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Articles 1 - 20 of 20
Full-Text Articles in Engineering
Liquid Metal Particle Popping: Nanoscale To Macroscale, Trevor R. Lear
Liquid Metal Particle Popping: Nanoscale To Macroscale, Trevor R. Lear
Open Access Theses
Liquid metal nanoparticles can be used to produce stretchable electronic devices. Understanding the mechanical properties of liquid metal nanoparticles is crucial to optimizing their use in various applications, especially printing of flexible, stretchable electronics. Smaller nanoparticles are desired for high-resolution printing and compatibility with existing scalable manufacturing methods; however, they contain less liquid metal and are more difficult to rupture than larger particles, making them less desirable for post-processing functionality. This study investigates the mechanics of liquid metal particle rupture as a function of particle size. We employ compression of particle films to characterize the composition of the particle core …
Algorithms For Lidar Based Traffic Tracking: Development And Demonstration, Vamsi K. Bandaru
Algorithms For Lidar Based Traffic Tracking: Development And Demonstration, Vamsi K. Bandaru
Open Access Theses
The current state of the art of traffic tracking is based on the use of video, and requires extensive manual intervention for it to work, including hours of painstaking human examination of videos frame by frame which also make the acquisition of data extremely expensive. Fundamentally, this is because we do not have observability of the actual scene from a camera which captures a 2D projection of the 3D world. Even if video were to be automated, it would involve such algorithms as RANSACK for outlier elimination while matching features across frames or across multiple cameras. This results in algorithms …
Command Shaping With Constrained Peak Input Acceleration To Minimize Residual Vibration In A Flexible-Joint Robot, Yumeng Wu
Open Access Theses
Rapid point-to-point motion is limited when flexibilities exist in the system. In order to minimize the vibrations related to joint flexibilities, much work has been done, including modifying the system so that vibrations can be damped out more quickly, calculating the inverse dynamics of the system and constructing shaped input profiles that avoid system natural frequencies. In this work, the earlier fixed-time command shaping method has been extended to a peak-acceleration-constrained approach with two basis functions, the ramped sinusoid function and the versine function, such that the maximum acceleration is guaranteed without overconstraining the input profiles. The approach is developed …
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Analysis Of Feedback Control Applied With Command Shaping To Minimize Residual Vibration, Nicholas L. Jacobs
Open Access Theses
Joint flexibility is a physical trait that affects all robotic systems to some degree. This characteristic has been shown to be very detrimental to the performance of these robotic systems when implementing fast point-to-point motion. During such motion, the robot will induce vibrations in its structure that will extend past the completion of the move. Many techniques have been applied over the years in order to minimize these residual vibrations. One such method is known as command shaping, which will construct the input profile so as to avoid exciting the natural frequencies of the system. This work seeks to extend …
Representation And Control Of Coordinated-Motion Tasks For Human-Robot Systems, Hyungju Andy Park
Representation And Control Of Coordinated-Motion Tasks For Human-Robot Systems, Hyungju Andy Park
Open Access Dissertations
It is challenging for robots to perform various tasks in a human environment. This is because many human-centered tasks require coordination in both hands and may often involve cooperation with another human. Although human-centered tasks require different types of coordinated movements, most of the existing methodologies have focused only on specific types of coordination. This thesis aims at the description and control of coordinated-motion tasks for human-robot systems; i.e., humanoid robots as well as multi-robot and human-robot systems.
First, for bimanually coordinated-motion tasks in dual-manipulator systems, we propose the Extended-Cooperative-Task-Space (ECTS) representation, which extends the existing Cooperative-Task-Space (CTS) representation based …
Learning In Vision And Robotics, Daniel P. Barrett
Learning In Vision And Robotics, Daniel P. Barrett
Open Access Dissertations
I present my work on learning from video and robotic input. This is an important problem, with numerous potential applications. The use of machine learning makes it possible to obtain models which can handle noise and variation without explicitly programming them. It also raises the possibility of robots which can interact more seamlessly with humans rather than only exhibiting hard-coded behaviors. I will present my work in two areas: video action recognition, and robot navigation. First, I present a video action recognition method which represents actions in video by sequences of retinotopic appearance and motion detectors, learns such models automatically …
Hybrid Power System For Micro Air Vehicles, Bakytgul Khaday
Hybrid Power System For Micro Air Vehicles, Bakytgul Khaday
Open Access Theses
Today Micro Air Vehicles are in need of a good power source that would enable them longer flight time and various functionalities. This work is focused on to this problem. A possible solution that is offered in this study is implementing a hybrid power system consisting of battery and supercapacitor (SCAP). The proposed hybrid power system was tested on an existing MAV platform (Cheerson CX-10). A separate hybrid power printed circuit board (PCB) was designed and manufactured. For experimental and system verification purposes, the PCB was not sized for on-board flight. The hybrid power PCB was connected to MAV through …
Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control With Application To Unmanned Aircraft Systems, David William Kun
Linear Matrix Inequality-Based Nonlinear Adaptive Robust Control With Application To Unmanned Aircraft Systems, David William Kun
Open Access Theses
Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known …
Bio-Inspired Robotic Fish With Vision Based Target Tracking, Eric Anderson
Bio-Inspired Robotic Fish With Vision Based Target Tracking, Eric Anderson
Open Access Theses
The lionfish is an invasive species that out-competes and overcrowds native sh species along the eastern seaboard of the United States and down into the Caribbean. Lionfish populations are growing rapidly. Current methods of monitoring lionfish populations are costly and time intensive. A bio-inspired robotic fish was built to use as an autonomous lionfish tracking platform. Lionfish are tracked visually using an onboard processor. Five different computer vision methods for identification and tracking are proposed and discussed. These include: background subtraction, color tracking, mixture of Gaussian background subtraction, speeded up robust feature (SURF), and CamShift based tracking. Each of these …
Principle Of Bio-Inspired Insect Wing Rotational Hinge Design, Fan Fei
Principle Of Bio-Inspired Insect Wing Rotational Hinge Design, Fan Fei
Open Access Theses
A principle for designing and fabricating bio-inspired miniature artificial insect flapping wing using flexure rotational hinge design is presented. A systematic approach of selecting rotational hinge stiffness value is proposed. Based on the understanding of flapping wing aerodynamics, a dynamic simulation is constructed using the established quasi-steady model and the wing design. Simulations were performed to gain insight on how different parameters affect the wing rotational response. Based on system resonance a model to predict the optimal rotational hinge stiffness based on given wing parameter and flapping wing kinematic is proposed. By varying different wing parameters, the proposed method is …
Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera
Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera
Open Access Theses
In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it …
Design And Analysis Of A Cable-Driven Test Apparatus For Flapping-Flight Research, Stephen J. Musick
Design And Analysis Of A Cable-Driven Test Apparatus For Flapping-Flight Research, Stephen J. Musick
Open Access Theses
The biology, physiology, kinematics, and aerodynamics of insect flight have been a longstanding fascination for biologists and engineers. The former three are easily obtained through the observation of the organic species. The latter though, is very difficult to study in this fashion. In many cases, aerodynamic forces and fluid-body interactions can be simulated with computational fluid dynamics; another option is to use dynamically-scaled, experimental set-ups to measure physically these values.
An archetypal, experimental set-up may include one or two scaled wings, where each wing is actuated to achieve upwards of three degrees of freedom. The three degrees of freedom correspond …
Software Architecture And Development For Controlling A Hubo Humanoid Robot, Manas Ajit Paldhe
Software Architecture And Development For Controlling A Hubo Humanoid Robot, Manas Ajit Paldhe
Open Access Theses
Due to their human-like structure, humanoid robots are capable of doing some complex tasks. Since a humanoid robot has a large number of actuators and sensors, controlling it is a difficult task. For various tasks like balancing, driving a car, and interacting with humans, real-time response of the robot is essential. Efficiently controlling a humanoid robot requires a software that guarantees real-time interface and control mechanism so that real-time response of the robot is possible. Addition- ally, to reduce the development effort and time, the software should be open-source, multi-lingual and should have high-level constructs inbuilt in it.
Currently Robot …
A Sensor Ontology For The Domain Of Firefighting Robots, Amy Renae Wagoner
A Sensor Ontology For The Domain Of Firefighting Robots, Amy Renae Wagoner
Open Access Theses
Fires create thousands of dollars in damage and thousands of deaths each year. Firefighters risk their lives everyday and are often killed in action. Firefighting robots may be able to reduce the loss of lives and damage due to fires. Robots are often used for redundant tasks that require the consistency and efficiency of a machine. They are especially optimal for tasks that require strength that exceeds that of a typical human being or for environments that are hazardous to people. Robots' metallic exteriors are far more durable and easier to replace than flesh and blood, thus they are ideal …
Reasoning Across Language And Vision In Machines And Humans, Andrei Barbu
Reasoning Across Language And Vision In Machines And Humans, Andrei Barbu
Open Access Dissertations
Humans not only outperform AI and computer-vision systems, but use an unknown computational mechanism to perform tasks for which no suitable approaches exist. I present work investigating both novel tasks and how humans approach them in the context of computer vision and linguistics. I demonstrate a system which, like children, acquires high-level linguistic knowledge about the world. Robots learn to play physically-instantiated board games and use that knowledge to engage in physical play. To further integrate language and vision I develop an approach which produces rich sentential descriptions of events depicted in videos. I then show how to simultaneously detect …
Hypothesize-And-Verify Based Solutions For Place Recognition And Mobile Robot Self-Localization In Interior Hallways, Khalil Mustafa Ahmad Yousef
Hypothesize-And-Verify Based Solutions For Place Recognition And Mobile Robot Self-Localization In Interior Hallways, Khalil Mustafa Ahmad Yousef
Open Access Dissertations
There is much research interest currently in having mobile robots build accurate and visually dense models ofinterior space as they traverse through such spaces. One of the interesting problems that has came out of this research is that of visual place recognition and self-localization. This is the problem that forms the focus of the present dissertation. We show how dense and accurate 3D models of the interior space can be constructed using a hierarchical sensor-fusion architecture. Our system fuses images from a single photometric camera with range data from a laser scanning sensor. The range data used is rudimentary--the range …
Combining Multiple, Inexpensive Gps Receivers To Increase Accuracy And Reliability, Daniel Kenneth Schrader
Combining Multiple, Inexpensive Gps Receivers To Increase Accuracy And Reliability, Daniel Kenneth Schrader
Open Access Theses
GPS is a technology that allows for accurate tracking of various parameters, namely speed and location. Many modern systems and tools require a rapidly-refreshing report of their speed and/or location, but the GPS technology available to most users may not be accurate enough for some applications. Methods currently
exist to improve GPS accuracy, but many or all of these methods are expensive, difficult, or simply not available without special technology and permission.
The research presented in this thesis describes an attempt to improve the accuracy and/or reliability of GPS, without using any expensive or restricted methods. The ability for any …
Analysis Of An Actuated Two Segment Leg Model Of Locomotion, Nikhil Vinayak Rao
Analysis Of An Actuated Two Segment Leg Model Of Locomotion, Nikhil Vinayak Rao
Open Access Theses
Research studies on dynamic models of legged locomotion have generally focused on telescoping-type leg models. Such telescoping spring loaded inverted pendulum (SLIP) models have been able to accurately predict observed center of mass (CoM) trajectories. There have been comparatively fewer studies on dynamics of locomotion
with segmented legs. Some earlier studies on the dynamics due to leg segmentation appear straightforward. For example, a simple model with the only joint moment being due to a passive springy knee has been shown to behave similarly to a telescoping spring-mass model. However, in real-life animal locomotion, there are multiple joint-moments acting at the …
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black
Open Access Theses
We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …
Design Of A Running Robot And The Effects Of Foot Placement In The Transverse Plane, Timothy James Sullivan
Design Of A Running Robot And The Effects Of Foot Placement In The Transverse Plane, Timothy James Sullivan
Open Access Theses
The purpose of this thesis is to make advances in the design of humanoid bipedal running robots. We focus on achieving dynamic running locomotion because it is one metric by which we can measure how far robotic technologies have advanced, in relation to existing benchmarks set by humans and other animals. Designing a running human-inspired robot is challenging because human bodies are exceptionally complex mechanisms to mimic. There are only a few humanoid robots designed specifically for running and the existing robots are either constrained to a plane, do not yet exhibit human-like motion, or are unstable.
One aspect of …