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Articles 1 - 11 of 11
Full-Text Articles in Engineering
Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley
Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley
Master's Theses
This thesis investigates the involuntary signal-based grounding of civilian unmanned aerial systems (UAS) in unauthorized air spaces. The technique proposed here will forcibly land unauthorized UAS in a given area in such a way that the UAS will not be harmed, and the pilot cannot stop the landing. The technique will not involuntarily ground authorized drones which will be determined prior to the landing. Unauthorized airspaces include military bases, university campuses, areas affected by a natural disaster, and stadiums for public events. This thesis proposes an early prototype of a hardware-based signal based involuntary grounding technique to handle the problem …
Audio Beat Detection With Application To Robot Drumming, Michael James Engstrom
Audio Beat Detection With Application To Robot Drumming, Michael James Engstrom
Dissertations and Theses
This Drumming Robot thesis demonstrates the design of a robot which can play drums in rhythm to an external audio source. The audio source can be either a pre-recorded .wav file or a live sample .wav file from a microphone. The dominant beats-per-minute (BPM) of the audio would be extracted and the robot would drum in time to the BPM. A Fourier Analysis-based BPM detection algorithm, developed by Eric Scheirer (Tempo and beat analysis of acoustical musical signals)i was adopted and implemented. In contrast to other popular algorithms, the main advantage of Scheirer's algorithm is it has …
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
Control Of Rigid Robots With Large Uncertainties Using The Function Approximation Technique, Donald Ebeigbe
ETD Archive
This dissertation focuses on the control of rigid robots that cannot easily be modeled due to complexity and large uncertainties. The function approximation technique (FAT), which represents uncertainties as finite linear combinations of orthonormal basis functions, provides an alternate form of robot control - in situations where the dynamic equation cannot easily be modeled - with no dependency on the use of model information or training data. This dissertation has four aims - using the FAT - to improve controller efficiency and robustness in scenarios where reliable mathematical models cannot easily be derived or are otherwise unavailable. The first aim …
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Improving 3d Printed Prosthetics With Sensors And Motors, Rachel Zarin
Honors Projects
A 3D printed hand and arm prosthetic was created from the idea of adding bionic elements while keeping the cost low. It was designed based on existing models, desired functions, and materials available. A tilt sensor keeps the hand level, two motors move the wrist in two different directions, a limit switch signals the fingers to open and close, and another motor helps open and close the fingers. All sensors and motors were built on a circuit board, programmed using an Arduino, and powered by a battery. Other supporting materials include metal brackets, screws, guitar strings, elastic bands, small clamps, …
A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim
A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim
LSU Master's Theses
A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to experimental …
Designing A Robotic Platform For Investigating Swarm Robotics, Jonathan Gray
Designing A Robotic Platform For Investigating Swarm Robotics, Jonathan Gray
Senior Honors Theses
This paper documents the design and subsequent construction of a low-cost, flexible robotic platform for swarm robotics research, and the selection of appropriate swarm algorithms for the implementation of a swarm focused predominantly on target location. The design described herein is intended to allow for the construction of robots large enough to meaningfully interact with their environment while maintaining a low per-robot cost of materials and a low assembly time. The design process is separated into three stages: mechanical design, electrical design, and software design. All major design components are described in detail under the appropriate design section. The BOM …
2019 Ieee Southeastcon Hardware Competition: A Systems Engineering Approach, Emily Sage
2019 Ieee Southeastcon Hardware Competition: A Systems Engineering Approach, Emily Sage
Mahurin Honors College Capstone Experience/Thesis Projects
The Institute for Electrical and Electronics Engineers (IEEE) Huntsville section invites college students to participate in their annual SoutheastCon Conference. Western Kentucky University sends a team of engineering students to the hardware competition, an opportunity for students to design and build autonomous robots. The 2019 hardware competition called for students to develop a robot that could collect and sort debris by color. This thesis outlines the project lifecycle of the WKU 2019 SoutheastCon robot with an emphasis on implemented systems engineering tools and techniques. Systems Engineering is an interdisciplinary approach to project management that focuses on treating the overall project …
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
Robust Impedance Control Of A Four Degree Of Freedom Exercise Robot, Santino Joseph Bianco
ETD Archive
The CSU 4OptimX exercise robot provides a platform for future research into advanced exercise and rehabilitation. The robot and its control system will autonomously modify reference trajectories and impedances on the basis of an optimization criterion and physiological feedback. To achieve this goal, a robust impedance control system with trajectory tracking must be implemented as the foundational control scheme. Two control laws will be compared, sliding mode and H-infinity control. The above robust control laws are combined with underlying impedance control laws to overcome uncertain plant model parameters and disturbance anomalies affecting the input signal. The sliding mode control law …
Three-Channel Control Architecture For Multilateral Teleoperation Under Time Delay, Uğur Tümerdem
Three-Channel Control Architecture For Multilateral Teleoperation Under Time Delay, Uğur Tümerdem
Turkish Journal of Electrical Engineering and Computer Sciences
Multilateral teleoperation is an extension of bilateral/haptic teleoperation framework to multiple operators/robots and finds applications in haptic training. As in bilateral teleoperation, time delay is an important problem, and stability and transparency, which quantifies the performance of the teleoperation system, are critical in the design of multilateral control systems. This paper proposes a novel three-channel-based multilateral control architecture with damping injection to guarantee delay-independent L2 stability and high transparency in multilateral teleoperation systems. The theoretical and computational analyses are verified with experiment results.
Contribution Of Artificial Proprioception On A Dynamic Finger Flexion Task, Mehdi Hojatmadani, Evren Samur
Contribution Of Artificial Proprioception On A Dynamic Finger Flexion Task, Mehdi Hojatmadani, Evren Samur
Turkish Journal of Electrical Engineering and Computer Sciences
There has been a considerable effort to provide sensory feedback for myoelectric prostheses. Among the solutions provided in the literature, sensory substitution is an easy and cost-effective way to provide feedback through different sensory modalities at different locations on the body. In this study, we evaluate the effect of sensory substitution of force and position feedback on a two-degree-of-freedom dynamic finger flexion task. For this purpose, a new methodology and an experimental setup are developed. The experimental methodology is based on the "strength-dexterity test", working on the principle of buckling of compression springs. The experimental setup comprises a haptic interface, …
Stability Analysis Of Leg Configurations For Bipedal Running, Nitin Jaiswal
Stability Analysis Of Leg Configurations For Bipedal Running, Nitin Jaiswal
Browse all Theses and Dissertations
A legged robot with three-segmented limbs is used to study the effects of leg compliance originating from the joint level on the stability of hopping in place and running. The three-segments allow each leg to be kinematically configured an infinite number ways that satisfy the desired landing condition parameters, total leg length and angle. These two parameters along with the amount of energy thrust during stance determine the motion of the system during a single stride. The goal of this work is to explore the potential values for the leg parameters of three-segment leg, that provide additional stability when compared …