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Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Masters Theses
This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …
Optimal Control Of Energy Efficient Buildings, Cale David Nelson
Optimal Control Of Energy Efficient Buildings, Cale David Nelson
Masters Theses
The building sector consumes a large part of the energy used in the United States and is responsible for nearly 40% of greenhouse gas emissions. Therefore, it is economically and environmentally important to reduce the building energy consumption to realize massive energy savings. Commercial buildings are complex, multi-physics, and highly stochastic dynamic systems. Recent work has focused on integrating modern modeling, simulation, and control techniques to solving this challenging problem. The overall focus of this thesis is directed toward designing an energy efficient building by controlling room temperature. One approach is based on a distributed parameter model represented by a …