Mechanical Engineering Commons^™

Position And Stiffness Control Of Inflatable Robotic Links Using Rotary Pneumatic Actuation, Charles Mansel Best

Theses and Dissertations

Inflatable robots with pneumatic actuation are naturally lightweight and compliant. Both of these characteristics make a robot of this type better suited for human environments where unintentional impacts will occur. The dynamics of an inflatable robot are complex and dynamic models that explicitly allow variable stiffness control have not been well developed. In this thesis, a dynamic model was developed for an antagonistic, pneumatically actuated joint with inflatable links.The antagonistic nature of the joint allows for the control of two states, primarily joint position and stiffness. First a model was developed to describe the position states. The model was used …

Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie

Theses and Dissertations

Research in soft robot hardware has led to the development of platforms that allow for safer performance when working in uncertain or dynamic environments. The potential of these platforms is limited by the lack of proper dynamic models to describe or controllers to operate them. A common difficulty associated with these soft robots is a representation for torque, the common electromechanical relation seen in motors does not apply. In this thesis, several different torque models are presented and used to construct linear state-space models. The control limitations on soft robots are induced by natural compliance inherent to the hardware. This …

Incorporating Driver’S Behavior Into Predictive Powertrain Energy Management For A Power-Split Hybrid Electric Vehicle, Lei Feng

Dissertations, Master's Theses and Master's Reports

The goal of this series of research is to advance hybrid electric vehicle (HEV) energy management by incorporating driver’s driving behavior and driving cycle information. To reduce HEV fuel consumption, the objectives of this research are divided into the following three parts.

The first part of the research investigates the impact of driver’s behavior on the overall fuel efficiency of a hybrid electric vehicle and the energy efficiency of individual powertrain components under various driving cycles. Between the sticker number fuel economy and actual fuel economy, it is well known that a noticeable difference occur when a driver drives aggressively. …