Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech’s custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE’s design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between different motion patterns. This approach uses multiple feedforward-feedback controllers. Different aspects of the roll mechanism and the effectiveness of the controller on turning motion are discussed based on experimental results. The results illustrate that the ROUGHIE is capable of achieving tight turns with a radius of 2.4 meters in less than 3 meters of water, or one order of magnitude improvement on existing internally actuated platforms. The developed roll mechanism is not specific to underwater gliders and is applicable to all AUVs, especially at lower speeds and in shallower water when external rudder is less effective in maneuvering the vehicle

Co-robotics hands-on activities: A gateway to engineering design and STEM learning

© 2017 Elsevier B.V. This paper presents the effect of meaningful learning contexts and hands-on activities, facilitated using two robots that work with people (co-robots), in broadening and sustaining pre-college student engagement in Science, Technology, Engineering, and Mathematics (STEM). The two co-robots are: (1) a Glider for Underwater Problem-solving and Promotion of Interest in Engineering or GUPPIE and (2) a Neurally controlled manipulator called Neu-pulator. The co-robots are easy and inexpensive to manufacture, with readily available lightweight and durable components. They are also modular to accommodate a variety of learning activities that help young students to learn crosscutting concepts and engineering practice. The early assessment results show that students’ interests in activities related to robotics depend on their perception of the difficulty and their confidence level. The key is to start early when the students are young. The challenge is to break the barriers and define tasks as fun activities with a learn and play approach that can be rewarding. In this work, using a meaningful context – as in co-robots that help humans – in a hands-on project-based program that integrates different aspect of design, science, and technology is found effective in increasing students’ enthusiasm and participation. The co-robots and the hands-on activities can be easily adopted in classrooms by teachers with no engineering background who seek innovative ways to connect interdisciplinary core ideas and standards to the concepts they need to teach

Marine Robotics: An Effective Interdisciplinary Approach to Promote STEM Education

© 2018, Springer International Publishing AG. GUPPIE, a Glider for Underwater Problem-solving and Promotion of Interest in Engineering was developed in Nonlinear and Autonomous System Laboratory at Michigan Technological University to be used as an educational tool to broaden the impact of Science, Technology, Engineering, and Mathematics (STEM) learning. The GUPPIE educational program utilizes high-interest themes, meaningful contexts, and hands-on activities to engage students as early as 4th grade and sustain their interest and learning to and through college. The program has engaged over 2000 students since 2013. The interdisciplinary nature of GUPPIE and hands-on activities in diverse areas from hardware development, and programming to gathering and interpreting data will improve students’ ability for critical, creative problem solving, and ultimately increase individual motivation for pursuing STEM academic and career pathways

Adaptive Robotic Platform as an Inclusive Education Aid for Children with Autism Spectrum Disorder

Abstract Language is the means by which a human being understands and transmits ideas, feelings, and thoughts verbally or in writing with other human beings. However, some people have difficulties in performing these activities, for example, in the case of autism. High-functioning autism spectrum disorder (ASD) is a chronic, life long condition characterized by social communication and social interaction deficits during the educational process. The development of computational tools, that combine hardware and software, helps to overcome these difficulties. This paper shows the development and implementation of an adaptive robotic platform that aimed to construct robots to establish a communication process with children at an educational level