-workspace and/or dynamically slow manipulators do not receive immediate position feedback. To remedy this lack of position feedback, a ghost arm overlay was displayed to operators of a dynamically slow manipulator, giving feedback that matches their intent. Operators performed several simple one- and two-dimensional tasks (point-to-point motion, tracking, path following) with three different controllers (position control with and without a ghost, rate control) to indicate how task conditions influence operator intent. Giving the operator position feedback via the ghost significantly increased performance with the position controller and made it comparable to performance with the rate control. These results were further validated by testing coordinated position control with and without a ghost arm and coordinated rate control on an excavator simulator. The results show that position control with the ghost arm is comparable, but not superior to rate control for the dynamics of our excavator example. Unlike previous work, this research compared the fuel efficiencies of different HMIs, as well as the time efficiencies. This work not only provides the design law of matching the feedback to the operator intent, but also gives a guideline for when to choose position or rate control based on the speed of the system.
Advisors/Committee Members: Book, Wayne (advisor), Howard, Ayanna M. (committee member), Durso, Frank (committee member), Ueda, Jun (committee member), Singhose, William (committee member).
Subjects/Keywords: Human-machine interface; Position control; Rate control; Ghost interface; Human-machine systems; Feedback control systems
…and affiliations with Georgia Tech for position vs. rate tasks 126
Table 9. Subjects… …usage for rate vs. acceleration tasks
127
Table 12. Subjects’ ages and Georgia Tech… …tasks
128
Table 16. Subjects’ ages and Georgia Tech affiliations for rate vs. acceleration… …affiliations with Georgia Tech for excavator test
129
Table 20. Subjects’ handedness and gender for… …Table 22. Subjects’ ages and affiliations with Georgia Tech for excavator test
129
Table 23…
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APA (6th Edition):
Elton, M. D. (2012). Matching feedback with operator intent for efficient human-machine interface. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50152
Chicago Manual of Style (16th Edition):
Elton, Mark David. “Matching feedback with operator intent for efficient human-machine interface.” 2012. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/50152.
MLA Handbook (7th Edition):
Elton, Mark David. “Matching feedback with operator intent for efficient human-machine interface.” 2012. Web. 28 Feb 2021.
Vancouver:
Elton MD. Matching feedback with operator intent for efficient human-machine interface. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/50152.
Council of Science Editors:
Elton MD. Matching feedback with operator intent for efficient human-machine interface. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/50152
16.
LaViers, Amy.
Choreographic abstractions for style-based robotic motion.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/49033
► What does it mean to do the disco? Or perform a cheerleading routine? Or move in a style appropriate for a given mode of human…
(more)
▼ What does it mean to do the disco? Or perform a cheerleading routine? Or move in a style appropriate for a given mode of human interaction? Answering these questions requires an interpretation of what differentiates two distinct movement styles and a method for parsing this difference into quantitative parameters. Furthermore, such an understanding of principles of style has applications in control, robotics, and dance theory. This thesis present a definition for “style of motion” that is rooted in dance theory, a framework for stylistic motion generation that separates basic movement ordering from its precise trajectory, and an inverse optimal control method for extracting these stylistic parameters from real data. On the part of generation, the processes of sequencing and scaling are modulated by the stylistic parameters enumerated: an automation that lists basic primary movements, sets which determine the final structure of the state machine that encodes allowable sequences, and weights in an optimal control problem that generates motions of the desired quality. This generation framework is demonstrated on a humanoid robotic platform for two distinct case studies – disco dancing and cheerleading. In order to extract the parameters that comprise the stylistic definition put forth, two inverse optimal control problems are posed and solved – one to classify individual movements and one to segment longer movement sequences into smaller motion primitives. The motion of a real human leg (recorded via motion capture) is classified in an example. Thus, the contents of the thesis comprise a tool to produce and understand stylistic motion.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Howard, Ayanna M. (committee member), Zhang, Fumin (committee member), Butera, Robert (committee member), Thomaz, Andrea (committee member).
Subjects/Keywords: Optimal control; Supervisory control; Robotics; Dance; Motion; Robots Motion; Human mechanics; Robotics Human factors
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APA (6th Edition):
LaViers, A. (2013). Choreographic abstractions for style-based robotic motion. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/49033
Chicago Manual of Style (16th Edition):
LaViers, Amy. “Choreographic abstractions for style-based robotic motion.” 2013. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/49033.
MLA Handbook (7th Edition):
LaViers, Amy. “Choreographic abstractions for style-based robotic motion.” 2013. Web. 28 Feb 2021.
Vancouver:
LaViers A. Choreographic abstractions for style-based robotic motion. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/49033.
Council of Science Editors:
LaViers A. Choreographic abstractions for style-based robotic motion. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/49033
Georgia Tech
17.
Valentin, Giancarlo.
Wearable interfaces for symbolic communication by working dogs.
Degree: PhD, Electrical and Computer Engineering, 2019, Georgia Tech
URL: http://hdl.handle.net/1853/61235
► The objective of this dissertation is to develop wearable systems that allow working dogs to communicate accurately with humans. For example, a guide dog could…
(more)
▼ The objective of this dissertation is to develop wearable systems that allow working dogs to communicate accurately with humans. For example, a guide dog could generate alerts telling the human to either 'wait' or 'go around’ a given obstacle, which currently they cannot do. Working dogs in search and rescue could communicate critical information beyond line of sight and hearing. Finally, during a seizure, medical alert dogs could request help from nearby humans. This work describes two types of wearable systems capable of addressing the challenges in these scenarios. The first approach relies on wearable interfaces based on biting, tugging, and touching that working dogs can use to generate these alerts. The second approach relies on identifying and detecting gesture movements sensed from a collar-worn device that dogs can learn to perform to generate alerts.
Advisors/Committee Members: Howard, Ayanna M. (advisor), Jackson, Melody M. (advisor), Moore, Elliot (committee member), Inan, Omer (committee member), Starner, Thad E. (committee member), Ploetz, Thomas (committee member).
Subjects/Keywords: Wearable technology; Animal-computer interaction; Gesture recognition
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APA (6th Edition):
Valentin, G. (2019). Wearable interfaces for symbolic communication by working dogs. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/61235
Chicago Manual of Style (16th Edition):
Valentin, Giancarlo. “Wearable interfaces for symbolic communication by working dogs.” 2019. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/61235.
MLA Handbook (7th Edition):
Valentin, Giancarlo. “Wearable interfaces for symbolic communication by working dogs.” 2019. Web. 28 Feb 2021.
Vancouver:
Valentin G. Wearable interfaces for symbolic communication by working dogs. [Internet] [Doctoral dissertation]. Georgia Tech; 2019. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/61235.
Council of Science Editors:
Valentin G. Wearable interfaces for symbolic communication by working dogs. [Doctoral Dissertation]. Georgia Tech; 2019. Available from: http://hdl.handle.net/1853/61235
Georgia Tech
18.
Lim, Yusun.
Game theoretic distributed coordination: drifting environments and constrained communications.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/52986
► The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in…
(more)
▼ The major objective of this dissertation is extending the capabilities of game theoretic distributed control to more general settings. In particular, we are interested in drifting environments and/or constrained communications.
The first part of the dissertation concerns slowly varying dynamics, i.e., drifting environments. A standard assumption in game theoretic learning is a stationary environment, e.g., the game is fixed. We investigate the case of slow variations and show that for sufficiently slow time variations, the limiting behavior “tracks” the stochastically stable states. Since the analysis is regarding Markov processes, the results could be applied to various game theoretic learning rules. In this research, the results were applied to log-linear learning. A mobile sensor coverage example was tested in both simulation and laboratory experiments.
The second part considers a problem of coordinating team players' actions without any communications in team-based zero-sum games. Generally, some global signalling devices are required for common randomness between players, but communications are very limited or impossible in many practical applications. Instead of learning a one-shot strategy, we let players coordinate a periodic sequence of deterministic actions and put an assumption on opponent's rationality. Since team players' action sequences are periodic and deterministic, common randomness is no longer required to coordinate players. It is proved that if a length of a periodic action sequence is long enough, then opponents with limited rationality cannot recognize its pattern. Because the opponents cannot recognize that the players are playing deterministic actions, the players' behavior looks like a correlated and randomized joint strategy with empirical distribution of their action sequences. Consequently players can coordinate their action sequences without any communications or global signals, and the resulting action sequences have correlated behavior.
Moreover, the notion of micro-players are introduced for efficient learning of long action sequences. Micro-player matching approach provides a new framework that converts the original team-based zero-sum game to a game between micro-players. By introducing a de Bruijn sequence to micro-player matching, we successfully separate the level of opponent's rationality and the size of the game of micro-players. The simulation results are shown to demonstrate the performance of micro-player matching methods.
Lastly, the results of the previous two topics are combined by considering a problem of coordinating actions without communications in drifting environments. More specifically, it is assumed that the opponent player in the team-based zero-sum games tries to adjust its strategy in the set of bounded recall strategies. Then the time-varying opponent's strategy can be considered as a dynamic environment parameter in a coordination game between the team players. Additionally, we develop a human testbed program for further study regarding a human as an…
Advisors/Committee Members: Shamma, Jeff S. (advisor), Wardi, Yorai (committee member), Fekri, Faramarz (committee member), Feron, Eric (committee member), Howard, Ayanna M. (committee member), Bloch, Matthieu R. (committee member).
Subjects/Keywords: Game theoretic learning; Cooperative control; Distributed control
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APA (6th Edition):
Lim, Y. (2014). Game theoretic distributed coordination: drifting environments and constrained communications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/52986
Chicago Manual of Style (16th Edition):
Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/52986.
MLA Handbook (7th Edition):
Lim, Yusun. “Game theoretic distributed coordination: drifting environments and constrained communications.” 2014. Web. 28 Feb 2021.
Vancouver:
Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/52986.
Council of Science Editors:
Lim Y. Game theoretic distributed coordination: drifting environments and constrained communications. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/52986
Georgia Tech
19.
Park, Hae Won.
Robot learners: interactive instance-based learning with social robots.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/53442
► On one hand, academic and industrial researchers have been developing and deploying robots that are used as educational tutors, mediators, and motivational tools. On the…
(more)
▼ On one hand, academic and industrial researchers have been developing and deploying robots that are used as educational tutors, mediators, and motivational tools. On the other hand, an increasing amount of interest has been placed on non-expert users being able to program robots intuitively, which has led to promising research efforts in the fields of machine learning and human-robot interaction. This dissertation focuses on bridging the gap between the two subfields of robotics to provide personalized experience for the users during educational, entertainment, and therapeutic sessions with social robots. In order to make the interaction continuously engaging, the workspace shared between the user and the robot should provide personalized contexts for interaction while the robot learns to participate in new tasks that arise.
This dissertation aims to solve the task-learning problem using an instance-based framework that stores human demonstrations as task instances. These instances are retrieved when confronted with a similar task in which the system generates predictions of task behaviors based on prior solutions. The main issues associated with the instance-based approach, i.e., knowledge encoding and acquisition, are addressed in this dissertation research using interactive methods of machine learning. This approach, further referred to as interactive instance-based learning (IIBL), utilizes the keywords people use to convey task knowledge to others to formulate task instances. The key features suggested by the human teacher are extracted during the demonstrations of the task. Regression approaches have been developed in this dissertation to model similarities between cases for instance retrieval including multivariate linear regression and sensitivity analysis using neural networks. The learning performance of the IIBL methods were then evaluated while participants engaged in various block stacking and inserting scenarios and tasks on a touchscreen tablet with a humanoid robot Darwin.
In regard to end-users programming robots, the main benefit of the IIBL framework is that the approach fully utilizes the explanatory behavior of the instance-based method which makes the learning process transparent to the human teacher. Such an environment not only encourages the user to produce better demonstrations, but also prompts the user to intervene at the moment a new instance is needed. It was shown through user studies that participants naturally adapt their teaching behavior to the robot learner's progress and adjust the timing and the number of demonstrations. It was also observed that the human-robot teaching and learning scenarios facilitate the emergence of various social behaviors from participants. Encouraging social interaction is often an objective of the task especially with children with cognitive disabilities, and a pilot study with children with autism spectrum disorder revealed promising results comparable to the typically developing group.
Finally, this dissertation investigated the necessity…
Advisors/Committee Members: Howard, Ayanna M. (advisor), Christensen, Henrik I. (committee member), Kemp, Charles C. (committee member), Thomaz, Andrea L. (committee member), Wills, Linda M. (committee member).
Subjects/Keywords: Robotics; Socially assistive robotics; Case-based reasoning; Interactive machine learning; Touchscreen mobile device
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APA (6th Edition):
Park, H. W. (2014). Robot learners: interactive instance-based learning with social robots. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53442
Chicago Manual of Style (16th Edition):
Park, Hae Won. “Robot learners: interactive instance-based learning with social robots.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/53442.
MLA Handbook (7th Edition):
Park, Hae Won. “Robot learners: interactive instance-based learning with social robots.” 2014. Web. 28 Feb 2021.
Vancouver:
Park HW. Robot learners: interactive instance-based learning with social robots. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/53442.
Council of Science Editors:
Park HW. Robot learners: interactive instance-based learning with social robots. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/53442
20.
Cunningham, Alexander G.
Scalable online decentralized smoothing and mapping.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/51848
► Many applications for field robots can benefit from large numbers of robots, especially applications where the objective is for the robots to cover or explore…
(more)
▼ Many applications for field robots can benefit from large numbers of robots, especially applications where the objective is for the robots to cover or explore a region. A key enabling technology for robust autonomy in these teams of small and cheap robots is the development of collaborative perception to account for the shortcomings of the small and cheap sensors on the robots. In this dissertation, I present DDF-SAM to address the decentralized data fusion (DDF) inference problem with a smoothing and mapping (SAM) approach to single-robot mapping that is online, scalable and consistent while supporting a variety of sensing modalities. The DDF-SAM approach performs fully decentralized simultaneous localization and mapping in which robots choose a relevant subset of variables from their local map to share with neighbors. Each robot summarizes their local map to yield a density on exactly this chosen set of variables, and then distributes this summarized map to neighboring robots, allowing map information to propagate throughout the network. Each robot fuses summarized maps it receives to yield a map solution with an extended sensor horizon. I introduce two primary variations on DDF-SAM, one that uses a batch nonlinear constrained optimization procedure to combine maps, DDF-SAM 1.0, and one that uses an incremental solving approach for substantially faster performance, DDF-SAM 2.0. I validate these systems using a combination of real-world and simulated experiments. In addition, I evaluate design trade-offs for operations within DDF-SAM, with a focus on efficient approximate map summarization to minimize communication costs.
Advisors/Committee Members: Dellaert, Frank (advisor), Howard, Ayanna M. (committee member), Egerstedt, Magnus (committee member), Christensen, Henrik I. (committee member), Balch, Tucker (committee member), Roumeliotis, Stergios I. (committee member).
Subjects/Keywords: Multi-robot mapping; Decentralized inference; Simultaneous localization and mapping; Multi-robot SLAM; Robotics; Autonomous robots; Algorithms; SLAM (Computer program language)
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APA (6th Edition):
Cunningham, A. G. (2014). Scalable online decentralized smoothing and mapping. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51848
Chicago Manual of Style (16th Edition):
Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/51848.
MLA Handbook (7th Edition):
Cunningham, Alexander G. “Scalable online decentralized smoothing and mapping.” 2014. Web. 28 Feb 2021.
Vancouver:
Cunningham AG. Scalable online decentralized smoothing and mapping. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/51848.
Council of Science Editors:
Cunningham AG. Scalable online decentralized smoothing and mapping. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51848
Georgia Tech
21.
Serrano, Miguel M.
RAPTr: Robust articulated point-set tracking.
Degree: PhD, Electrical and Computer Engineering, 2018, Georgia Tech
URL: http://hdl.handle.net/1853/60730
► The objective of this work is to present the Robust Articulated Point-set Tracking (RAPTr) system. It works by synthesizing components from articulated model-based and machine…
(more)
▼ The objective of this work is to present the Robust Articulated Point-set Tracking (RAPTr) system. It works by synthesizing components from articulated model-based and machine learning methods in a framework for pose estimation. Purely machine learning based pose estimation methods are robust to image artifacts. However, they require large annotated datasets. On the other hand, articulated model-based methods can emulate an infinite number of poses while respecting the subject's geometry but are susceptible to local minima, as they are sensitive to the various artifacts that appear in realistic imaging conditions (e.g. subtle background noise due to shadows or movements). The proposed work outlines how to drive the dataset generation using the same models employed in the model fitting to create a representative training set and how to include the trained detector's response in the model fitting strategy to introduce a robustness to artifacts and an increase to the solution's region of attraction. Furthermore, the articulated model serves as a shape and moment-based feature generator. A linear regression model trained on these features predicts the final pose estimate. When necessary, an intermediate representation is defined so that the two approaches may operate on compatible inputs. The proposed solution will be applied to articulated pose estimation problems where pose estimation accuracy is the priority.
Advisors/Committee Members: Vela, Patricio A. (advisor), Howard, Ayanna M. (committee member), Chen, Yu-ping (committee member), Yezzi, Anthony J. (committee member), Bloch, Matthieu R. (committee member).
Subjects/Keywords: Human pose estimation; Machine learning; Clinical gait metrics; Infant pose estimation
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APA (6th Edition):
Serrano, M. M. (2018). RAPTr: Robust articulated point-set tracking. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60730
Chicago Manual of Style (16th Edition):
Serrano, Miguel M. “RAPTr: Robust articulated point-set tracking.” 2018. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/60730.
MLA Handbook (7th Edition):
Serrano, Miguel M. “RAPTr: Robust articulated point-set tracking.” 2018. Web. 28 Feb 2021.
Vancouver:
Serrano MM. RAPTr: Robust articulated point-set tracking. [Internet] [Doctoral dissertation]. Georgia Tech; 2018. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/60730.
Council of Science Editors:
Serrano MM. RAPTr: Robust articulated point-set tracking. [Doctoral Dissertation]. Georgia Tech; 2018. Available from: http://hdl.handle.net/1853/60730
22.
Park, Chung Hyuk.
Robot-based haptic perception and telepresence for the visually impaired.
Degree: PhD, Electrical and Computer Engineering, 2012, Georgia Tech
URL: http://hdl.handle.net/1853/44848
► With the advancements in medicine and welfare systems, the average life span of modern human beings is expanding, creating a new market for elderly care…
(more)
▼ With the advancements in medicine and welfare systems, the average life span of modern human beings is expanding, creating a new market for elderly care and assistive technology. Along with the development of assistive devices based on traditional aids such as voice-readers, electronic wheelchairs, and prosthetic limbs, a robotic platform is one of the most suitable platforms for providing multi-purpose assistance in human life. This research focuses on the transference of environmental perception to a human user through the use of interactive multi-modal feedback and an assistive robotic platform. A novel framework for haptic telepresence is presented to solve the problem, and state-of-the-art methodologies from computer vision, haptics, and robotics are utilized.
The objective of this research is to design a framework that achieves the following: 1) This framework integrates visual perception from heterogeneous vision sensors, 2) it enables real-time interactive haptic representation of the real world through a mobile manipulation robotic platform and a haptic interface, and 3) it achieves haptic fusion of multiple sensory modalities from the robotic platform and provides interactive feedback to the human user. Specifically, a set of multi-disciplinary algorithms such as stereo-vision processes, three-dimensional (3D) map-building algorithms, and virtual-proxy based haptic volume representation processes will be integrated into a unified framework to successfully accomplish the goal. The application area of this work is focused on, but not limited to, assisting people with visual impairment with a robotic platform by providing multi-modal feedback of the environment.
Advisors/Committee Members: Howard, Ayanna M. (Committee Chair), Anthony Yezzi (Committee Member), Magnus Egerstedt (Committee Member), Maysam Ghovanloo (Committee Member), Wayne Book (Committee Member).
Subjects/Keywords: Assistive robot for the visually impaired; Haptic telepresence; Haptic exploration; Computers and people with visual disabilities; Robotics; Computer vision; Touch; Assistive computer technology
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APA ·
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APA (6th Edition):
Park, C. H. (2012). Robot-based haptic perception and telepresence for the visually impaired. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/44848
Chicago Manual of Style (16th Edition):
Park, Chung Hyuk. “Robot-based haptic perception and telepresence for the visually impaired.” 2012. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/44848.
MLA Handbook (7th Edition):
Park, Chung Hyuk. “Robot-based haptic perception and telepresence for the visually impaired.” 2012. Web. 28 Feb 2021.
Vancouver:
Park CH. Robot-based haptic perception and telepresence for the visually impaired. [Internet] [Doctoral dissertation]. Georgia Tech; 2012. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/44848.
Council of Science Editors:
Park CH. Robot-based haptic perception and telepresence for the visually impaired. [Doctoral Dissertation]. Georgia Tech; 2012. Available from: http://hdl.handle.net/1853/44848
23.
Trevor, Alexander J. B.
Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.
Degree: PhD, Interactive Computing, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/53583
► Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that…
(more)
▼ Although much progress has been made in the field of robotic mapping, many challenges remain including: efficient semantic segmentation using RGB-D sensors, map representations that include complex features (structures and objects), and interfaces for interactive annotation of maps. This thesis addresses how prior knowledge of semi-structured human environments can be leveraged to improve segmentation, mapping, and semantic annotation of maps. We present an organized connected component approach for segmenting RGB-D data into planes and clusters. These segments serve as input to our mapping approach that utilizes them as planar landmarks and object landmarks for Simultaneous Localization and Mapping (SLAM), providing necessary information for service robot tasks and improving data association and loop closure. These features are meaningful to humans, enabling annotation of mapped features to establish common ground and simplifying tasking. A modular, open-source software framework, the OmniMapper, is also presented that allows a number of different sensors and features to be combined to generate a combined map representation, and enabling easy addition of new feature types.
Advisors/Committee Members: Christensen, Henrik I. (advisor), Dellaert, Frank (committee member), Fox, Dieter (committee member), Howard, Ayanna M. (committee member), Rehg, James (committee member).
Subjects/Keywords: Simultaneous Localization and Mapping; SLAM; Robotic mapping; Semantic mapping; Robotic perception; Service robots
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APA (6th Edition):
Trevor, A. J. B. (2015). Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53583
Chicago Manual of Style (16th Edition):
Trevor, Alexander J B. “Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.” 2015. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/53583.
MLA Handbook (7th Edition):
Trevor, Alexander J B. “Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments.” 2015. Web. 28 Feb 2021.
Vancouver:
Trevor AJB. Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/53583.
Council of Science Editors:
Trevor AJB. Semantic mapping for service robots: building and using maps for mobile manipulators in semi-structured environments. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53583
24.
Coogle, Richard A.
Using multiple agents in uncertainty minimization of ablating target sources.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/53036
► The objective of this research effort is to provide an efficient methodology for a multi-agent robotic system to observe moving targets that are generated from…
(more)
▼ The objective of this research effort is to provide an efficient methodology for a multi-agent robotic system to observe moving targets that are generated from an ablation process. An ablation process is a process where a larger mass is reduced in volume as a result of erosion; this erosion results in smaller, independent masses. An example of such a process is the natural process that gives rise to icebergs, which are generated through an ablation process referred to as ice calving. Ships that operate in polar regions continue to face the threat of floating ice sheets and icebergs generated from the ice ablation process. Although systems have been implemented to track these threats with varying degrees of success, many of these techniques require that the operations are conducted outside of some boundary where the icebergs are known not to drift. Since instances where polar operations must be conducted within such a boundary line do exist (e.g., resource exploration), methods for situational awareness of icebergs for these operations are necessary. In this research, efficacy of these methods is correlated to the initial acquisition time of observing newly ablated targets, as it provides for the ability to enact early countermeasures. To address the research objective, the iceberg tracking problem is defined such that it is re-cast within a class of robotic, multiagent target-observation problems. From this new definition, the primary contributions of this research are obtained: 1) A definition of the iceberg observation problem that extends an existing robotic observation problem to the requirements for the observation of floating ice masses; 2) A method for modeling the activity regions on an ablating source to extract ideal search regions to quickly acquire newly ablated targets; 3) A method for extracting metrics for this model that can be used to assess performance of observation algorithms and perform resource allocation. A robot controller is developed that implements the algorithms that result from these contributions and comparisons are made to existing target acquisition techniques.
Advisors/Committee Members: Howard, Ayanna M. (advisor), Egerstedt, Magnus (committee member), Weitnauer, Mary Ann (committee member), Collins, Thomas (committee member), Arkin, Ronald C. (committee member).
Subjects/Keywords: Robotics; Sensing; Icebergs; Multiple agents
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APA (6th Edition):
Coogle, R. A. (2014). Using multiple agents in uncertainty minimization of ablating target sources. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53036
Chicago Manual of Style (16th Edition):
Coogle, Richard A. “Using multiple agents in uncertainty minimization of ablating target sources.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/53036.
MLA Handbook (7th Edition):
Coogle, Richard A. “Using multiple agents in uncertainty minimization of ablating target sources.” 2014. Web. 28 Feb 2021.
Vancouver:
Coogle RA. Using multiple agents in uncertainty minimization of ablating target sources. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/53036.
Council of Science Editors:
Coogle RA. Using multiple agents in uncertainty minimization of ablating target sources. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/53036
25.
Sephus, Nashlie H.
A framework for exploiting modulation spectral features in music data mining and other applications.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/52243
► When a signal is decomposed into frequency bands, demodulated into modulator and carrier pairs, and portrayed in a carrier frequency-versus modulator frequency domain, significant information…
(more)
▼ When a signal is decomposed into frequency bands, demodulated into modulator and carrier pairs, and portrayed in a carrier frequency-versus modulator frequency domain, significant information may be automatically observed about the signal. We refer to this domain as the modulation spectral domain. The modulation spectrum is referred to as a windowed Fourier transform across time that produces an acoustic frequency versus modulation frequency representation of a signal. Previously, frameworks incorporating the discrete short-time modulation transform (DSTMT) and modulation spectrum have been designed mostly for filtering of speech signals. This modulation spectral domain is rarely, if ever, discussed in typical signal processing courses today, and we believe its current associated tools and applications are somewhat limited. We seek to revisit this domain to uncover more intuition, develop new concepts to extend its capabilities, and increase its applications, especially in the area of music data mining.
A recent interest has risen in using modulation spectral features, which are features in the modulation spectral domain, for music data mining. The field of music data mining, also known as music information retrieval (MIR), has been rapidly developing over the past decade or so. One reason for this development is the aim to develop frameworks leveraging the particular characteristics of music signals instead of simply copying methods previously applied to its speech-centered predecessors, such as speech recognition, speech synthesis, and speaker identification. This research seeks to broaden the perspective and use of an existing modulation filterbank framework by exploiting modulation features well suited for music signals.
The objective of this thesis is to develop a framework for extracting modulation spectral features from music and other signals. The purpose of extracting features from these signals is to perform data mining tasks, such as unsupervised source identification, unsupervised source separation, and audio synthesis. More specifically, this research emphasizes the following: the usefulness of the DSTMT and the modulation spectrum for music data mining tasks; a new approach to unsupervised source identification using modulation spectral features; a new approach to unsupervised source separation; a newly introduced analysis of FM features in an AM-dominated modulation spectra; and other applications.
Advisors/Committee Members: Lanterman, Aaron D. (advisor), Anderson, David V. (advisor), Clements, Mark A. (committee member), Hunt, William D. (committee member), Howard, Ayanna M. (committee member), Lerch, Alexander G. (committee member).
Subjects/Keywords: Modulation spectrum; Music information retrieval; Data mining; Features
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APA (6th Edition):
Sephus, N. H. (2014). A framework for exploiting modulation spectral features in music data mining and other applications. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/52243
Chicago Manual of Style (16th Edition):
Sephus, Nashlie H. “A framework for exploiting modulation spectral features in music data mining and other applications.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/52243.
MLA Handbook (7th Edition):
Sephus, Nashlie H. “A framework for exploiting modulation spectral features in music data mining and other applications.” 2014. Web. 28 Feb 2021.
Vancouver:
Sephus NH. A framework for exploiting modulation spectral features in music data mining and other applications. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/52243.
Council of Science Editors:
Sephus NH. A framework for exploiting modulation spectral features in music data mining and other applications. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/52243
26.
Huckaby, Jacob O.
Knowledge transfer in robot manipulation tasks.
Degree: PhD, Electrical and Computer Engineering, 2014, Georgia Tech
URL: http://hdl.handle.net/1853/51902
► Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across…
(more)
▼ Technology today has progressed to the point that the true potential of robotics is beginning to be realized. However, programming robots to be robust across varied environments and objectives, in a way that is accessible and intuitive to most users, is still a difficult task. There remain a number of unmet needs. For example, many existing solutions today are proprietary, which makes widespread adoption of a single solution difficult to achieve. Also, most approaches are highly targeted to a specific implementation. But it is not clear that these approaches will generalize to a wider range of problems and applications. To address these issues, we define the Interaction Space, or the space created by the interaction between robots and humans. This space is used to classify relevant existing work, and to conceptualize these unmet needs. GTax, a knowledge transfer framework, is presented as a solution that is able to span the Interaction Space. The framework is based on SysML, a standard used in many different systems, which provides a formalized representation and verification. Through this work, we demonstrate that by generalizing across the Interaction Space, we can simplify robot programming and enable knowledge transfer between processes, systems and application domains.
Advisors/Committee Members: Christensen, Henrik I. (advisor), Bobick, Aaron (committee member), Howard, Ayanna M. (committee member), Thomaz, Andrea (committee member), Beetz, Michael (committee member).
Subjects/Keywords: Robotics; Manufacturing robotics; Robots Control systems; Robots, Industrial; Automatic machinery; Manipulators (Mechanism)
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APA (6th Edition):
Huckaby, J. O. (2014). Knowledge transfer in robot manipulation tasks. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/51902
Chicago Manual of Style (16th Edition):
Huckaby, Jacob O. “Knowledge transfer in robot manipulation tasks.” 2014. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/51902.
MLA Handbook (7th Edition):
Huckaby, Jacob O. “Knowledge transfer in robot manipulation tasks.” 2014. Web. 28 Feb 2021.
Vancouver:
Huckaby JO. Knowledge transfer in robot manipulation tasks. [Internet] [Doctoral dissertation]. Georgia Tech; 2014. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/51902.
Council of Science Editors:
Huckaby JO. Knowledge transfer in robot manipulation tasks. [Doctoral Dissertation]. Georgia Tech; 2014. Available from: http://hdl.handle.net/1853/51902
27.
Yusuf, Adeel.
Advanced machine learning models for online travel-time prediction on freeways.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50408
► The objective of the research described in this dissertation is to improve the travel-time prediction process using machine learning methods for the Advanced Traffic In-formation…
(more)
▼ The objective of the research described in this dissertation is to improve the travel-time prediction process using machine learning methods for the Advanced Traffic In-formation Systems (ATIS). Travel-time prediction has gained significance over the years especially in urban areas due to increasing traffic congestion. The increased demand of the traffic flow has motivated the need for development of improved applications and frameworks, which could alleviate the problems arising due to traffic flow, without the need of addition to the roadway infrastructure.
In this thesis, the basic building blocks of the travel-time prediction models are discussed, with a review of the significant prior art. The problem of travel-time prediction was addressed by different perspectives in the past. Mainly the data-driven approach and the traffic flow modeling approach are the two main paths adopted viz. a viz. travel-time prediction from the methodology perspective. This dissertation, works towards the im-provement of the data-driven method.
The data-driven model, presented in this dissertation, for the travel-time predic-tion on freeways was based on wavelet packet decomposition and support vector regres-sion (WPSVR), which uses the multi-resolution and equivalent frequency distribution ability of the wavelet transform to train the support vector machines. The results are compared against the classical support vector regression (SVR) method. Our results indi-cate that the wavelet reconstructed coefficients when used as an input to the support vec-tor machine for regression (WPSVR) give better performance (with selected wavelets on-ly), when compared against the support vector regression (without wavelet decomposi-tion).
The data used in the model is downloaded from California Department of Trans-portation (Caltrans) of District 12 with a detector density of 2.73, experiencing daily peak hours except most weekends. The data was stored for a period of 214 days accumulated over 5 minute intervals over a distance of 9.13 miles. The results indicate an improvement in accuracy when compared against the classical SVR method.
The basic criteria for selection of wavelet basis for preprocessing the inputs of support vector machines are also explored to filter the set of wavelet families for the WDSVR model. Finally, a configuration of travel-time prediction on freeways is present-ed with interchangeable prediction methods along with the details of the Matlab applica-tion used to implement the WPSVR algorithm.
The initial results are computed over the set of 42 wavelets. To reduce the compu-tational cost involved in transforming the travel-time data into the set of wavelet packets using all possible mother wavelets available, a methodology of filtering the wavelets is devised, which measures the cross-correlation and redundancy properties of consecutive wavelet transformed values of same frequency band.
An alternate configuration of travel-time prediction on freeways using the con-cepts of cloud computation is also presented, which…
Advisors/Committee Members: Madisetti, Vijay Krishna (advisor), Vidakovic, Branislav (committee member), Conte, Thomas Martin (committee member), Anderson, David Verl (committee member), Howard, Ayanna M. (committee member).
Subjects/Keywords: Machine Learning; Travel-time Prediction; Time-series Prediction; Support vector machine for regression; Wavelets; Intelligent transportation systems; Machine learning; Intelligent transportation systems; Traffic flow; Forecasting
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APA (6th Edition):
Yusuf, A. (2013). Advanced machine learning models for online travel-time prediction on freeways. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50408
Chicago Manual of Style (16th Edition):
Yusuf, Adeel. “Advanced machine learning models for online travel-time prediction on freeways.” 2013. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/50408.
MLA Handbook (7th Edition):
Yusuf, Adeel. “Advanced machine learning models for online travel-time prediction on freeways.” 2013. Web. 28 Feb 2021.
Vancouver:
Yusuf A. Advanced machine learning models for online travel-time prediction on freeways. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/50408.
Council of Science Editors:
Yusuf A. Advanced machine learning models for online travel-time prediction on freeways. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50408
28.
De la Croix, Jean-Pierre.
Characterizing and facilitating human interactions with swarms of mobile robots.
Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/53524
► Since humans and robots often share workspaces and interact with each other to complete tasks cooperatively, as is the case, for example, in automated warehouses…
(more)
▼ Since humans and robots often share workspaces and interact with each other to complete tasks cooperatively, as is the case, for example, in automated warehouses and assembly lines, much of the focus has been centered on supporting human interactions with one or a few robots. As the number of robots involved in a task grows large, scalable abstractions are needed to support interactions with larger numbers of robots. Consequently, there has been a growing effort to understand human-swarm interactions (HSIs) and devise abstractions that are amenable to having humans interact with swarms of robots easily and effectively. In this dissertation, we investigate what it means to impose a control structure on a swarm of robots for the purpose of supporting a specific HSI, when such a control structure is suitable for allowing a user to solve a particular task with a swarm of robots, how one can evaluate attention and effort required to interact with a swarm of robots through a particular control structure, how well attention and effort scale as the number of robots in the swarm increases, why some swarms of robots are easier to interact with than others under the same type of control structure, how to select an appropriate swarm size, and how to design new input controllers for interacting with swarm of mobile robots. Consequently, this dissertation provides a comprehensive framework for characterizing, understanding, and designing the control structures of new abstractions that will be amenable to humans interacting with swarms of networked mobile robots, as well as, a number of examples of such old and new abstractions investigated under this framework.
Advisors/Committee Members: Egerstedt, Magnus (advisor), Feron, Eric (committee member), Howard, Ayanna M. (committee member), Ferri, Bonnie H. (committee member), Thomaz, Andrea L. (committee member).
Subjects/Keywords: Control theory; Robotics; Human-swarm interactions
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APA (6th Edition):
De la Croix, J. (2015). Characterizing and facilitating human interactions with swarms of mobile robots. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/53524
Chicago Manual of Style (16th Edition):
De la Croix, Jean-Pierre. “Characterizing and facilitating human interactions with swarms of mobile robots.” 2015. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/53524.
MLA Handbook (7th Edition):
De la Croix, Jean-Pierre. “Characterizing and facilitating human interactions with swarms of mobile robots.” 2015. Web. 28 Feb 2021.
Vancouver:
De la Croix J. Characterizing and facilitating human interactions with swarms of mobile robots. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/53524.
Council of Science Editors:
De la Croix J. Characterizing and facilitating human interactions with swarms of mobile robots. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/53524
29.
Robinette, Paul.
Developing robots that impact human-robot trust in emergency evacuations.
Degree: PhD, Electrical and Computer Engineering, 2015, Georgia Tech
URL: http://hdl.handle.net/1853/54415
► High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near…
(more)
▼ High-risk, time-critical situations require trust for humans to interact with other agents even if they have never interacted with the agents before. In the near future, robots will perform tasks to help people in such situations, thus robots must understand why a person makes a trust decision in order to effectively aid the person. High casualty rates in several emergency evacuations motivate our use of this scenario as an example of a high-risk, time-critical situation. Emergency guidance robots can be stored inside of buildings then activated to search for victims and guide evacuees to safety. In this dissertation, we determined the conditions under which evacuees would be likely to trust a robot in an emergency evacuation.
We began by examining reports of real-world evacuations and considering how guidance robots can best help. We performed two simulations of evacuations and learned that robots could be helpful as long as at least 30% of evacuees trusted their guidance instructions. We then developed several methods for a robot to communicate directional information to evacuees. After performing three rounds of evaluation using virtually, remotely and physically present robots, we concluded that robots should communicate directional information by gesturing with two arms. Next, we studied the effect of situational risk and the robot's previous performance on a participant's decision to use the robot during an interaction. We found that higher risk scenarios caused participants to align their self-reported trust with their decisions in a trust situation. We also discovered that trust in a robot drops after a single error when interaction occurs in a virtual environment. After an exploratory study in trust repair, we have learned that a robot can repair broken trust during the emergency by apologizing for its prior mistake or giving additional information relevant to the situation. Apologizing immediately after the error had no effect.
Robots have the potential to save lives in emergency scenarios, but could have an equally disastrous effect if participants overtrust them. To explore this concept, we created a virtual environment of an office as well as a real-world simulation of an emergency evacuation. In both, participants interacted with a robot during a non-emergency phase to experience its behavior and then chose whether to follow the robot’s instructions during an emergency phase or not. In the virtual environment, the emergency was communicated through text, but in the real-world simulation, artificial smoke and fire alarms were used to increase the urgency of the situation. In our virtual environment, we confirmed our previous results that prior robot behavior affected whether participants would trust the robot or not. To our surprise, all participants followed the robot in the real-world simulation of an emergency, despite half observing the same robot perform poorly in a navigation guidance task just minutes before. We performed additional exploratory studies investigating different failure modes. Even…
Advisors/Committee Members: Howard, Ayanna M. (advisor), Wagner, Alan R. (advisor), Christensen, Henrik I. (committee member), Feigh, Karen M. (committee member), Thomaz, Andrea L. (committee member).
Subjects/Keywords: Robotics; Human-robot interaction; Human-robot trust; Rescue robots
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APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
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Manager
APA (6th Edition):
Robinette, P. (2015). Developing robots that impact human-robot trust in emergency evacuations. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/54415
Chicago Manual of Style (16th Edition):
Robinette, Paul. “Developing robots that impact human-robot trust in emergency evacuations.” 2015. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/54415.
MLA Handbook (7th Edition):
Robinette, Paul. “Developing robots that impact human-robot trust in emergency evacuations.” 2015. Web. 28 Feb 2021.
Vancouver:
Robinette P. Developing robots that impact human-robot trust in emergency evacuations. [Internet] [Doctoral dissertation]. Georgia Tech; 2015. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/54415.
Council of Science Editors:
Robinette P. Developing robots that impact human-robot trust in emergency evacuations. [Doctoral Dissertation]. Georgia Tech; 2015. Available from: http://hdl.handle.net/1853/54415
30.
Ali Khan, Syed Irteza.
Classification using residual vector quantization.
Degree: PhD, Electrical and Computer Engineering, 2013, Georgia Tech
URL: http://hdl.handle.net/1853/50300
► Residual vector quantization (RVQ) is a 1-nearest neighbor (1-NN) type of technique. RVQ is a multi-stage implementation of regular vector quantization. An input is successively…
(more)
▼ Residual vector quantization (RVQ) is a 1-nearest neighbor (1-NN) type of technique. RVQ is a multi-stage implementation of regular vector quantization. An input is successively quantized to the nearest codevector in each stage codebook. In classification, nearest neighbor techniques are very attractive since these techniques very accurately model the ideal Bayes class boundaries. However, nearest neighbor classification techniques require a large size of representative dataset. Since in such techniques a test input is assigned a class membership after an exhaustive search the entire training set, a reasonably large training set can make the implementation cost of the nearest neighbor classifier unfeasibly costly. Although, the k-d tree structure offers a far more efficient implementation of 1-NN search, however, the cost of storing the data points can become prohibitive, especially in higher dimensionality.
RVQ also offers a nice solution to a cost-effective implementation of 1-NN-based classification. Because of the direct-sum structure of the RVQ codebook, the memory and computational of cost 1-NN-based system is greatly reduced. Although, as compared to an equivalent 1-NN system, the multi-stage implementation of the RVQ codebook compromises the accuracy of the class boundaries, yet the classification error has been empirically shown to be within 3% to 4% of the performance of an equivalent 1-NN-based classifier.
Advisors/Committee Members: Barnes, Chritopher F. (advisor), Anderson, David V. (advisor), Lanterman, Aaron D. (committee member), Howard, Ayanna M. (committee member), Vela, Patricio A. (committee member), Goldsman, David M. (committee member).
Subjects/Keywords: Residual vector quantization; Bayesian framework; Markov structure; 1-Nearest neighbor; Vector analysis; Nearest neighbor analysis (Statistics); Data compression (Telecommunication); Coding theory; Image processing
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Ali Khan, S. I. (2013). Classification using residual vector quantization. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/50300
Chicago Manual of Style (16th Edition):
Ali Khan, Syed Irteza. “Classification using residual vector quantization.” 2013. Doctoral Dissertation, Georgia Tech. Accessed February 28, 2021.
http://hdl.handle.net/1853/50300.
MLA Handbook (7th Edition):
Ali Khan, Syed Irteza. “Classification using residual vector quantization.” 2013. Web. 28 Feb 2021.
Vancouver:
Ali Khan SI. Classification using residual vector quantization. [Internet] [Doctoral dissertation]. Georgia Tech; 2013. [cited 2021 Feb 28].
Available from: http://hdl.handle.net/1853/50300.
Council of Science Editors:
Ali Khan SI. Classification using residual vector quantization. [Doctoral Dissertation]. Georgia Tech; 2013. Available from: http://hdl.handle.net/1853/50300
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