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Full-Text Articles in Computer Engineering
Self-Assembly Of Microstructures, Paul E. Kladitis
Self-Assembly Of Microstructures, Paul E. Kladitis
Theses and Dissertations
Four areas are investigated in this research: erecting microstructures normal to the substrate plane without direct human intervention (self-assembled), providing low resistance electrical connections to the erected microstructure, realizing circular motion normal to the substrate plane, and implementing a micro-robot. The designs in this research concentrate on erecting and providing power to a leg designed for use with the micro-robot. The leg and the attached low resistance electrical connectors were not self-assembled because the accompanying actuators were not powerful enough. However, the novel connectors provide the most practical, versatile, and lowest possible resistance connections for the MUMPs fabrication process. The …
Fpga Processor Implementation For The Forward Kinematics Of The Umdh, Steven M. Parmley
Fpga Processor Implementation For The Forward Kinematics Of The Umdh, Steven M. Parmley
Theses and Dissertations
The focus of this research was on the implementation of a forward kinematic algorithm for the Utah MIT Dexterous Hand (UMDH). Specifically, the algorithm was synthesized from mathematical models onto a Field Programmable Gate Array (FPGA) processor. This approach is different from the classical, general purpose microprocessor design where all robotic controller functions including forward Kinematics are executed serially from a compiled programming language such as C. The compiled code and subsequent real time operating system must be stored on some form of nonvolatile memory, typically magnetic media such as a fixed or hard disk drive, along with other computer …