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Articles 1 - 5 of 5
Full-Text Articles in Computer Engineering
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
Masters Theses
This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …
Joint Architecture For Reusable Vehicle-Integrated Software (J.A.R.V.I.S), Anthony Mark Kane
Joint Architecture For Reusable Vehicle-Integrated Software (J.A.R.V.I.S), Anthony Mark Kane
Open Access Theses
An integrated software architecture for development of unmanned research vehicles is developed. It has been created under the premise that all unmanned vehicles require a core set of functionality that is common across platforms and that priority should be to the readability and reusability of the code base. The architecture defines the top-level system interfaces allowing internal algorithms to be manipulated without affecting the rest of the system. A robust aerospace toolbox has been developed that provides a means to rapidly prototype algorithms without the need of recreating commonly used functions or the use of expensive, proprietary software.
Interpreting, Stephanie Jo Kent
Interpreting, Stephanie Jo Kent
Doctoral Dissertations
What do community interpreting for the Deaf in western societies, conference interpreting for the European Parliament, and language brokering in international management have in common? Academic research and professional training have historically emphasized the linguistic and cognitive challenges of interpreting, neglecting or ignoring the social aspects that structure communication. All forms of interpreting are inherently social; they involve relationships among at least three people and two languages. The contexts explored here, American Sign Language/English interpreting and spoken language interpreting within the European Parliament, show that simultaneous interpreting involves attitudes, norms and values about intercultural communication that overemphasize information and discount …
Modeling, Analysis, And Control Of A Mobile Robot For In Vivo Fluoroscopy Of Human Joints During Natural Movements, Matthew A. Young
Modeling, Analysis, And Control Of A Mobile Robot For In Vivo Fluoroscopy Of Human Joints During Natural Movements, Matthew A. Young
Doctoral Dissertations
In this dissertation, the modeling, analysis and control of a multi-degree of freedom (mdof) robotic fluoroscope was investigated. A prototype robotic fluoroscope exists, and consists of a 3 dof mobile platform with two 2 dof Cartesian manipulators mounted symmetrically on opposite sides of the platform. One Cartesian manipulator positions the x-ray generator and the other Cartesian manipulator positions the x-ray imaging device. The robotic fluoroscope is used to x-ray skeletal joints of interest of human subjects performing natural movement activities. In order to collect the data, the Cartesian manipulators must keep the x-ray generation and imaging devices accurately aligned while …
Design And Realization Of A Welding Oscillator, Muci̇z Özcan
Design And Realization Of A Welding Oscillator, Muci̇z Özcan
Turkish Journal of Electrical Engineering and Computer Sciences
Welding is one of the most popular methods to combine metal pieces in manufacturing processes. Arc welding, among all welding techniques, is the most commonly used in manufacturing due to its cost and flexibility. During the manufacturing process, arc welding is either performed by an operator or by automatic tools such as welding oscillators. Using automatic tools has advantages over manual use, as the process will be faster, cheaper, and have less welding flaws. In this paper, a homemade welding oscillator and the method to manufacture it are presented. The presented welding oscillator can be manufactured for a very low …