Open Access. Powered by Scholars. Published by Universities.®

Mechanical Engineering Commons

Open Access. Powered by Scholars. Published by Universities.®

Articles 1 - 13 of 13

Full-Text Articles in Mechanical Engineering

Design Of A Robotic Instrument Manipulator For Endoscopic Deployment, Ryan Ponten Aug 2017

Design Of A Robotic Instrument Manipulator For Endoscopic Deployment, Ryan Ponten

Masters Theses

This thesis describes the initial design process for an application of continuum robotics to endoscopic surgical procedures, specifically dissection of the colon. We first introduce the long-term vision for a benchtop dual-instrument endoscopic system with intuitive haptic controllers and then narrow our focus to the design and testing of the instrument manipulator itself, which must be actuated through the long, winding channel of a standard colonoscope.

Based on design requirements for a target procedure, we analyze simulations of two types of continuum robots using recently established kinematic and mechanic modeling approaches: the concentric-tube robot (CTR) and the concentric agonist-antagonist robot ...


Evaluation Of Impedance Control On A Powered Hip Exoskeleton, Punith Condoor Jan 2017

Evaluation Of Impedance Control On A Powered Hip Exoskeleton, Punith Condoor

Masters Theses

This thesis presents an impedance control strategy for a novel powered hip exoskeleton designed to provide partial assistance and leverage the dynamics of human gait. The control strategy is based on impedance control and provides the user assistance as needed which is determined by the user’s interaction with the exoskeleton. A series elastic element is used to drive the exoskeleton and measures the interaction torque between the user and the device. The device operates in two modes. Free mode is a low impedance state that attempts to provide no assistance. Assist mode increases the gains of the controller to ...


A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber Jan 2017

A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber

Masters Theses

The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of ...


A Soft Multiple-Degree Of Freedom Load Cell Based On The Hall Effect, Qiandong Nie Jan 2016

A Soft Multiple-Degree Of Freedom Load Cell Based On The Hall Effect, Qiandong Nie

Masters Theses

The goal of this thesis is to develop a soft multiple-degree-of-freedom (multi-DOF) load cell that is robust and light weight for use in robotics applications to sense three axes of force and a single axis of torque. The displacement of the magnet within the elastomer changes the magnetic flux density which is sensed by two 3-axis Hall effect sensors. Experimental measurements of magnetic flux density within the area of interest were used to formulate analytic expressions that relate magnet field strength to the position of the magnet. The displacement and orientation measurement and the material properties of the elastomer are ...


A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price Jan 2016

A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price

Masters Theses

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user ...


Optimization Of Titanium Liquid/Gas Diffusion Layers In Proton Exchange Membrane Electrolyzer Cells, Stuart Mccoy Steen Dec 2015

Optimization Of Titanium Liquid/Gas Diffusion Layers In Proton Exchange Membrane Electrolyzer Cells, Stuart Mccoy Steen

Masters Theses

Polymer electrolyte membrane electrolyzer cells (PEMECs), which are reverse PEM fuel cells (PEMFCs), are effective energy storage medium by producing hydrogen/oxygen from water using electricity from renewable energy sources. This is due in part because of its efficiency, high energy density, compact design, and large capacity. In a PEMEC, a liquid/gas diffusion layer (LGDL) is located between the catalyst layer and the current distributing flow field. The LGDL is expected to transport electrons, heat, and reactants/products to and from the catalyst layer with minimum voltage, current, thermal, interfacial, and fluidic losses. Carbon materials (carbon paper or carbon ...


A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder Jan 2015

A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder

Masters Theses

This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque ...


New Generator Control Algorithms For Smart-Bladed Wind Turbines To Improve Power Capture In Below Rated Conditions, Bryce B. Aquino Jan 2014

New Generator Control Algorithms For Smart-Bladed Wind Turbines To Improve Power Capture In Below Rated Conditions, Bryce B. Aquino

Masters Theses

NEW GENERATOR CONTROL ALGORITHMS FOR SMART-BLADED WIND TURBINES TO IMPROVE POWER CAPTURE IN BELOW RATED CONDITIONS

APRIL 2014

BRYCE BAUTISTA AQUINO

B.S.M.E., UNIVERSITY OF MASSACHUSETTS AMHERST

M.S.M.E., UNIVERSITY OF MASSACHUSETTS AMHERST

Directed by: Professor Matthew A. Lackner

ABSTRACT

With wind turbines growing in size, operation and maintenance has become a more important area of research with the goal of making wind energy more profitable. Wind turbine blades are subjected to intense fluctuating loads that can cause significant damage over time. The need for advanced methods of alleviating blade loads to extend the lifespan of ...


Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings Jan 2014

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 ...


Design And Control Of A Two-Wheeled Robotic Walker, Airton R. Da Silva Jr. Jan 2014

Design And Control Of A Two-Wheeled Robotic Walker, Airton R. Da Silva Jr.

Masters Theses

This thesis presents the design, construction, and control of a two-wheeled inverted pendulum (TWIP) robotic walker prototype for assisting mobility-impaired users with balance and fall prevention. A conceptual model of the robotic walker is developed and used to illustrate the purpose of this study. A linearized mathematical model of the two-wheeled system is derived using Newtonian mechanics. A control strategy consisting of a decoupled LQR controller and three state variable controllers is developed to stabilize the platform and regulate its behavior with robust disturbance rejection performance. Simulation results reveal that the LQR controller is capable of stabilizing the platform and ...


Water Transport In Polymer Electrolyte Fuel Cells: An Exploration Of Net Water Drag In Real Time, Susan Katherine Reid May 2013

Water Transport In Polymer Electrolyte Fuel Cells: An Exploration Of Net Water Drag In Real Time, Susan Katherine Reid

Masters Theses

Polymer electrolyte fuel cells (PEFCs) are a promising alternative energy source. One challenge preventing widespread use of this technology is water management. A balance must be reached between providing sufficient water for membrane ionic conductivity while maintaining low enough water content to mitigate the reduction of available reaction sites in the cathode catalyst layer due to liquid water build up. Much exploration of this area of fuel cell research has been conducted, but the details of water transport in an operating fuel cell are not yet fully understood. The motivation of this work was to elucidate mass transport phenomena occurring ...


Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo Aug 2011

Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo

Masters Theses

Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or ...


Investigation Of Electrotribological And Arc Erosion Behavior Of Cu-15vol.%Cr In Situ Composite, Zhongyu Chen Jan 1996

Investigation Of Electrotribological And Arc Erosion Behavior Of Cu-15vol.%Cr In Situ Composite, Zhongyu Chen

Masters Theses

Electrotribological and arc erosion behavior of Cu-15vol.%Cr in situ composite was investigated in terms of coefficient of friction, interfacial resistance, bulk temperature, and wear rate as a function of normal pressure, sliding speed, and electrical current. Microstructural change due to electrical sliding was studied to understand wear mechanisms. Cu-15vol.%Cr in situ composite was selected in this research because it exhibits an excellent combination of mechanical strength and electrical/thermal conductivity.

It was found that the average coefficient of friction decreased with increasing electrical current under dry electrical sliding. The average coefficient of friction was lower under lubricated electrical ...