Arts and Humanities Commons^™

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West

USF Tampa Graduate Theses and Dissertations

A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and …

Opportunities To Mainstream Gender In Water And Wastewater Infrastructure Projects: A Case Study In Barbados, Wainella Isaacs

USF Tampa Graduate Theses and Dissertations

According to the World Resources Institute, Barbados is one of seven Caribbean countries ranked as being the most water stressed territories in the world. Prevailing drought conditions for the period 2010-2016 further compromised its water security while confirming predictions of a drier regional Caribbean climate. The simultaneous failing of at least 50-year-old water infrastructure at many points in the distribution network adds to these water stress conditions, and presents a financial burden to the local water utility in the form of lost revenues, and increased energy consumption for pumping.

Climate change and its impacts are not gender-neutral, and water infrastructure …