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Full-Text Articles in Mechanical Engineering
Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino
Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino
All Theses
The existence of nonlinearities and the lack of sufficient equations are fundamental challenges in modeling, analyzing, and controlling complex systems. However, recent developments revolutionizing the study of dynamical systems. An emerging method in nonlinear dynamical systems is the Koopman operator theory, which provides us with key advantages in performing the modeling, prediction, and control of nonlinear systems. The linear system representation allows us to leverage linear stability analysis. The first section of this thesis briefly covers the construction of a quadrupedal robot, a sufficiently complex nonlinear dynamical system, for the use of analyzing data-driven modeling techniques. The second section details …
A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong
A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong
All Theses
Automation and robotics have become a staple in the biological manufacturing sector due to their ability to efficiently work without operator inputs, with a high degree of accuracy and repeatability. Industrial robotic arms, in particular, present themselves as valuable tools for biological manufacturing scenarios that require customized solutions due to their ease of programming and flexibility. The traditional hospital-focused healthcare system was organically developed to address acute conditions, however, in recent years, due to the unprecedented occurrence of emergencies happening more frequently, fast and efficient drug production becomes important [17]. This thesis represents the use of a benchtop robot and …
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
Extracting Depth Information From Stereo Vision System, Using A Correlation And A Feature Based Methods, Mahmoud Abdelhamid
All Theses
This thesis presents a new method to extract depth information from stereo-vision acquisitions using a feature and a correlation based approaches. The main implementation of the proposed method is in the area of Autonomous Pick & Place, using a robotic manipulator. Current vision-guided robotics are still based on a priori training and teaching steps, and still suffer from long response time.
The study uses a stereo triangulation setup where two Charged Coupled Devices CCDs are arranged to acquire the scene from two different perspectives. The study discusses the details of two methods to calculate the depth; firstly a correlation matching …