Engineering Commons^™

Biomimetic Design And Construction Of A Bipedal Walking Robot, Alexander Gabriel Steele

Dissertations and Theses

Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics.

This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, I designed …

Silicon Compilation And Test For Dataflow Implementations In Gasp And Click, Swetha Mettala Gilla

Dissertations and Theses

Many modern computer systems are distributed over space. Well-known examples are the Internet of Things and IBM's TrueNorth for deep learning applications. At the Asynchronous Research Center (ARC) at Portland State University we build distributed hardware systems using self-timed computation and delay-insensitive communication. Where appropriate, self-timed hardware operations can reduce average and peak power, energy, latency, and electromagnetic interference. Alternatively, self-timed operations can increase throughput, tolerance to delay variations, scalability, and manufacturability.

The design of complex hardware systems requires design automation and support for test, debug, and product characterization.

This thesis focuses on design compilation and test support for dataflow …