Engineering Commons^™

Gait Development For Use In Dynamic Gait Optimization Of Qudrupedrobot Walking, Mark Will

Theses

The ability of walking robots to operate in areas that are inaccessible to wheeled robots has lead to significant research in the field of gait development and optimization for these robots. In this particular study, a catalog of gaits for use in a dynamic gait optimization system to optimize the walking speed of the quadruped Arturo robot on flat terrain is developed. This catalog of robot gaits was developed using a genetic algorithm formulation; various combinations of the selection, mutation, and crossover operators were analyzed.

The Arturo robot was modified so that physical verification of the developed gaits could be …

Segregation And Flow Characterization In Vibrated Hopper, Thottiam P. Ravichandran

Theses

Experiments and numerical simulation studies were carried. out on vertically vibrated wedge-type hoppers containing binary mixtures for the present research. The studies focussed on segregation analysis of the hopper discharge and the characterization of flow pattern of the binary mixtures in sealed hoppers, over wide ranges of frequency and amplitude of acceleration to determine the effect of these parameters.

The results of segregation study show that vibration promotes segregation of the binary mixtures. However, increase in frequency was found to make the contents of segregated discharge more uniform. Also, increase in wedge angle seemed to help in reducing segregation.

The …

General Parallel-Leg Mechanism : Position Analysis, Hans Buus Gangwar

Theses

This thesis proposes to analytically express the positions of the legs (each leg has a length and two spin orientations) for a parallel leg mechanism in terms of a single variable. The only limitations imposed are the leg bases are all on the same reference plane and the tool orientation is normal to the mobile upper plate. This is done for a parallel leg mechanism having any number of legs. The variable chosen is the first leg's vertex position on the upper plate.

The state space is the space the configuration can occupy. By looking at a planar slice of …

The Development Of Design And Test Methodologies For Hovercraft, John Cronin

Theses

This project is concerned with the development of design and test methodologies for hovercraft.

Full-scale hovercraft field-testing is to be achieved through the dedicated re-design and re-construction of the ABl11Crossbow hovercraft. The Crossbow hovercraft is an experimental craft, which was built in England in the early seventies. The Crossbows re-design focuses on the production of a versatile craft, which is capable of modification to produce a variety of different operating conditions. The re-design and re-construction comprises several distinct areas. An improved and adjustable lift and thrust system is designed. The design and manufacture of a new more stable and versatile …