Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 3 of 3
Full-Text Articles in Entire DC Network
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Master's Theses
Telepresence describes technologies that allow users to remotely experience the sensation of being present at an event without being physically present. An avatar exists to represent the user whilst in a remote location and is tasked to collect stimuli from its immediate surroundings to be delivered to the user for consumption. With the advent of recent developments in Virtual Reality technology, viz., head-mounted displays (HMDs), new possibilities have been enabled in the field of Telepresence. The main focus of this thesis is to develop a solution for visual Telepresence, where an HMD is used to control the direction of a …
Robotic Fingerspelling Hand For The Deaf-Blind, Jerry Vin
Robotic Fingerspelling Hand For The Deaf-Blind, Jerry Vin
Master's Theses
Because communication has always been difficult for people who are deaf-blind, The Smith-Kettlewell Eye Research Institute (SKERI), in conjunction with the California Polytechnic State University Mechanical Engineering department, has commissioned the design, construction, testing, and programming of a robotic hand capable of performing basic fingerspelling to help bridge the communication gap. The hand parts were modeled using SolidWorks and fabricated using an Objet rapid prototyper. Its fingers are actuated by 11 Maxon motors, and its wrist is actuated by 2 Hitec servo motors. The motors are controlled by Texas Instruments L293D motor driver chips, ATtiny2313 slave microcontroller chips programmed to …
A Model Predictive Control Approach To Roll Stability Of A Scaled Crash Avoidance Vehicle, Nikola John Linn Noxon
A Model Predictive Control Approach To Roll Stability Of A Scaled Crash Avoidance Vehicle, Nikola John Linn Noxon
Master's Theses
In this paper, a roll stability controller (RSC) is presented based on an eight degree of freedom dynamic vehicle model. The controller is designed for and tested on a scaled vehicle performing obstacle avoidance maneuvers on a populated test track. A rapidly-exploring random tree (RRT) algorithm is used for the vehicle to execute a trajectory around an obstacle, and examines the geographic, non-homonymic, and dynamic constraints to maneuver around the obstacle. A model predictive controller (MPC) uses information about the vehicle state and, based on a weighted performance measure, generates an optimal trajectory around the obstacle. The RSC uses the …