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Full-Text Articles in Engineering
Analysis And Experiments For Tendril-Type Robots, Lara Cowan
Analysis And Experiments For Tendril-Type Robots, Lara Cowan
All Theses
New models for the Tendril continuous backbone robot, and other similarly constructed robots, are introduced and expanded upon in this thesis. The ability of the application of geometric models to result in more precise control of the Tendril manipulator is evaluated on a Tendril prototype. We examine key issues underlying the design and operation of 'soft' robots featuring continuous body ('continuum') elements. Inspiration from nature is used to develop new methods of operation for continuum robots. These new methods of operation are tested in experiments to evaluate their effectiveness and potential.
Real-Time Forward Urban Environment Perception For An Autonomous Ground Vehicle Using Computer Vision And Lidar, Christopher Richard Greco
Real-Time Forward Urban Environment Perception For An Autonomous Ground Vehicle Using Computer Vision And Lidar, Christopher Richard Greco
Theses and Dissertations
The field of autonomous vehicle research is growing rapidly. The Congressional mandate for the military to use unmanned vehicles has, in large part, sparked this growth. In conjunction with this mandate, DARPA sponsored the Urban Challenge, a competition to create fully autonomous vehicles that can operate in urban settings. An extremely important feature of autonomous vehicles, especially in urban locations, is their ability to perceive their environment. The research presented in this thesis is directed toward providing an autonomous vehicle with real-time data that efficiently and compactly represents its forward environment as it navigates an urban area. The information extracted …
A Multi-Objective No-Regret Decision Making Model With Bayesian Learning For Autonomous Unmanned Systems, Matthew Howard
A Multi-Objective No-Regret Decision Making Model With Bayesian Learning For Autonomous Unmanned Systems, Matthew Howard
Electronic Theses and Dissertations
The development of a multi-objective decision making and learning model for the use in unmanned systems is the focus of this project. Starting with traditional game theory and psychological learning theories developed in the past, a new model for machine learning is developed. This model incorporates a no-regret decision making model with a Bayesian learning process which has the ability to adapt to errors found in preconceived costs associated with each objective. This learning ability is what sets this model apart from many others. By creating a model based on previously developed human learning models, hundreds of years of experience …
Relationship Between Arch Height And Midfoot Joint Pressures During Gait, Dong Gil Lee
Relationship Between Arch Height And Midfoot Joint Pressures During Gait, Dong Gil Lee
ETD Archive
A foot arch is a multi-segmented curved structure which acts as a spring during locomotion. It is well known that ligaments are important components contributing to this spring-like property of the arch. In addition, intrinsic and extrinsic foot muscles contribute to arch support. According to the windlass foot model, arch height and midfoot joint orientation change during gait. However, it is not known whether altered joint configurations result in increased joint stress during gait. If so, it is possible for there to be a "vicious cycle" in which joint stress increases as the arch height diminishes, which may then lead …
E-Quality Control: A Support Vector Machines Approach, Kalyan Reddy Aleti
E-Quality Control: A Support Vector Machines Approach, Kalyan Reddy Aleti
Open Access Theses & Dissertations
The web-enabled quality control process presents many benefits to industry, such as universal access, remote control capability, and integration of production equipment into information networks for improved efficiency. This capability has a great potential, since engineers can access and control the equipment anytime, anywhere as the design stages evolve. In this context, this work uses innovative methods in remote part tracking and quality control with the aid of the modern equipment and application of Support Vector machine learning approach to predict the outcome of the quality control process. The classifier equations are built on the data obtained from the experiments …