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Full-Text Articles in Mechanical 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 …
Thermal Response Characterization And Low Fluid Velocity Measurements Using Specialized In-Situ Thermocouples Via The Loop Current Step Response Method, Alexander Hashem Hashemian
Thermal Response Characterization And Low Fluid Velocity Measurements Using Specialized In-Situ Thermocouples Via The Loop Current Step Response Method, Alexander Hashem Hashemian
Masters Theses
In this study, a specialized balanced-leads thermocouple was developed to perform in-situ thermal response characterization via the LCSR test method. Thermal response characterization of installed thermocouples is essential in order to obtain accurate positional temperature data in rapid transient applications. An analytical model is presented that fully describes the thermocouple system based on a first-principles approach to the heat transfer physics of the sensor. In conjunction with the LCSR test, the full model presented yields quantifiable characterization parameters useful for determining accurate positional temperature data. It is necessary to employ a balanced-leads thermocouple for this experimental procedure in order to …