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Barrett, The Honors College Thesis/Creative Project Collection


Date Range
2013 2018

For those interested in the field of robotics, there are not many options to get your hands on a physical robot without paying a steep price. This is why the folks at BCN3D Technologies decided to design a fully open-source 3D-printable robotic arm. Their goal was to reduce the barrier to entry for the field of robotics and make it exponentially more accessible for people around the world. For our honors thesis, we chose to take the design from BCN3D and attempt to build their robot, to see how accessible the design truly is. Although their designs were not perfect ...

Contributors
Cohn, Riley, Petty, Charles, Ben Amor, Hani, et al.
Created Date
2017-12

In order to refine autonomous exploratory movement planning schemes, an approach must be developed that accounts for valuable information other than that gained from map filling. To this end, the goal of this thesis is divided into two parts. The first is to develop a technique for categorizing objects detected by an autonomous exploratory robot and assigning them a score based on their interest value. The second is an attempt to develop a method of integrating this technique into a navigation algorithm in order to refine the movements of a robot or robots to maximize the efficiency of information gain. ...

Contributors
Fleetwood, Garrett Clark, Thanga, Jekan, Berman, Spring, et al.
Created Date
2016-12

Current robotic systems are limited in their abilities to efficiently traverse granular environments due to an underdeveloped understanding of the physics governing the interactions between solids and deformable substrates. As there are many animal species biologically designed for navigation of specific terrains, it is useful to study their mechanical ground interactions, and the kinematics of their movement. To achieve this, an automated, fluidized bed was designed to simulate various terrains under different conditions for animal testing. This document examines the design process of this test setup, with a focus on the controls. Control programs will be tested with hardware to ...

Contributors
Harvey, Carolyn Jean, Marvi, Hamidreza, Emady, Heather, et al.
Created Date
2016-05

I worked on the human-machine interface to improve human physical capability. This work was done in the Human Oriented Robotics and Control Lab (HORC) towards the creation of an advanced, EMG-controlled exoskeleton. The project was new, and any work on the human- machine interface needs the physical interface itself. So I designed and fabricated a human-robot coupling device with a novel safety feature. The validation testing of this coupling proved very successful, and the device was granted a provisional patent as well as published to facilitate its spread to other human-machine interface applications, where it could be of major benefit. ...

Contributors
O'Neill, Gerald D., Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2013-05

This thesis proposes the concept of soft robotic supernumerary limbs to assist the wearer in the execution of tasks, whether it be to share loads or replace an assistant. These controllable extra arms are made using soft robotics to reduce the weight and cost of the device, and are not limited in size and location to the user’s arm as with exoskeletal devices. Soft robotics differ from traditional robotics in that they are made using soft materials such as silicone elastomers rather than hard materials such as metals or plastics. This thesis presents the design, fabrication, and testing of the ...

Contributors
Olson, Weston Roscoe, Polygerinos, Panagiotis, Zhang, Wenlong, et al.
Created Date
2016-05

This thesis presents an approach to design and implementation of an adaptive boundary coverage control strategy for a swarm robotic system. Several fields of study are relevant to this project, including; dynamic modeling, control theory, programming, and robotic design. Tools and techniques from these fields were used to design and implement a model simulation and an experimental testbed. To achieve this goal, a simulation of the boundary coverage control strategy was first developed. This simulated model allowed for concept verification for different robot groups and boundary designs. The simulation consisted of a single, constantly expanding circular boundary with a modeled ...

Contributors
Murphy, Hunter Nicholas, Berman, Spring, Marvi, Hamid, et al.
Created Date
2017-05

As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in ...

Contributors
Bevilacqua, Vincent Frank, Artemiadis, Panagiotis, Santello, Marco, et al.
Created Date
2013-05

The role of robotics mobility is essential in the world of research because it allows humans to perform jobs that are dull, dirty, or dangerous without being physically present. A typical robot environment is one that is smooth and predictable. Screw-powered vehicles (SPV’s) have commonly been used in these predictable environment situations such as terrestrial applications like mud and snow. However, a gap remains in SPV’s traversing complex environments, particularly debris and granular material. The goal is to study the characteristics of how a SPV might move and generate force in such a granular environment for Earth and space. In ...

Contributors
Ramirez, Sierra Monique, Marvi, Hamid, Emady, Heather, et al.
Created Date
2018-05
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Technical innovation has always played a part in live theatre, whether in the form of mechanical pieces like lifts and trapdoors to the more recent integration of digital media. The advances of the art form encourage the development of technology, and at the same time, technological development enables the advancement of theatrical expression. As mechanics, lighting, sound, and visual media have made their way into the spotlight, advances in theatrical robotics continue to push for their inclusion in the director’s toolbox. However, much of the technology available is gated by high prices and unintuitive interfaces, designed for large troupes and ...

Contributors
Hollenbeck, Matthew D., Wiebel, Griffin, Winnemann, Christopher, et al.
Created Date
2018-05

This thesis focused on grasping tasks with the goal of investigating, analyzing, and quantifying human catching trends by way of a mathematical model. The aim of this project was to study human trends in a dynamic grasping task (catching a rolling ball), relate those discovered trends to kinematic characteristics of the object, and use this relation to control a robot hand in real time. As an ultimate goal, it was hoped that this research will aide in furthering the bio-inspiration in robot control methods. To achieve the above goal, firstly a tactile sensing glove was developed. This instrument allowed for ...

Contributors
Card, Dillon, Mincieli, Jennifer, Artemiadis, Panagiotis, et al.
Created Date
2014-05

Barrett, the Honors College accepts high performing, academically engaged students and works with them in collaboration with all of the other academic units at Arizona State University. All Barrett students complete a thesis or creative project, supervised and defended in front of a faculty committee. The thesis or creative project allows students to explore an intellectual interest and produce an original piece of scholarly research. The thesis or creative project is a student’s opportunity to explore areas of academic interest with greater intensity than is possible in a single course. It is also an opportunity to engage with professors, nationally recognized in their fields and specifically interested and committed to working with honors students. This work provides tangible evidence of a student’s research, writing and creative skills to graduate schools and/or prospective employers.