List of USNA Midshipmen Projects
The following is a list of Capstone, Honors, and Independent Research Projects for which I have been advisor.-
Comparison of Human-Robot Systems under Different Levels of Autonomy
Midshipmen:
Description: As robotic systems become widespread throughout society, the importance of determining the benefits of different levels of autonomy is crucial to efficient systems. This project looked to examine the different benefits of teleoperation, supervisory, and autonomous control within a human operated ground robot system. Through experimentation, the human-robot team was evaluated on its ability to survey a space with a simulated ground vehicle. Utilizing MATLAB and Simulink, human volunteers were asked to perform three tasks: maneuver the vehicle through a virtual map, count the number of audio tones that are played during the test, and maintain spatial awareness of the robot’s surroundings. Each task was used to measure the human-robot systems competence within a specific criteria. Each method of control was analyzed during testing under the criteria of completion time, ability to multitask, and spatial awareness.- E. Braun, Class of 2019
- J. Stewart, Class of 2021
- Prof. P. Jaramillo Cienfuegos
- Honors Capstone Project, AY2019
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Cellular Automata based Decentralized Cooperative Collision Avoidance Control
Description: This project proposed a decentralized cooperative avoidance control algorithm for an arbitrary large group of agents. The algorithm is based on the concept of cellular automata, which divides the workspace in cells of equal size. The algorithm assumes agents can move one cell at a time within a Moore neighborhood of range one according to a set of predefined transition rules. Only current position information about nearby agents in a two-cell range Moore neighborhood is required and the agents do not need to differentiate between static obstacles and another agents. Moreover, the agents do not need to know the intentions of other agents. To minimize the probabilities of deadlocks—a common navigation issue of decentralized control frameworks—the proposed algorithm includes a transition rule which aims to solve potential conflict among agents. It is theoretically shown that the cooperative algorithm can guarantee collision free-transit at all times under some mild assumptions. A Monte Carlo simulation was carried in order to evaluate and compare the performance of the algorithm under different scenarios (i.e., different number of agents, obstacles, and initial conditions) as well as different set of tuning parameters. Results validated the claim of collision avoidance under all scenarios while minimizing the occurrence of deadlocks.
Midshipmen:
- C. K. Rico, Class of 2019
- Honors Capstone Project, AY2019
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Smart Energy through Occupancy Tracking
Description: Smart Building Energy Automation Systems aim to create a more energy efficient and fitting room environment by tracking people occupancy. By using a network of smart sensors, a smart energy system can track the level of occupancy in a room and adjust amenities such as temperature and lighting. This project presented an smart energy system that has been shown to estimate the level of occupancy in the 17th Company wardroom with fair accuracy. The things that were done in order to create a smart energy room where to incorporate the sensors previously made with the newer and nicer sensors in order for future projects to implement with the occupancy tracking algorithm. The algorithm was able to track the occupancy with fair accuracy, and so paired with the automation of the Samsung Smart Thing’s Hub, has the potential to create a fully automated, smart energy room.
Midshipmen:
- A. Spencer, Class of 2019
- Cyber Science Department Independent Research, AY2019
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Swarm-bots
Description: The objective of this project was to create a system of robots that are capable of tracking a target and avoiding obstacles while maintaining specified formations. Creating systems of robots that are able to work and move together efficiently is a problem that is currently plaguing systems engineering. Undertaking this project may have lead closer to a solution of the complexities of multiple robot system movement. The conclusion of this project demonstrated the accomplishment of the creation of robotic swarm behavior.
Midshipmen:
- R. Fletcher, R. Ochoa, and N. Weinhardt, Class of 2017
- Capstone Project, AY2017
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Self-Assembling Single Actuator Robots
Midshipmen:
Description: The goal of this project was to design and build a pair of autonomous single-actuator robots that not only can operate independently, but can also physically connect to each other to accomplish tasks as an assembled unit. Two identical robots were built capable of independently performing 2-D motion using a single motor. The robots were able to communicate and physically connect to each other and, as a joint unit, navigate a 2-D space faster and more efficiently using differential drive principles.
- K. Strotz, Class of 2016
- Everhart, F. Garcia-Quiroga, and J. Valencia, Class of 2015
- Honors Capstone Project, AY2016, Capstone Project, AY2015
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Scout-bot: Semi-Autonomous Vehicle for Target Recognition & Mapping
Midshipmen:
Description: The purpose of this project was to develop a semi-autonomous ground vehicle capable to navigate through an obstructed environment. The vehicle would rely on a LIDAR sensor to detect the boundary of osbtacles (such as walls) and provide the operator with a map. In addition, the vehicle should be able to provide target recognization using a camera. - R. Costa, J. Morris, and T. Valencia, Class of 2016
- H. Bloy, K. Miller, and B. Nixon, Class of 2015
- C. Ormsbee, Class of 2015
- B. Huggins Class of 2014
- Capstone Project, AY2014, AY2015, AY2016
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Teleoperation of a Team of Unmanned Vehicles by Voice Command
Midshipmen:
Description: In order to integrate unmanned systems with huiman troops in the battlefield, these intelligent systems must be able to easily interact and cooperate with the human soldiers. A simple and instuitive strategy is for these system to be able to respond to human voice commands. The purpose of this project was to develop a control architecture for a team of vehicles to be navigated using voice commands from different operators. The systems was able to receive command from different operators and a single operator was able to command more than one mobile robot. - S. Doan and C. Robertson, Class of 2016
- Capstone Project, AY2016
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Object Transportation by Cooperative Robots
Midshipmen:
Description: This project developed a cooperative object transportation strategy for a pair of nonholonomic vehicles. We demonstrated via experiments that cooperative robots can be used to autonomously transport an object that is too heavy or cumbersome for a single robot to do individually using minimal inter-vehicle communication. The proposed control strategy is divided in three phases: contact, re-orientation, and cooperative transportation. The first two phases consist of driving the robots from any arbitrary initial configuration toward the object, establishing physical contact with the object, and re-orienting themselves according to the objects desired destination. The third phase consists of cooperatively transporting the object by assuming a novel inter-vehicle topology. The two first phases require initial inter-vehicle communication, whereas the third phases assumes that each robot is rigidly connected to the object. Collectively, these results demonstrate the ability to transport an object using multiple robots with minimal intervehicle communication.
- J. E. Inglett, Class of 2015
- Honors Capstone Project, AY2015
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Interoperable UGV -UAV System for Tracking and Mobile VTOL
Midshipmen:
Description: The purpose of this project was to demonstrate proof of concept of an interoperable air-ground unmanned vehicle system. This system allows the ground and aerial components to communicate in a manner to establish a tracking-following relationship that incorporates vertical take-off and landing (VTOL) capability.
- M. Buck and J. Dang, Class of 2015
- Honors Capstone Project, AY2015
- Prof. J. Dawkins
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Self-Balancing Marine Vessel
Midshipmen:
Description: Every year thousands of shipping containers fall from ship decks due to large waves and strong winds. The goal of this project was to develop a control system capable to autonomously counteract the disturbances of the base platform by controlling the roll and pitch axes.
- E. Johnson and T. Shepard-Lewis, Class of 2015
- Capstone Project, AY2015
