A5081470608- Robotic Path Planning Algorithms
- Smart Agriculture and AI
- Prosthetics and Rehabilitation Robotics
- Modular Robots and Swarm Intelligence
- Robot Manipulation and Learning
- Plant and animal studies
- Greenhouse Technology and Climate Control
- Soil Mechanics and Vehicle Dynamics
- Planetary Science and Exploration
- Robotic Mechanisms and Dynamics
- Space Exploration and Technology
- Space Satellite Systems and Control
- Motor Control and Adaptation
- Distributed systems and fault tolerance
- Robotic Locomotion and Control
- Robotics and Sensor-Based Localization
- Technology Adoption and User Behaviour
- UAV Applications and Optimization
- Muscle activation and electromyography studies
- Astro and Planetary Science
- Data Management and Algorithms
- Web Data Mining and Analysis
- Tactile and Sensory Interactions
- Distributed and Parallel Computing Systems
West Virginia University
2019-2024
Universidade Federal de Santa Maria
2015-2017
This paper presents a cooperative, multi-robot solution for searching, excavating, and transporting mineral resources on the Moon. Our work was developed in context of Space Robotics Challenge Phase 2 (SRCP2), which part NASA Centennial Challenges motivated by current Artemis program, flagship initiative that intends to establish long-term human presence In SRCP2 group simulated mobile robots tasked with reporting volatile locations within realistic lunar simulation environment, excavating...
Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments suitable bees such as greenhouses, growth chambers, outer space. pollination requires a high degree of precision autonomy few systems have addressed both these aspects practice. In this paper, fully autonomous robot is presented, capable precise individual small flowers. Experimental results show that the proposed system able...
There are many benefits for exploring and exploiting underground mines, but there also significant risks challenges. One such risk is the potential accidents caused by collapse of pillars, roofs which can be mitigated through inspections. However, these inspections costly may put safety inspectors at risk. To address this issue, work presents Rhino, an autonomous robot that navigate mine environments generate 3D maps. These generated maps will allow workers to proactively respond hazards...
This paper presents a novel compliant spring system designed to be attached conventional robotics servo motor, turning it into series elastic actuator (SEA). The is composed by only two mechanical parts: torsional polyurethane and round aluminum support for link attachment. spring, had its design derived from iterative FEM-based optimization process. A magnetometer based circuit used measure angular displacement communicate through RS485 bus protocol.
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multirobot coordination to support lunar outpost. To achieve these objectives, algorithm design choices software developments need be tested validated expected scenarios such as autonomous situ resource utilization, localization challenging environments, coordination. However, real-world experiments are extremely limited extraterrestrial environment. Also, realistic...
This work presents Dimitri, an open-software & open-hardware robot torso equipped with modular low cost compliant joints, built to allow advanced research on human-robot interaction, force-aware object manipulation and environment exploration. The has 13 DOFs: 4 DOFs series elastic actuators in each arm, 3 for roll, pitch yaw of the waist, 2 head pan tilt. Our main innovation is employment a polyurethane based spring system attached conventional robotics servo motors, turning them into...
The agriculture field is increasingly adopting new technologies of precision systems. Among them, agricultural robots (ARs) and wearable (WT) have the potential to help stakeholders automate certain tasks augment their capabilities, respectively. This does not guarantee successful adoption though. factors that are related eventual could be influenced by technology type as different elicit responses from stakeholders. Not considering differences caused stakeholder cause only part workforce...
This work presents the design of Stickbug, a six-armed, multi-agent, precision pollination robot that combines accuracy single-agent systems with swarm parallelization in greenhouses. Precision robots have often been proposed to offset effects decreasing population natural pollinators, but they frequently lack required and scalability. Stickbug achieves this by allowing each arm drive base act as an individual agent, significantly reducing planning complexity. uses compact holonomic Kiwi...
Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with dynamic conditions influenced by weather, vegetation, human traffic, represent one such challenge. This work introduces a novel approach hiking trail navigation that balances adherence the flexibility adapt off-trail routes when necessary. The solution is Traversability Analysis module integrates semantic data from camera...
Team Mountaineers launched efforts on the NASA Space Robotics Challenge Phase-2 (SRC2). The challenge will be held lunar terrain with virtual robotic platforms to establish an in-situ resource utilization process. In this report, we provide overview of a simulation environment, mobile robot, and software architecture that was created by in order prepare for competition's qualification round before competition environment released.
There are many benefits for exploring and exploiting underground mines, but there also significant risks challenges. One such risk is the potential accidents caused by collapse of pillars, roofs which can be mitigated through inspections. However, these inspections costly may put safety inspectors at risk. To address this issue, work presents Rhino, an autonomous robot that navigate mine environments generate 3D maps. These generated maps will allow workers to proactively respond hazards...
Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments suitable bees such as greenhouses, growth chambers, outer space. pollination requires a high degree of precision autonomy few systems have addressed both these aspects practice. In this paper, fully autonomous robot is presented, capable precise individual small flowers. Experimental results show that the proposed system able...
Plans for establishing a long-term human presence on the Moon will require substantial increases in robot autonomy and multi-robot coordination to support lunar outpost. To achieve these objectives, algorithm design choices software developments need be tested validated expected scenarios such as autonomous in-situ resource utilization (ISRU), localization challenging environments, coordination. However, real-world experiments are extremely limited extraterrestrial environment. Also,...