Control of mobile robotic platforms by handheld devices

The intent of this work was to develop a mobile robotic platform that was controlled by a Palm Pilot PDA. Advances in consumer electronics are producing powerful yet small handheld devices. Some of these devices present quasi-PC capabilities for a fraction of the cost; furthermore, they are compact enough that they fit in all but the smallest of platforms. The platform prototype built for testing purposes has a differential-drive configuration to provide simple but agile movement control. The sensor package consisted of two infrared ranging sensors mounted on servomotors that provide a wide area of detection. Building such a platform involved selection of hardware, circuit integration and software development. The software suite selected to develop code for the Palm Pilot was CodeWarrior, a C compiler that can generate code in Palm-native PRC files.

How people resolve dilemmas: An elicitation method for subjective decision factors

In human society, people encounter various deontic conflicts every day. Deontic decisions are those that include moral, ethical, and normative aspects. Here, the concern is with deontic conflicts: decisions where all the alternatives lead to the violation of some norms. People think critically about these kinds of decisions. But, just ‘what’ they think about is not always clear. ^ People use certain estimating factors/criteria to balance the tradeoffs when they encounter deontic conflicts. It is unclear what subjective factors people use to make a deontic decision. An elicitation approach called the Open Factor Conjoint System is proposed, which applies an online elicitation methodology which is a combination of two well-know research methodologies: repertory grid and conjoint analysis. This new methodology is extended to be a web based application. It seeks to elicit additional relevant (subjective) factors from people, which affect deontic decisions. The relative importance and utility values are used for the development of a decision model to predict people’s decisions. ^ Fundamentally, this methodology was developed and intended to be applicable for a wide range of elicitation applications with minimal experimenter bias. Comparing with the traditional method, this online survey method reduces the limitation of time and space in data collection and this methodology can be applied in many fields. Two possible applications were addressed: robotic vehicles and the choice of medical treatment. In addition, this method can be applied to many research related disciplines in cross-cultural research due to its online ability with global capacity. ^

An automated method for the determination of electroreception thresholds in weakly electric fish

Weakly electric fish produce a dual function electric signal that makes them ideal models for the study of sensory computation and signal evolution. This signal, the electric organ discharge (EOD), is used for communication and navigation. In some families of gymnotiform electric fish, the EOD is a dynamic signal that increases in amplitude during social interactions. Amplitude increase could facilitate communication by increasing the likelihood of being sensed by others or by impressing prospective mates or rivals. Conversely, by increasing its signal amplitude a fish might increase its sensitivity to objects by lowering its electrolocation detection threshold. To determine how EOD modulations elicited in the social context affect electrolocation, I developed an automated and fast method for measuring electroreception thresholds using a classical conditioning paradigm. This method employs a moving shelter tube, which these fish occupy at rest during the day, paired with an electrical stimulus. A custom built and programmed robotic system presents the electrical stimulus to the fish, slides the shelter tube requiring them to follow, and records video of their movements. I trained the electric fish of the genus Sternopygus was trained to respond to a resistive stimulus on this apparatus in 2 days. The motion detection algorithm correctly identifies the responses 91% of the time, with a false positive rate of only 4%. This system allows for a large number of trials, decreasing the amount of time needed to determine behavioral electroreception thresholds. This novel method enables the evaluation the evolutionary interplay between two conflicting sensory forces, social communication and navigation.

Fine Motor Skill Interventions for Teaching Handwriting

On my poster board I will display various samples of my student's writing to demonstrate their improved abilities due to my physical hand exercise.

On the Development of an Automated Design Procedure to Design Optimal Robots

The objective in this work is to build a rapid and automated numerical design method that makes optimal design of robots possible. In this work, two classes of optimal robot design problems were specifically addressed: (1) When the objective is to optimize a pre-designed robot, and (2) when the goal is to design an optimal robot from scratch. In the first case, to reach the optimum design some of the critical dimensions or specific measures to optimize (design parameters) are varied within an established range. Then the stress is calculated as a function of the design parameter(s), the design parameter(s) that optimizes a pre-determined performance index provides the optimum design. In the second case, this work focuses on the development of an automated procedure for the optimal design of robotic systems. For this purpose, Pro/Engineer© and MatLab© software packages are integrated to draw the robot parts, optimize them, and then re-draw the optimal system parts.

How People Resolve Dilemmas: An Elicitation Method for Subjective Decision Factors

In human society, people encounter various deontic conflicts every day. Deontic decisions are those that include moral, ethical, and normative aspects. Here, the concern is with deontic conflicts: decisions where all the alternatives lead to the violation of some norms. People think critically about these kinds of decisions. But, just ‘what’ they think about is not always clear. People use certain estimating factors/criteria to balance the tradeoffs when they encounter deontic conflicts. It is unclear what subjective factors people use to make a deontic decision. An elicitation approach called the Open Factor Conjoint System is proposed, which applies an online elicitation methodology which is a combination of two well-know research methodologies: repertory grid and conjoint analysis. This new methodology is extended to be a web based application. It seeks to elicit additional relevant (subjective) factors from people, which affect deontic decisions. The relative importance and utility values are used for the development of a decision model to predict people’s decisions. Fundamentally, this methodology was developed and intended to be applicable for a wide range of elicitation applications with minimal experimenter bias. Comparing with the traditional method, this online survey method reduces the limitation of time and space in data collection and this methodology can be applied in many fields. Two possible applications were addressed: robotic vehicles and the choice of medical treatment. In addition, this method can be applied to many research related disciplines in cross-cultural research due to its online ability with global capacity.