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Full-Text Articles in Engineering
Pneumatic Latched Demultiplexer Circuit For Controlling Multi-Actuator Soft Robots, Arsh Noor Amin
Pneumatic Latched Demultiplexer Circuit For Controlling Multi-Actuator Soft Robots, Arsh Noor Amin
Master’s Theses
This thesis presents a novel method for controlling multi-actuator soft robots using pneumatic latched demultiplexer circuits implemented with monolithic membrane valves. The pneumatic circuits are designed to address the problems of heavy dependence on hard electrical components and lack of feasible multi-actuator soft robotic systems that limit the potential applications of soft robotics. The proposed pneumatic demultiplexers reduce the number of solenoid valves and electrical components required to drive soft robotic systems, making soft robot control mechanisms more compliant, scalable, and versatile. The thesis demonstrates the design, fabrication, and testing of 4-bit and n-bit pneumatic demultiplexer circuits that can control …
Development Of Physics Based Machine Learning Algorithms, Rob Jennings
Development Of Physics Based Machine Learning Algorithms, Rob Jennings
Master’s Theses
In this study, a baseball pitch was examined to try to understand its behavior, and make a predictive model of it. A baseball pitch was tested experimentally with a wind tunnel and modeled computationally with COMSOL CFD software. Five input variables (spin rate, sting angle, seam orientation: Y axis, seam orientation: Z axis, and air velocity) were controlled, with force in three axes recorded as outputs. The experimental and computational results were examined and seen to be interdependent for all input variables. Experimental and computational data were both insufficient for predicting system behavior. Experimental data collection would have required an …
Analysis And Control Of Fiber-Reinforced Elastomeric Enclosures (Frees), Soheil Habibian
Analysis And Control Of Fiber-Reinforced Elastomeric Enclosures (Frees), Soheil Habibian
Master’s Theses
While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in several ways, such as compatibility with the work environments, degrees of freedom, manufacturing costs, and safe interactions with the environment. This thesis studies the behavior of Fiber-Reinforced Elastomeric Enclosures (FREEs) as a particular type of soft pneumatic actuator that can be used in soft manipulators. A dynamic lumped-parameter model is created to simulate the motion of a single FREE under various …