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Articles 1 - 12 of 12
Full-Text Articles in Mechanical Engineering
Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang
Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang
Electronic Theses and Dissertations
Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …
Soft Robotic Arms For Fall Mitigation: Design, Control And Evaluation, Param Malhotra
Soft Robotic Arms For Fall Mitigation: Design, Control And Evaluation, Param Malhotra
All Theses
Most fall mitigation devices present a heavy system that avoid injuries to the user by preventing the impact of a fall. They are dependent on the user capability or on the probability that the user falls in the assumed manner the system was designed for. Often that is not the case, hence this project initiates a novel concept of using soft robotic arms to prevent falls from happening in the first place itself and save the user from any injuries. This thesis describes the prototype and development of a soft continuum robotic backpack system. The system can validate its use …
Telescope Parallel Actuator Mount: Control And Testing, Samuel S. Artho-Bentz
Telescope Parallel Actuator Mount: Control And Testing, Samuel S. Artho-Bentz
Master's Theses
This thesis approaches the task of designing a control system for the Parallel Actuator Mount developed by Dr. John Ridgely and Mr. Garrett Gudgel. It aims to create a base framework that directly controls the telescope and can be expanded to accept external command. It incorporates lower priced components and develops more easily approachable software with great functionality. An open-loop method for velocity control is established. Developing repeatable tests is a major focus. Testing finds the control methods developed result in velocity error of less than 5% and position error of less than 1.5% despite several mechanical issues and inaccuracies. …
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Master's Theses
The United States trucking industry is immense. Employing over three million drivers and traveling to every city in the country. Semi-Trucks travel millions of miles each week and encompass roads that civilians travel on. These vehicles should be safe and allow efficient travel for all. Autonomous vehicles have been discussed in controls for many decades. Now fleets of autonomous vehicles are beginning their integration into society. The ability to create an autonomous system requires domain and system specific knowledge. Approaches to implement a fully autonomous vehicle have been developed using different techniques in control systems such as Kalman Filters, Neural …
Ball Oscillating Bouncer, Eric Blok, Daniel Altemese, Ryan Nowacki, Maram Qurban
Ball Oscillating Bouncer, Eric Blok, Daniel Altemese, Ryan Nowacki, Maram Qurban
Williams Honors College, Honors Research Projects
The purpose of this report is to document the need, objectives, marketing and engineering requirements, as well as validate the design of an autonomous control device capable of continuously bouncing a table tennis ball on a paddle. This includes the design of a self correcting system using lightweight materials, and as few sensors and components as possible to achieve a compact, portable design. To accomplish this, the system is designed to react to a ball falling from as short a distance as 10 centimeters above the paddle, meaning all sensor processing, control processing, and motor drives should be able to …
Simulation Of Human Ankle Trajectory During Stance Phase Of Gait, Leslie Castelino
Simulation Of Human Ankle Trajectory During Stance Phase Of Gait, Leslie Castelino
Dissertations, Master's Theses and Master's Reports
A simulation was developed which mimics the human gait characteristics based on the input of an individual’s gait trajectory. This simulation also estimates the impedance of the human ankle based on the ground reaction forces measured by the force plate. This simulation will accept alterations of the following parameters: total body weight, weight of the shank, weight of the foot, trajectories of the shank and foot of the individual and orientation of the force plate, which would generate a new gait trajectory for the ankle during the stance phase of gait. The goal of this simulation was to validate the …
Design And Implementation Of An Interactive Animatronic System For Guest Response Analysis, Brian Burns
Design And Implementation Of An Interactive Animatronic System For Guest Response Analysis, Brian Burns
Phi Kappa Phi Research Symposium (2012-2016)
In theme park based entertainment applications, there is a need for interactive, autonomous animatronic systems to create engaging and compelling experiences for the guests. The animatronic figures must identify the guests and recognize their status in dynamic interactions for enhanced acceptance and effectiveness as socially interactive agents, in the general framework of human-robot interactions. The design and implementation of an interactive, autonomous animatronic system in form of a tabletop dragon, Kronos, and the comparisons of guest responses in its passive and interactive modes are presented in this work. The dragon capabilities include a four degrees-of-freedom head, moving wings, tail, jaw, …
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 …
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, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi
Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe …
Online Real-Time Water Quality Monitoring And Control System, Paul Duffy, Gerard Woods, James Walsh, Michael Kane
Online Real-Time Water Quality Monitoring And Control System, Paul Duffy, Gerard Woods, James Walsh, Michael Kane
Conference Papers
No abstract provided.
On-Line Realtime Water Quality Monitoring And Control For Swimming Pools, Paul Duffy, Gerard Woods, Sean O'Hogain, James Walsh, C. Caplier
On-Line Realtime Water Quality Monitoring And Control For Swimming Pools, Paul Duffy, Gerard Woods, Sean O'Hogain, James Walsh, C. Caplier
Conference Papers
Effective swimming pool water quality monitoring and control systems are important to safeguard public health and for bather comfort. Most Irish swimming pool monitoring systems rely heavily on manual methods for sampling, testing and data recording of important parameters. Microbiological testing is infrequent and results can often take days. The goal of this research is to develop a water quality monitoring and control system with real time data logging, automatic data analysis, remote monitoring and control, microbiological sampling capabilities and online connectivity. National Instruments hardware and its software package LabView form the basis of the monitoring and control system. Several …