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2015

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Articles 1621 - 1650 of 7525

Full-Text Articles in Engineering

Measuring The Potential Impact Of Combination Hiv Prevention In Sub-Saharan Africa, Amin Khademi, Sunanth Anand, David Potts Sep 2015

Measuring The Potential Impact Of Combination Hiv Prevention In Sub-Saharan Africa, Amin Khademi, Sunanth Anand, David Potts

Publications

A public health approach to combination HIV prevention is advocated to contain the epidemic in sub-Saharan Africa. We explore the implications of universal access to treatment along with HIV education scale-up in the region. We develop an HIV transmission model to investigate the impacts of universal access to treatment, as well as an analytical framework to estimate the effects of HIV education scale-up on the epidemic. We calibrate the model with data from South Africa and simulate the impacts of universal access to treatment along with HIV education scale-up on prevalence, incidence, and HIV-related deaths over a course of 15 …


Structural And Functional Characterization Of A Lytic Polysaccharide Monooxygenase With Broad Substrate Specificity, Anna S. Borisova, Trine Isaksen, Maria Dimarogona, Abhishek A. Kognole, Geir Mathiesen, Anikó Várnai, Åsmund K. Røhr, Christina M. Payne, Morten Sørlie, Mats Sandgren, Vincent G. H. Eijsink Sep 2015

Structural And Functional Characterization Of A Lytic Polysaccharide Monooxygenase With Broad Substrate Specificity, Anna S. Borisova, Trine Isaksen, Maria Dimarogona, Abhishek A. Kognole, Geir Mathiesen, Anikó Várnai, Åsmund K. Røhr, Christina M. Payne, Morten Sørlie, Mats Sandgren, Vincent G. H. Eijsink

Chemical and Materials Engineering Faculty Publications

The recently discovered lytic polysaccharide monooxygenases (LPMOs) carry out oxidative cleavage of polysaccharides and are of major importance for efficient processing of biomass. NcLPMO9C from Neurospora crassa acts both on cellulose and on non-cellulose β-glucans, including cellodextrins and xyloglucan. The crystal structure of the catalytic domain of NcLPMO9C revealed an extended, highly polar substrate-binding surface well suited to interact with a variety of sugar substrates. The ability of NcLPMO9C to act on soluble substrates was exploited to study enzyme-substrate interactions. EPR studies demonstrated that the Cu2+ center environment is altered upon substrate binding, whereas isothermal titration …


Molecular Helices As Electron Acceptors In High-Performance Bulk Heterojunction Solar Cells, Yu Zhong, M. Tuan Trinh, Rongsheng Chen, Geoffrey E. Purdum, Petr P. Khlyabich, Melda Sezen, Seokjoon Oh, Haiming Zhu, Brandon Fowler, Boyuan Zhang, Wei Wang, Chang-Yong Nam, Matthew Y. Sfeir, Charles T. Black, Michael L. Steigerwald, Yueh-Lin Loo, Fay Ng, X.-Y. Zhu, Colin Nuckolls Sep 2015

Molecular Helices As Electron Acceptors In High-Performance Bulk Heterojunction Solar Cells, Yu Zhong, M. Tuan Trinh, Rongsheng Chen, Geoffrey E. Purdum, Petr P. Khlyabich, Melda Sezen, Seokjoon Oh, Haiming Zhu, Brandon Fowler, Boyuan Zhang, Wei Wang, Chang-Yong Nam, Matthew Y. Sfeir, Charles T. Black, Michael L. Steigerwald, Yueh-Lin Loo, Fay Ng, X.-Y. Zhu, Colin Nuckolls

Publications and Research

Despite numerous organic semiconducting materials synthesized for organic photovoltaics in the past decade, fullerenes are widely used as electron acceptors in highly efficient bulk-heterojunction solar cells. None of the non-fullerene bulk heterojunction solar cells have achieved efficiencies as high as fullerene-based solar cells. Design principles for fullerene-free acceptors remain unclear in the field. Here we report examples of helical molecular semiconductors as electron acceptors that are on par with fullerene derivatives in efficient solar cells. We achieved an 8.3% power conversion efficiency in a solar cell, which is a record high for non-fullerene bulk heterojunctions. Femtosecond transient absorption spectroscopy revealed …


Leveraging External Sensor Data For Enhanced Space Situational Awareness, Charlie T. Bellows Sep 2015

Leveraging External Sensor Data For Enhanced Space Situational Awareness, Charlie T. Bellows

Theses and Dissertations

Reliable Space Situational Awareness (SSA) is a recognized requirement in the current congested, contested, and competitive environment of space operations. A shortage of available sensors and reliable data sources are some current limiting factors for maintaining SSA. Unfortunately, cost constraints prohibit drastically increasing the sensor inventory. Alternative methods are sought to enhance current SSA, including utilizing non-traditional data sources (external sensors) to perform basic SSA catalog maintenance functions. Astronomical data, for example, routinely collects serendipitous satellite streaks in the course of observing deep space; but tactics, techniques, and procedures designed to glean useful information from those collects have yet to …


Modular Heat Dissipation Technique For A Cubesat, Melih Eken Sep 2015

Modular Heat Dissipation Technique For A Cubesat, Melih Eken

Theses and Dissertations

In recent years, due to their many advantages, interest in larger scale CubeSats, such as 3U and 6U, has been increased. Correspondingly, dissipating the heat from the heat generating components in the CubeSat has become a challenge for thermal control. In this research, a modular approach was developed to dissipate heat from the overheating components in a CubeSat. To accomplish this, both experimental and computational methodologies were used. A 6U CubeSat was computationally modeled and the model correlated by experimental test results. Subsequently, validated CubeSat thermal model was used to design a modular heat dissipater. Validation and performance experiments of …


Analysis Of Hypersonic Vehicle Wakes, Matthew A. Kania Sep 2015

Analysis Of Hypersonic Vehicle Wakes, Matthew A. Kania

Theses and Dissertations

As advancements are made with ballistic missiles, particularly in the area of hypersonic bodies, there is a growing need to advance the methods of detecting these new ballistic weapons. As a result, the National Air and Space Intelligence Center has asked the Air Force Institute of Technology to examine the wake region behind hypersonic bodies. A thorough understanding of the aerothermal phenomena and the chemical reactions occurring in the wake region will enable an advancement of tracking hypersonic bodies. This research examined the wake region behind a hypersonic body using computational fluid dynamics.
This study used Pointwise® to develop a …


Environmental Degradation Of Nickel-Based Superalloys Due To Gypsiferous Desert Dusts, Matthew B. Krisak Sep 2015

Environmental Degradation Of Nickel-Based Superalloys Due To Gypsiferous Desert Dusts, Matthew B. Krisak

Theses and Dissertations

More than twenty-five years of continuous operation in the dusty environments of Southwest Asia have shown that degradation of gas turbine engine components due to particle ingestion is a serious threat to operations. In particular, the continued push for higher engine operating temperatures has brought a new emphasis to the damage mechanisms (for example CMAS glass formation and hot corrosion) caused by ingested particles forming molten deposits on engine components. Despite decades of research little progress has been made to mitigate the effects of CMAS and hot corrosion degradation to engine components. This research focused on hot corrosion specifically. A …


Adaptive Automation Design And Implementation, Jason M. Bindewald Sep 2015

Adaptive Automation Design And Implementation, Jason M. Bindewald

Theses and Dissertations

Automations allow us to reduce the need for humans in certain environments, such as auto-pilot features on unmanned aerial vehicles. However, some situations still require human intervention. Adaptive automation is a research field that enables computer systems to adjust the amount of automation by taking over tasks from or giving tasks back to the user. This research develops processes and insights for adaptive automation designers to take theoretical adaptive automation ideas and develop them into real-world adaptive automation system. These allow developers to design better automation systems that recognize the limits of computers systems, enabling better designs for systems in …


Novel Applications Of A Thermally Tunable Bistable Buckling Silicon-On-Insulator (Soi) Microfabricated Membrane, Robert A. Lake Sep 2015

Novel Applications Of A Thermally Tunable Bistable Buckling Silicon-On-Insulator (Soi) Microfabricated Membrane, Robert A. Lake

Theses and Dissertations

Buckled membranes are commonly used microelectromechanical systems (MEMS) structures. Recent work has demonstrated that the deflection and stiffness of these membranes can be tuned through localized joule heating. These devices were implemented into the design and fabrication of two novel device applications, a tunable pressure sensor and a steerable micromirror. A differential pressure across the membrane causes de reflection, up or down, which can be measured and related to a specific pressure. By tuning the stiffness of the membrane, its pressure response is varied providing a wider range of application for the pressure sensor. A 2.0mm by 2.0mm square membrane …


Multi-Mode Analysis Of Dual Ridged Waveguide Systems For Material Characterization, Jason G. Crosby Sep 2015

Multi-Mode Analysis Of Dual Ridged Waveguide Systems For Material Characterization, Jason G. Crosby

Theses and Dissertations

In this dissertation, two nondestructive dual ridged waveguide (DRWG) material characterization systems are investigated. The single and clamped DRWG probe geometries were analyzed in previous work; however, that research only incorporated the dominant DRWG mode. Here, that restriction is removed and the existence of evanescent higher- order modes is considered. Theoretical analysis of the single and clamped DRWG probes is presented and discussed. The approach taken here is similar to that presented in previous research: Love's equivalence theorem is used to remove the DRWG apertures which are replaced with equivalent magnetic currents radiating in the presence of the background parallel-plate …


Novel Techniques For Secure Use Of Public Cloud Computing Resources, Kyle E. Stewart Sep 2015

Novel Techniques For Secure Use Of Public Cloud Computing Resources, Kyle E. Stewart

Theses and Dissertations

The federal government has an expressed interest in moving data and services to third party service providers in order to take advantage of the flexibility, scalability, and potential cost savings. This approach is called cloud computing. The thesis for this research is that efficient techniques exist to support the secure use of public cloud computing resources by a large, federated enterprise. The primary contributions of this research are the novel cryptographic system MA-AHASBE (Multi-Authority Anonymous Hierarchical Attribute-Set Based Encryption), and the techniques used to incorporate MA-AHASBE in a real world application. Performance results indicate that while there is a cost …


Characterization Of Point Defects In Lithium Aluminate (Lialo2) Single Crystals, Maurio S. Holston Sep 2015

Characterization Of Point Defects In Lithium Aluminate (Lialo2) Single Crystals, Maurio S. Holston

Theses and Dissertations

Lithium aluminate (LiAlO2) is an insulating wide-band gap material currently under development for tritium breeding and radiation detection and dosimetry applications. Point defects are imperfections in a crystal lattice localized over a few atomic lengths that can alter the electrical, mechanical, or optical properties of materials. An understanding of point defect behavior is a necessary precursor for optimizing lithium aluminate for nuclear applications. This dissertation has identified and characterized the major point defects created and induced through x-ray and neutron radiation using electron paramagnetic resonance and fluorescence spectroscopy, thermoluminescence, and optical absorption. This dissertation explains for the first …


Tension-Compression Fatigue Behavior Of 2d And 3d Polymer Matrix Composites At Elevated Temperature, Saleh A. Alnatifat Sep 2015

Tension-Compression Fatigue Behavior Of 2d And 3d Polymer Matrix Composites At Elevated Temperature, Saleh A. Alnatifat

Theses and Dissertations

In this Research effort, the tension-compression fatigue behavior of the 3D and 2D PMCs with 0/90˚ fiber orientation (newly developed) was investigated. These polymer composites consist of an NRPE (high-temperature polyimide) matrix with carbon fiber reinforcement. Compressive properties were assessed at (1) room temperature and (2) elevated temperature with one side, Tright, at 329˚C and the other side open to the ambient air. Tension-compression fatigue tests were conducted at elevated temperature with a frequency of 1 Hz and a ratio of minimum to maximum stress of -1.


Evaluation Of Control Inputs On The Spin Recovery Of The 8kcab Super Decathlon, Courtney Allen Sep 2015

Evaluation Of Control Inputs On The Spin Recovery Of The 8kcab Super Decathlon, Courtney Allen

Theses and Dissertations

The current Federal Aviation Administration (FAA) response to stall/spin related accidents is prevention through pilot awareness training and encouraging stall proof aircraft design features. Aircraft have an inherent capability to spin. The controls that influence spin recovery have yet to be quantitatively analyzed in a regression analysis. This thesis presents the regression modeling and validation process for the evaluation of control inputs on the spin recovery of the 8KCAB Super Decathlon. The regression models in this thesis explore the control inputs for factors of: rudder, elevator, and aileron. Additionally, this thesis explores the timing of the control inputs factors for …


A Feasibility Study On The Application Of The Scriptgene Framework As An Anomaly Detection System In Industrial Control Systems, Charito M. Corvin Sep 2015

A Feasibility Study On The Application Of The Scriptgene Framework As An Anomaly Detection System In Industrial Control Systems, Charito M. Corvin

Theses and Dissertations

Recent events such as Stuxnet and the Shamoon Aramco have brought to light how vulnerable industrial control systems (ICSs) are to cyber attacks. Modern society relies heavily on critical infrastructure, including the electric power grid, water treatment facilities, and nuclear energy plants. Malicious attempts to disrupt, destroy and disable such systems can have devastating effects on a populations way of life, possibly leading to loss of life. The need to implement security controls in the ICS environment is more vital than ever. ICSs were not originally designed with network security in mind. Today, intrusion detection systems are employed to detect …


Network Analysis With Stochastic Grammars, Alan C. Lin Sep 2015

Network Analysis With Stochastic Grammars, Alan C. Lin

Theses and Dissertations

Digital forensics requires significant manual effort to identify items of evidentiary interest from the ever-increasing volume of data in modern computing systems. One of the tasks digital forensic examiners conduct is mentally extracting and constructing insights from unstructured sequences of events. This research assists examiners with the association and individualization analysis processes that make up this task with the development of a Stochastic Context -Free Grammars (SCFG) knowledge representation for digital forensics analysis of computer network traffic. SCFG is leveraged to provide context to the low-level data collected as evidence and to build behavior profiles. Upon discovering patterns, the analyst …


Exploitation Of Unintentional Ethernet Cable Emissions Using Constellation Based-Distinct Native Attribute (Cb-Dna) Fingerprints To Enhance Network Security, Timothy J. Carbino Sep 2015

Exploitation Of Unintentional Ethernet Cable Emissions Using Constellation Based-Distinct Native Attribute (Cb-Dna) Fingerprints To Enhance Network Security, Timothy J. Carbino

Theses and Dissertations

This research contributed to the AFIT's Radio Frequency Intelligence (RFINT) program by developing a new device discrimination technique called Constellation-Based Distinct Native Attribute (CB-DNA) Fingerprinting. This is of great interest to the Air Force Research Lab (AFRL), Sensor Directorate, who supported the research and now have new method for improving network security. CB-DNA fingerprints are used to authenticate wired network device identities, thwart unauthorized access, and augment traditional bit-level security measures that area easily bypassed by skilled hackers. Similar to human fingerprint features that uniquely identify individuals, CB-DNA uniquely identifies communication devices and improves the rate at which unauthorized rogue …


Grabbing The Air Force By The Tail: Applying Strategic Cost Analytics To Understand And Manage Indirect Cost Behavior, Bradley C. Boehmke Sep 2015

Grabbing The Air Force By The Tail: Applying Strategic Cost Analytics To Understand And Manage Indirect Cost Behavior, Bradley C. Boehmke

Theses and Dissertations

Recent and projected reductions in defense spending are forcing the military services to develop systematic approaches to identify cost reduction opportunities and better manage financial resources. In response, the Air Force along with her sister services are developing strategic approaches to reduce front-line mission resources, commonly referred to as the Tooth . However, an underemphasized contributing source of costs are mission support activities, commonly referred to as the Tail . With the tail historically representing a sizable portion of the annual Air Force budget, strategically managing cost behavior of these indirect activities has the opportunity to generate significant cost reductions. …


An Analysis Of Conus Based Deployment Of Pseudolites For Positioning, Navigation And Timing (Pnt) Systems, Justin H. Deifel, Albert J. Pena Sep 2015

An Analysis Of Conus Based Deployment Of Pseudolites For Positioning, Navigation And Timing (Pnt) Systems, Justin H. Deifel, Albert J. Pena

Theses and Dissertations

The Global Positioning System (GPS) developed and operated by the United States Air Force (USAF) provides a way for users to determine position, navigation and timing (PNT). GPS provides an extraordinary capability that has become instrumental in all aspects of our day to day lives. As new technologies such as automated vehicles and unmanned aircraft continue to be developed, a reliable back up to GPS is required to ensure the PNT data generated in these systems is accurate. This research studies a potential architecture for deploying a nationwide network of ground based pseudolites that would act to supplement and backup …


Multidimensional Analysis Of Nuclear Detonations, Robert C. Slaughter Sep 2015

Multidimensional Analysis Of Nuclear Detonations, Robert C. Slaughter

Theses and Dissertations

The focus of this research is to develop the methods for 3-dimensional reconstructions and temperature distributions of early time nuclear fireballs. Initial developments have resulted in the first 2-dimensional temperature distribution of a nuclear fireball using digitized film. This same process was then extended to perform the first limb darkening calculations of nuclear fireballs. Limb darkening coefficients were then used to derive a temperature profile of the nuclear fireball as a function of optical path length. A 3-dimensional reconstruction was performed using a variation of a structure from illuminance technique in combination with limb darkening coefficients to produce structure using …


Finite Element Analysis And Experimentation Of An Icosahedron Frame Under Compression, Mohammed Alghofaily Sep 2015

Finite Element Analysis And Experimentation Of An Icosahedron Frame Under Compression, Mohammed Alghofaily

Theses and Dissertations

A nonlinear analysis of a 3D icosahedron frame was conducted using ABAQUS, under a compressive load in which collapse occurs. The frame was created in SolidWorks using the material properties of the 3D plastic building material VeroBlue. Two considerations were made: the computational features of the frame, and the comparison between the experimental solution to the numerical solution. Two studies were also considered in this research: The first study was a comparison between the seven-inch and the four-inch icosahedron model with identical weight to buoyancy ratios; and the second study was a comparison between the seven-inch icosahedrons frame, with the …


A Nonequilibrium Finite-Rate Carbon Ablation Model For Radiating Earth Re-Entry Flows, Christopher R. Alba Sep 2015

A Nonequilibrium Finite-Rate Carbon Ablation Model For Radiating Earth Re-Entry Flows, Christopher R. Alba

Theses and Dissertations

Vehicles entering planetary atmospheres at high speed require an ablative heat shield in order to withstand the high thermal energy flux to the body. The interaction between the ablative products and the flow field is not well characterized. Numerical simulations were conducted to investigate the influence of carbon ablation on shock layer radiation. Data collected from experiments performed in the X-2 expansion tunnel at the University of Queensland was used to compare to the simulations. The model was a short half-cylinder made of isomolded graphite and was tested in 8.6 km/s Earth entry flow. The model surface was heated within …


System Architecture Of Small Unmanned Aerial System For Flight Beyond Visual Line-Of-Sight, Kwee Siam Seah Sep 2015

System Architecture Of Small Unmanned Aerial System For Flight Beyond Visual Line-Of-Sight, Kwee Siam Seah

Theses and Dissertations

Small Unmanned Aerial Systems (UAS) have increasingly been used in military application. The application in expanding scope of operations has pushed existing small UAS beyond its designed capabilities. This resulted in frequent modifications or new designs. A common requirement in modification or new design of small UAS is to operate beyond visual Line-Of-Sight (LOS) of the ground pilot. Conventional military development for small UAS adopts a design and built approach. Modification of small Remote Control (RC) aircraft, using Commercial-Off-The Shelf (COTS) equipment, offers a more economical alternative with the prospect of shorter development time compared to conventional approach. This research …


Integrated Systems Health Management As An Enabler For Condition Based Maintenance And Autonomic Logistics, Robert M. Vandawalker Sep 2015

Integrated Systems Health Management As An Enabler For Condition Based Maintenance And Autonomic Logistics, Robert M. Vandawalker

Theses and Dissertations

Health monitoring systems have demonstrated the ability to detect potential failures in components and predict how long until a critical failure is likely to occur. Implementing these systems on fielded structures, aircraft, or other vehicles is often a struggle to prove cost savings or operational improvements beyond improved safety. A system architecture to identify how the health monitoring systems are integrated into fielded aircraft is developed to assess cost, operations, maintenance, and logistics trade-spaces. The efficiency of a health monitoring system is examined for impacts to the operation of a squadron of cargo aircraft revealing sensitivity to and tolerance for …


Knowledge Discovery And Predictive Modeling From Brain Tumor Mris, Mu Zhou Sep 2015

Knowledge Discovery And Predictive Modeling From Brain Tumor Mris, Mu Zhou

USF Tampa Graduate Theses and Dissertations

Quantitative cancer imaging is an emerging field that develops computational techniques to acquire a deep understanding of cancer characteristics for cancer diagnosis and clinical decision making. The recent emergence of growing clinical imaging data provides a wealth of opportunity to systematically explore quantitative information to advance cancer diagnosis. Crucial questions arise as to how we can develop specific computational models that are capable of mining meaningful knowledge from a vast quantity of imaging data and how to transform such findings into improved personalized health care?

This dissertation presents a set of computational models in the context of malignant brain tumors— …


Reliable Power System Planning And Operations Through Robust Optimization, Wei Yuan Sep 2015

Reliable Power System Planning And Operations Through Robust Optimization, Wei Yuan

USF Tampa Graduate Theses and Dissertations

In this dissertation, we introduce and study robust optimization models and decomposition algorithms in order to deal with the uncertainties such as terrorist attacks, natural disasters, and uncertain demand that are becoming more and more signicant in power systems operation and planning. An optimal power grid hardening problem is presented as a defender-attacker-defender (DAD) sequential game and solved by an exact decomposition algorithm. Network topology control, which is an eective corrective measure in power systems, is then incorporated into the defender-attacker-defender model as a recourse operation for the power system operator after a terrorist attack. Computational results validate the cost-eectiveness …


Interplays Of Co2, Subnanometer Metal Clusters, And Tio2: Implications For Catalysis And Co2 Photoreduction, Chi-Ta Yang Sep 2015

Interplays Of Co2, Subnanometer Metal Clusters, And Tio2: Implications For Catalysis And Co2 Photoreduction, Chi-Ta Yang

USF Tampa Graduate Theses and Dissertations

This research is motivated by two significant challenges facing the planet: reducing the emission of CO2 to the atmosphere and production of sustainable fuels by harnessing solar energy. The main objective of this work is the study of promising photocatalysts for CO2 reduction. DFT modeling of CO2, subnanometer Ag&Pt clusters, and anatase TiO2 (101) surface is employed to gain fundamental understanding of the catalytic process, followed by validation using a guided experimental endeavor. The binding mechanism of CO2 on the surface is investigated in detail to gain insights into the catalytic activity and to assist …


Bio-Photoelectrochemical Solar Cells Incorporating Reaction Center And Reaction Center Plus Light Harvesting Complexes, Houman Yaghoubi Sep 2015

Bio-Photoelectrochemical Solar Cells Incorporating Reaction Center And Reaction Center Plus Light Harvesting Complexes, Houman Yaghoubi

USF Tampa Graduate Theses and Dissertations

Harvesting solar energy can potentially be a promising solution to the energy crisis now and in the future. However, material and processing costs continue to be the most important limitations for the commercial devices. A key solution to these problems might lie within the development of bio-hybrid solar cells that seeks to mimic photosynthesis to harvest solar energy and to take advantage of the low material costs, negative carbon footprint, and material abundance. The bio-photoelectrochemical cell technologies exploit biomimetic means of energy conversion by utilizing plant-derived photosystems which can be inexpensive and ultimately the most sustainable alternative. Plants and photosynthetic …


Ductility And Use Of Titanium Alloy And Stainless Steel Aerospace Fasteners, Jarrod Talbott Whittaker Sep 2015

Ductility And Use Of Titanium Alloy And Stainless Steel Aerospace Fasteners, Jarrod Talbott Whittaker

USF Tampa Graduate Theses and Dissertations

The main purpose of this thesis is to investigate the ductility and application of titanium alloys, like titanium 6Al-4V, when used in aerospace fasteners compared to more conventional stainless steel aerospace fasteners such as A286. There have been concerns raised about the safe usability of titanium 6-4 in the aerospace industry due to its lack of strain hardening. However, there is a lack of data pertaining to this concern of safe usage which this thesis aims to address. Tensile tests were conducted to find the ductility indexes of these fasteners which quantify the amount of plastic to elastic elongation. From …


Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang Sep 2015

Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang

USF Tampa Graduate Theses and Dissertations

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …