Open Access. Powered by Scholars. Published by Universities.®
- Keyword
-
- Engineering (2)
- Robotics (2)
- Biomechanics (1)
- Degree (1)
- Design (1)
-
- Direct Collocation (1)
- EAP (1)
- Elastomer (1)
- Electrical Engineering (1)
- Electroactive polymer (1)
- Energy Regeneration (1)
- Exercise (1)
- Four (1)
- Impedance (1)
- In situ reactions (1)
- Kinesiology (1)
- Laser Engineered Net Shaping (1)
- Machine (1)
- Materials Science (1)
- Mechanical Alloying (1)
- Metal Matrix Composites (1)
- Motion capture (1)
- Nickel-Titanium-Carbon composites (1)
- Parameter Optimization (1)
- Powered Prosthesis (1)
- Rehabilitation (1)
- Robots (1)
- Robust (1)
- Robust Control (1)
Articles 1 - 4 of 4
Full-Text Articles in Engineering
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
Design, Control, And Optimization Of Robots With Advanced Energy Regenerative Drive Systems, Poya Khalaf
ETD Archive
We investigate the control and optimization of robots with ultracapacitor based regenerative drive systems. A subset of the robot joints are conventional, in the sense that external power is used for actuation. Other joints are energetically self-contained passive systems that use ultracapacitors for energy storage. An electrical interconnection known as the star configuration is considered for the regenerative drives that allows for direct electric energy redistribution among joints, and enables higher energy utilization efficiencies. A semi-active virtual control strategy is used to achieve control objectives. We find closed-form expressions for the optimal robot and actuator parameters (link lengths, gear ratios, …
Advanced Processing Of Nickel-Titanium-Graphite Based Metal Matrix Composites, Amit K. Patil
Advanced Processing Of Nickel-Titanium-Graphite Based Metal Matrix Composites, Amit K. Patil
ETD Archive
A new class of in situ titanium carbide (TiC)/graphite (C) reinforced nickel matrix composites with variation in composition particularly varying C/Ti ratio have been processed using two different processing techniques. Firstly, via mechanical alloying (MA) followed by spark plasma sintering (SPS), i.e. solid-state processing. Secondly, using Laser engineered net shaping (LENSTM) technique, i.e. metal additive manufacturing technique. Mechanical alloying has gained special attention as a powerful non-equilibrium process for fabricating amorphous and nanocrystalline materials, whereas spark plasma sintering is a unique technique for processing dense and near net shape bulk alloys with homogeneous microstructure. Laser engineered net shaping (LENSTM) is …
A Reticulation Of Skin-Applied Strain Sensors For Motion Capture, Christopher A. Schroeck
A Reticulation Of Skin-Applied Strain Sensors For Motion Capture, Christopher A. Schroeck
ETD Archive
The purpose of this research is to develop a system of motion capture based on skin-applied strain sensors. These elastic sensors are of interest because they can be applied to the body without restricting motion and are well suited to operate in more practical environments, such as sports fields, gymnasiums, and outdoor areas. This combination is currently not available in the field of motion capture. The current issues with strain sensor motion capture technology is the accurate is not sufficient for motion analysis and axial rotation monitoring of joints is not available. This project will build and test a sensor …
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
ETD Archive
The CSU 4OptimX exercise robot provides a platform for future research into advanced exercise and rehabilitation. The robot and its control system will autonomously modify reference trajectories and impedances on the basis of an optimization criterion and physiological feedback. To achieve this goal, a robust impedance control system with trajectory tracking must be implemented as the foundational control scheme. Two control laws will be compared, sliding mode and H-infinity control. The above robust control laws are combined with underlying impedance control laws to overcome uncertain plant model parameters and disturbance anomalies affecting the input signal. The sliding mode control law …