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Florida Conference on Recent Advances in Robotics
and Robot Showcase
FCRAR 2006, Miami, Florida, May 25-26, 2006
Conference Proceedings
Click on the paper title to download the paper in pdf format.
Session 1:
Vision
Thursday, May
25, 2006
9:30 am – 11:30 am, GC 140
Chair: Carl Crane
Co-chair: Aylin Yenilmez
Performance Analysis for Integrating Biometrics
Lianfen Qian, and Hanqi Zhuang
Florida Atlantic University, Boca Raton
A Scale Preserving Lens Distortion Model and Its Application
to Image Registration
Frank M. Candocia
Florida International University, Miami
TJPROAVR: A Wireless Enabled Mobile Robot for Vision
Research
Scott Jantz, and Keith L. Doty
University of Florida, Gainesville
Intelligent Expression-Independent Face Recognition
Algorithm
Chao Li, and Armando Barreto
Florida International University, Miami
Conveyor Visual Tracking using Robot Vision
Iksang Shin1, Sang-Hyun Nam2, Hyun Geun Yu3, Rodney G.
Roberts3, and Seungbin B. Moon1
1Sejong University, Seoul, Korea, 2Chungnam Human Resource
Development Institute, Korea, 3Florida State University,
Tallahassee
A Method for Creating 3D Face from a 2D Face Image
Hanqi Zhuang, Teerapat Theerawong, Xin Guan, Salvatore
Morgera, and Abhi S. Pandya
Florida Atlantic University, Boca Raton
Session 2: Teleoperation and Navigation
Thursday, May
25, 2006
2:00 pm – 4:00 pm, GC 140
Chair: Dan Cox
Co-chair: Zvi Roth
Robot Navigation in Cluttered 3D Environments Using
Preference-Based Fuzzy Behaviors
Dongqing Shi, Majura F. Selekwa, and Emmanuel G. Collins
Florida A&M University and Florida State University,
Tallahassee
Development of a Real-Time Force-Reflecting Teleoperation
System Based on Matlab© Simulations
Mehmet Ismet Can Dede, and Sabri Tosunoglu
Florida International University, Miami
Koolio: Path Planning Using Reinforcement Learning on a Real
Robot Platform
Lavi Zamstein, A. Antonio Arroyo, Eric M. Schwartz, Sara
Keen, Blake C. Sutton, and Gorang Gandhi
University of Florida, Gainesville
A Simple Limit Cycle Negotiation Strategy for Robot
Navigation
Camilo Ordonez, Emmanuel G. Collins, Jr., Majura F. Selekwa,
and Damion D. Dunlap
Florida A&M University and Florida State University,
Tallahassee
Implementation of the Wave Variable Method on the PHANTOM
Omni Haptic Device
Marc Alise1, Rodney G. Roberts1, and Daniel W. Repperger2
1Florida State University/Florida A&M University,
Tallahassee, 2Air Force Research Laboratory Wright-Patterson
Air Force Base, Dayton, Ohio
Terrain Mapping Scouting Autonomous Robot
Joaquin Prendes, Hong Soong, Javier Prado, and Victor
Fernandez
Florida International University, Miami
Session 3: AUVSI
Florida Peninsula Chapter Meeting
Thursday,
May 25, 2006
2:00 pm – 4:00 pm, GC 150
Chair: Michelle Kalphat
Co-chair: Peter Drewes
Status of Submitted Proposals for the Chapter's Annual Event
Upcoming AUVSI Board of Trustees Election
Planning for AUVSI North America 2006 Conference Booth
UCF Robotics Education Outreach to the Community
Sponsorship for the ASVC, AUVSI Surface Vehicle Competition
AUVSI Participation in the Upcoming Urban DARPA Grand Challenge Event
Planning for the Next Chapter Meeting
Session 4: Autonomous and Unmanned Vehicles
Thursday,
May 25, 2006
4:15 pm – 6:00 pm, GC 140
Chair: Armando Barreto
Co-chair: Ian Cobham
Localization of Ground Targets Using Small Unmanned
Helicopters
Donald MacArthur, Erica MacArthur, and Carl Crane
University of Florida, Gainesville
Live Virtual and Constructive Training for Unmanned System
Usage
Peter Drewes1, and Michelle Kalphat2
1Cole Engineering, Orlando, and 2US Army, Orlando
A Hierarchical Approach to Control a Swarm of Unmanned
Aerial Vehicles
Thierry Pamphile1, and Kuo-Chi Kurt Lin2
1Florida International University, Miami, 2University of
Central Florida, Orlando
Direct Adaptive Tracking Control of Quadrotor
Aerial Vehicles
Yannick Morel, and Alexander Leonessa
University of Central Florida, Orlando
Simulation based Approach for Unmanned System Command and
Control
Peter Drewes
Cole Engineering, Orlando
Session 5: Robotic and Biomedical Applications
Thursday,
May 25, 2006
4:15 pm – 6:00 pm, GC 150
Chair: Frank Candocia
Co-chair: Oren Masory
Drug-Test Kit Automation Project
Daniel J. Cox
University of North Florida, Jacksonville
Biofeedback Controlled Ankle Foot Orthosis for Stroke
Rehabilitation to Improve Gait Symmetry
Szu-Min Chang, and Diana Rincon
Florida International University, Miami
Selection Considerations and a Comparison of Commercial
Wheelchair Mounted Robotic Arms
Stephen Sundarrao, Redwan Alqasemi, Edward McCaffrey, and
Rajiv Dubey
University of South Florida, Tampa
Development of a Small Energy Scavenger
Rene A. Leon1, Carlos A. Pina1, Aylin Yenilmez2, Ibrahim N.
Tansel1,
Carlos M. Pereira3, and Luz E. Roth3
1Florida International University, Miami, 2Istanbul
Technical University, Istanbul, Turkey, 3US Army
ARDEC, Picatinny Arsenal, New Jersey
Koolio: An Autonomous Refrigerator Robot
Sara Keen, Wenxing Ye, Lavi Zamstein, Blake Sutton, Gene
Shokes, Gorang Gandhi, Eric M. Schwartz, and A. Antonio
Arroyo
University of Florida, Gainesville
Session 6: Modeling of Robots
Friday, May 26, 2006
8:30 am – 10:30 am, GC 140
Chair: Antonio Arroyo
Co-chair: Peter Drewes
Approximate Motion Syntheses of Robotic Systems via a Polar
Decomposition Based Displacement Metric
Venkatesh Venkataramanujam, and Pierre M. Larochelle
Florida Tech, Melbourne
Modeling Aspects of Temperature Controlled Cryogenic
Processes
David Sheats1, Joseph Snyder1, and Zvi Roth2
1Scientific Instruments, 2Florida Atlantic University, Boca
Raton
Closed-Form Equilibrium Analysis of Planar Tensegrity
Mechanisms
Jahan Bayat, and Carl Crane
University of Florida, Gainesville
Small Vessel
Parametric Model Coefficient Estimation
Felicia M. Powell, James H. VanZwieten, and Frederick R.
Driscoll
Florida Atlantic University, SeaTech Campus, Dania Beach
Experimental Determination of the Translational Acceleration
Values for a Spinning Vehicle
Oren Masory1, Erwin Le Gall1, Wade Bartlett2, and Bill
Wright3
1Florida Atlantic University, Boca Raton, 2Mechanical
Forensics Engineering Services, 3Traffic Accident
Reconstruction Origin
Session 7: Design and Control of Robots
Friday, May 26, 2006
8:30 am – 10:30 am, GC 150
Chair: Diana Rincon
Co-chair: Eric Schwartz
Hands-Free Manipulation of the Computer Cursor Based on the
Electromyogram
Craig Chin, and Armando Barreto
Florida International University, Miami
Vibration Control of Parallel Platforms based on
Magnetorheological Damping
Memet Unsal, Carl Crane, and Christopher Niezrecki
University of Florida, Gainesville
Control of Micro Mirrors for High Precision Performance
Jessica Bronson, and Gloria Wiens
University of Florida, Gainesville
The Identification of Terrains for Mobile Robots Using
Eigenspace and Neural Network Methods
Edmond M. DuPont, Rodney G. Roberts, and Carl A. Moore
Florida A&M University/Florida State University, Tallahassee
Control Strategies for Articulated Chain Robots
Aura-Maria Cardona1, Carlos Parra2, and Jorge-Isaias
Barrero3
1Florida Atlantic University, Boca Raton, 2Pontificia
Universidad Javeriana, Bogota, Colombia, 3University of
Massachusetts, Boston
Sprainy:
Design and Prototype Development of an
8 Degree-of-Freedom Walking Biped Robot
Narciso Gomez, and Sabri Tosunoglu
Florida International University, Miami
Special Session on Robot Competitions
Friday, May 26, 2006
11:00 am – 12:00 pm, GC 140
Chair: Michelle Kalphat
Co-chair: Pierre Larochelle
System Design of an Autonomous Ground Vehicle for
Participation in the 2005 DARPA Grand Challenge
Carl D. Crane III1, David G. Armstrong II1,
Robert Touchton1, Tom Galluzzo1,
Sanjay Solanki1, Jaesang Lee1, Daniel Kent1,
Maryum Ahmed1, Roberto Montane1,
Shannon Ridgeway1, Steve Velat1,
Greg Garcia1, and Michael Griffis2
1University of Florida, Gainesville, 2The Eigenpoint Company, High Springs
Session 8: Autonomous and Unmanned Vehicles
Friday, May 26, 2006
2:00 pm – 3:45 pm, EC 140
Chair: Rodney Roberts
Co-chair: Gloria Wiens
SubjuGator 2005: Winner of the 2005 AUVSI Autonomous
Submarine Competition
William Dubel, James Greco, Carlo Francis, Aaron Chinault,
Adam Barnett, Kevin Claycomb, Grzegroz Cieslewski, Alan
Melling, Sean Cohen, Eric M. Schwartz, and A. Antonio Arroyo
University of Florida, Gainesville
Fuzzy Logic Based Integrated Controller for Unmanned Air
Vehicles
Kimberly Bickraj1, Thierry Pamphile1, Aylin Yenilmez2, Ming Li1, and Ibrahim N. Tansel1
1Florida International University, Miami, 2Istanbul
Technical University, Istanbul, Turkey
Quantification and Qualification of the Effects of Physical
Time Delays on an Unmanned Aerial Vehicle Controller
Salim Nasser, and Diana Rincon
Florida International University, Miami
Indirect Collaborative Control of Autonomous Vehicles with
Limited Communication Bandwidth
Alexander Leonessa, and Yannick Morel
University of Central Florida, Orlando
Self Sustained Strain Monitor for Air Vehicle Structures
Carlos A. Pina1,
Rene A. Leon1, Aylin Yenilmez2, Ibrahim N.
Tansel1, Carlos M. Pereira3, and Luz
E. Roth3
1Florida International University, Miami, 2Istanbul
Technical University, Istanbul, Turkey, 3US Army
ARDEC, Picatinny Arsenal, New Jersey
Session 9: Mobile Robots
Friday, May 26, 2006
2:00 pm – 3:45 pm, EC 150
Chair: Carl Crane
Co-chair: Emanuel Collins
Implementation and Testing of a Solar-Powered Electric Cart
Max Saelzer, Roger Messenger, Ali Zilouchian, and Amir
Abtahi
Florida Atlantic University, Boca Raton
Design of a Fault-Tolerant Holonomic Mobile Platform
Mehmet Ismet Can Dede, and Sabri Tosunoglu
Florida International University, Miami
Autonomous Lawn Care Applications
Michael Gregg, Eric M. Schwartz, and A. Antonio Arroyo
University of Florida, Gainesville
Design of a Biped Robot
Andre Senior, and Sabri Tosunoglu
Florida International University, Miami
Gnuman: An Interactive Omni-Directional Anthropomorphic
Robot
Jacob Collums, and Eric M. Schwartz
University of Florida, Gainesville
Session 10: Modeling and Design of Robots
Friday, May 26, 2006
4:00 pm – 6:00 pm, GC 140
Chair: Pierre Larochelle
Co-chair: Ian Cobham
Design of a Mirror Positioning System to Enhance PV-Array
Performance
Saurabh S. Tonapi, and Pierre M. Larochelle
Florida Tech, Melbourne
Stiffness Matrix Synthesis Algorithms for Pre-loaded Planar
Structures
Hyun Geun Yu, and Rodney G. Roberts
Florida A&M University/Florida State University, Tallahassee
Design of an Anthropomorphic Underactuated Hand Prosthesis
with Passive-Adaptive Grasping Capabilities
Salim Nasser, Diana Rincon, and Manuel Rodriguez
Florida International University, Miami
Analysis of Factors Contributing on the Sound Generated by
Airboats
Aquiles Perez, Oren Masory, Stewart Glegg, and Robert
Coulson
Florida Atlantic University, Boca Raton
Artificial Intelligence Grounded in Reality
A. Antonio Arroyo, and Eric M. Schwartz
University of Florida, Gainesville
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