Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 7 of 7
Full-Text Articles in Engineering
Haptics In Robotics And Automotive Systems, Erhun Iyasere
Haptics In Robotics And Automotive Systems, Erhun Iyasere
All Theses
Haptics is the science of applying touch (tactile) sensation and control to interaction with computer applications. The devices used to interact with computer applications are known as haptic interfaces. These devices sense some form of human movement, be it finger, head, hand or body movement and receive feedback from computer applications in form of felt sensations to the limbs or other parts of the human body. Examples of haptic interfaces range from force feedback joysticks/controllers in video game consoles to tele-operative surgery. This thesis deals with haptic interfaces involving hand movements. The first experiment involves using the end effector of …
Hierarchical State Estimation For Wide Area Power Systems, Srivatsan Lakshminarasimhan
Hierarchical State Estimation For Wide Area Power Systems, Srivatsan Lakshminarasimhan
All Theses
This thesis presents the application of hierarchical state estimation techniques to consolidate the state output of a wide area power system network. In a wide area network a large number of interconnections exist between various utilities of the wide area. Power transactions between areas occur over large distances and hence for better security there is a need to monitor the state of the entire wide area systems. Hierarchical state estimation is preferred over integrated state estimation, due to the reduced computational time.
Using existing state estimators of the member utilities of the wide area in the bottom level of hierarchical …
Nonlinear Control Techniques For Robot Manipulators, Nitendra Nath
Nonlinear Control Techniques For Robot Manipulators, Nitendra Nath
All Theses
This Masters thesis describes the design and implementation of control strategies for the following topics of research: i) Whole Arm Grasping Control for Redundant Robot Manipulators, ii) Neural Network Grasping Controller for Continuum Robots and, iii) Coordination Control for Haptic and Teleoperator Systems.
An approach to whole arm grasping of objects using redundant robot manipulators is presented. A kinematic control which facilitates the encoding of both the end-effector position, as well as body self-motion positioning information as a desired trajectory signal for the manipulator joints is developed.
An approach is presented to whole arm grasping control for continuum robots. The …
Developing A Benchmark Suite For The Evaluation Of Orientation Sensors, Kelly Waller
Developing A Benchmark Suite For The Evaluation Of Orientation Sensors, Kelly Waller
All Theses
This paper examines the problem with the lack of standardization through which MEMS orientation sensors are evaluated. These sensors are sold with data sheets that outline their performance, but lack the conditions under which the testing takes place. In this research, a testing apparatus was developed, and testing routines were designed to evaluate the different characteristics of orientation sensors under different motion conditions. Three orientation sensors, each in a different price range, were evaluated with the benchmark suite. The testing apparatus is a turntable that can precisely spin an orientation sensor via a stepper motor, and can record its exact …
A Cross-Layer Approach To Increase Spatial Reuse And Throughput For Ad Hoc Networks, Steven Boyd
A Cross-Layer Approach To Increase Spatial Reuse And Throughput For Ad Hoc Networks, Steven Boyd
All Theses
Ad hoc networks employing adaptive-transmission protocols can alter transmission parameters to suit the channel environment. Channel-access mechanisms are used to govern temporal use of the transmission medium amongst nodes. Effective operation of a channel-access mechanism can improve the ability of an adaptive-transmission protocol to accommodate changing channel conditions. The interoperability of these two mechanisms motivates cross-layer design of adaptive-transmission protocols.
In this thesis we examine the integration of a new channel-access mechanism with a physical-layer adaptive-transmission protocol to create a cross-layer protocol with enhanced capabilities. We derive specific physical-layer measurements which are used to control channel-access behavior in a distributed …
Using A Spline To Model The Motion Of A 4-Man Fireteam During Building Clearing Exercises, Marshall Werner
Using A Spline To Model The Motion Of A 4-Man Fireteam During Building Clearing Exercises, Marshall Werner
All Theses
This paper examines the problem of tracking positions of a fireteam (4-5 men) as they perform building clearing exercises in order to predict future motion od the team. This was done by examining the team as a single entity rather than 4 or 5 separate entities. A team model was used under the assumption that the team stays together as a group and moves in specific patterns. The model chosen for this experiment was a spline curve. This spline curve allowed for movement in straight lines through hallways as well as curving around corners.
Unsupervised Neural Pattern Classifiers For Oral Vowel Pronunciation Of Foreign-Accented Speech, Joseph Hecker
Unsupervised Neural Pattern Classifiers For Oral Vowel Pronunciation Of Foreign-Accented Speech, Joseph Hecker
All Theses
This thesis describes the development of unsupervised neural-based pattern classifiers for the training of vowel pronunciations for students learning a foreign language. This paper examines American learners of the French language. A corpus of single word utterances is compiled from a group of native French speakers. Cepstral features are used to train two unsupervised neural pattern classifiers: a self-organizing map and a growing neural gas. The development and justification for the use of these classifiers is presented. The output from the classifier is translated to a bar graph for visual assessment. The degree to which the utterance sounds native is …