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Articles 1 - 11 of 11
Full-Text Articles in Engineering
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
ETD Archive
This dissertation focuses on the control of rigid robots that cannot easily be modeled due to complexity and large uncertainties. The function approximation technique (FAT), which represents uncertainties as finite linear combinations of orthonormal basis functions, provides an alternate form of robot control - in situations where the dynamic equation cannot easily be modeled - with no dependency on the use of model information or training data. This dissertation has four aims - using the FAT - to improve controller efficiency and robustness in scenarios where reliable mathematical models cannot easily be derived or are otherwise unavailable. The first aim …
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, …
Thenar Muscle And Transverse Carpal Ligament Relationship, Jeremy Granieri Loss
Thenar Muscle And Transverse Carpal Ligament Relationship, Jeremy Granieri Loss
ETD Archive
The transverse carpal ligament (TCL) acts as a partial origin for the thenar muscles (abductor pollicis brevis (APB), flexor pollicis brevis (FPB), opponens pollicis (OPP)). The attachment between the thenar muscles and TCL implies a relationship between the tissues. The thenar muscles rely on their origins for thumb motion and force production. However, individual thenar origin information is lacking. Further information regarding the anatomical relationship between the individual thenar muscles and TCL may provide insight into thenar muscle function. In addition, the TCL responds to thenar muscle contraction as shown by volar migration of the TCL during various thumb movements. …
Three-Dimensional Human Neural Stem Cell Culture For High-Throughput Assessment Of Developmental Neurotoxicity, Pranav Joshi
Three-Dimensional Human Neural Stem Cell Culture For High-Throughput Assessment Of Developmental Neurotoxicity, Pranav Joshi
ETD Archive
Only a few hundred of compounds, among tens of thousands of commercially available compounds, have been tested for developmental neurotoxicity (DNT) due to the limitations of current guidelines for DNT which are based entirely on in vivo experiments. In vivo studies are highly expensive and time-consuming, which often do not correlate to human outcomes. There is a key gap in our ability to predict in vivo outcomes accurately and robustly using in vitro assays. This is particularly the case for predicting the toxicity of chemicals on the developing human brains. Conventional in vitro assays are typically performed in two-dimensional (2D) …
Congestion Mitigation Strategy: Modeling The Effect Of Different Geometric Configurations Of A Two-Lane On-Ramp On Capacity Using Vissim, Rhizlane Brachmi
Congestion Mitigation Strategy: Modeling The Effect Of Different Geometric Configurations Of A Two-Lane On-Ramp On Capacity Using Vissim, Rhizlane Brachmi
ETD Archive
Freeway on-ramps are critical components of freeway systems since they control the entry of traffic to the mainline. According to the Highway Capacity Manual (HCM), a two-lane on-ramp configuration will achieve less turbulence than a similar one-lane on-ramp but little guidance on the desired lengths of the acceleration lanes or their effect on the operation of the influence area is provided. An experiment was designed to investigate the effect of the lengths of the acceleration lanes of isolated, two-lane on-ramps on the operation of the ramp influence area. The Highway Capacity Software (HCS) was used to calculate the density of …
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 …
Catalytic Waste Gasification: Water-Gas Shift & Selectivity Of Oxidation For Polyethylene, Mason J. Lang
Catalytic Waste Gasification: Water-Gas Shift & Selectivity Of Oxidation For Polyethylene, Mason J. Lang
ETD Archive
As landfills approach capacity and take up valuable land space, metropolitan areas have realized the need for waste disposal alternatives. Thus, there has been a widespread use of waste incinerators in Europe and the United States [1]; [2]. Although newer technology has made incinerators more efficient, there is an increasing interest in formulating `greener’ alternatives to incinerators. Gasification converts organic and carbonaceous materials into a combination of gaseous products known as “syngas,” or synthetic gas. This process greatly reduces the amount of hazardous emissions. The syngas produced by gasifiers has a wide range of uses, including their conversion into diesel, …
Adsorption Induced Solid Phase Transition Of Mil-53(Al), Rushik G. Bandodkar
Adsorption Induced Solid Phase Transition Of Mil-53(Al), Rushik G. Bandodkar
ETD Archive
Metal organic frameworks (MOFs) are nano-porous solids with potential applications in a wide range of fields including gas separation and catalysis. A number of metal organic frameworks show structural transformation and exceptional flexibility on changing the temperature, pressure and adsorption of certain guest molecules. On the contrary, most of the porous solids like zeolites and activated carbon used in applications are rigid. The structural flexibility makes MOF materials very interesting to study and show promise in applications such as sensors, actuators, membrane separation and adsorptive separation. In this study, we examine the chemical potential difference (Δμ) of MIL-53 (Al), a …
Measurement Of Red Blood Cell Oxygenation State By Magnetophoresis, Nina A. Smith
Measurement Of Red Blood Cell Oxygenation State By Magnetophoresis, Nina A. Smith
ETD Archive
Magnetophoresis of red blood cells (RBCs) at varying partial pressures of oxygen (pO2) is hypothesized to rejuvenate stored blood to be utilized beyond the FDA regulated 42-day storage time. Magnetophoresis is a particle or cells motion induced by an applied magnetic field in a viscous media. The average magnetophoretic mobility of an oxygenated RBC is -0.126x10-6 mm3-s/kg, and a deoxygenated RBC is 3.66x10-6 mm3-s/kg, presenting magnetophoresis as a resource for RBC rejuvenation in hopes of storing it longer than 42 days. The main objective of this paper was to determine if controlling the pO2 within an RBC suspension, can singly- …