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Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Theses and Dissertations
Research in soft robot hardware has led to the development of platforms that allow for safer performance when working in uncertain or dynamic environments. The potential of these platforms is limited by the lack of proper dynamic models to describe or controllers to operate them. A common difficulty associated with these soft robots is a representation for torque, the common electromechanical relation seen in motors does not apply. In this thesis, several different torque models are presented and used to construct linear state-space models. The control limitations on soft robots are induced by natural compliance inherent to the hardware. This …
An Investigation Of The Impact A Rov Competition Curriculum Has On Student Interest In Stem, Specifically Technology And Engineering, Daniel Gordon Bates
An Investigation Of The Impact A Rov Competition Curriculum Has On Student Interest In Stem, Specifically Technology And Engineering, Daniel Gordon Bates
Theses and Dissertations
This research investigates the impact a Remotely Operated Vehicle (ROV) program has on student interest in, and perception of, technology and engineering (sTEm). ROV programs embed areas of science, technology, engineering and math (STEM) into their curriculum; however, emphasis for this study is placed on interest and perception of the "T" and "E" of STEM. Although there are many articles detailing the benefits of ROV programs, there is little empirical data documenting the impact on student interest and perception of sTEm. This study outlines the background of a few major ROV programs in the U.S.; specifically Utah Underwater Robotics (UUR), …