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School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
School Logo Cleveland State University Logo Title Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
Evolutionary Optimization For Safe Navigation Of An Autonomous Robot In Cluttered Dynamic Unknown Environments, Arash Roshanineshat
ETD Archive
We present a path planning approach based on probabilistic methods for a robot to navigate in a cluttered, dynamic, unknown environment. There are dynamic obstacles moving around and static obstacles located in the map. The robot does not have any prior information about them but should be able to navigate through the map beginning from a known starting point and safely ending at a known target point. The only information the robot has is the location of the starting point and the target point and it uses sensory information to collect information about its surroundings. Our method is compared to …
Cascade Control Of A Hydraulic Prosthetic Knee, Xin Hui
Cascade Control Of A Hydraulic Prosthetic Knee, Xin Hui
ETD Archive
A leg prosthesis test robot with hydraulic knee actuator is modeled and tested with closed loop control simulation. A cascade control architecture is designed for the system, the outer loop is controlled by a robust passivity-based controller (RPBC) and the inner loop is controlled by an optimization method. The control algorithm provides knee angle tracking with an RMS error of 0.07 degrees. The research contributes to the field of prosthetics by showing that it is possible to find effective closed loop control algorithm for a newly proposed hydraulic knee prosthesis. The simulations demonstrate the efficiency of RPBC's ability to control …
A Robotic Neuro-Musculoskeletal Simulator For Spine Research, Robb W. Colbrunn
A Robotic Neuro-Musculoskeletal Simulator For Spine Research, Robb W. Colbrunn
ETD Archive
An influential conceptual framework advanced by Panjabi represents the living spine as a complex neuromusculoskeletal system whose biomechanical functioning is rather finely dependent upon the interactions among and between three principal subsystems: the passive musculoskeletal subsystem (osteoligamentous spine plus passive mechanical contributions of the muscles), the active musculoskeletal subsystem (muscles and tendons), and the neural and feedback subsystem (neural control centers and feedback elements such as mechanoreceptors located in the soft tissues) [1]. The interplay between subsystems readily encourages "thought experiments" of how pathologic changes in one subsystem might influence another--for example, prompting one to speculate how painful arthritic changes …
Relationship Between Arch Height And Midfoot Joint Pressures During Gait, Dong Gil Lee
Relationship Between Arch Height And Midfoot Joint Pressures During Gait, Dong Gil Lee
ETD Archive
A foot arch is a multi-segmented curved structure which acts as a spring during locomotion. It is well known that ligaments are important components contributing to this spring-like property of the arch. In addition, intrinsic and extrinsic foot muscles contribute to arch support. According to the windlass foot model, arch height and midfoot joint orientation change during gait. However, it is not known whether altered joint configurations result in increased joint stress during gait. If so, it is possible for there to be a "vicious cycle" in which joint stress increases as the arch height diminishes, which may then lead …