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A Variable-Stiffness Compliant Mechanism For Stiffness-Controlled Haptic Interfaces, Jeffrey C. Hawks
A Variable-Stiffness Compliant Mechanism For Stiffness-Controlled Haptic Interfaces, Jeffrey C. Hawks
Theses and Dissertations
In this research a variable-stiffness compliant mechanism was developed to generate variable force-displacement profiles at the mechanisms coupler point. The mechanism is based on a compliant Roberts straight-line mechanism, and the stiffness is varied by changing the effective length of the compliant links with an actuated slider. The variable-stiffness mechanism was used in a one-degree-of-freedom haptic interface to demonstrate the effectiveness of varying the stiffness of a compliant mechanism. Unlike traditional haptic interfaces, in which the force is controlled using motors and rigid links, the haptic interface developed in this work displays haptic stiffness via the variable-stiffness compliant mechanism. The …
Single Event Mitigation For Aurora Protocol Based Mgt Fpga Designs In Space Environments, Alexander Stanley Harding
Single Event Mitigation For Aurora Protocol Based Mgt Fpga Designs In Space Environments, Alexander Stanley Harding
Theses and Dissertations
This work has extended an existing Aurora protocol for high-speed serial I/O between FPGAs to provide greater fault recovery in the presence of high-energy radiation. To improve on the Aurora protocol, additional resets that affect larger portions of the system were used. Detection for additional error modes that occurred but were not detected by the Aurora protocol was designed. Radiation testing was performed on the Aurora protocol with the additional mitigation hardware. The test gathered large amounts of data on the various error modes of the Aurora protocol and how the additional mitigation circuitry affected the system. The test results …