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Full-Text Articles in Robotics
The Design Of A Haptic Device For Training And Evaluating Surgeon And Novice Laparoscopic Movement Skills, Ryan Bontreger
The Design Of A Haptic Device For Training And Evaluating Surgeon And Novice Laparoscopic Movement Skills, Ryan Bontreger
All Theses
As proper levels of force application are necessary to ensure patient safety, and training hours with an expert on live subjects are difficult, enhanced computer-based training is needed to teach the next generation of surgeons. Considering the role of touch in surgery, there is a need for a device capable of discerning the haptic ability of surgical trainees. This need is amplified by minimally invasive surgical techniques where a surgeon's sense of tissue properties comes not directly through their own hands but indirectly through the tools. A haptic device capable of producing a realistic range of forces and motions that …
A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
A New Approach To Dynamic Modeling Of Continuum Robots, Nivedhitha Giri
All Theses
ABSTRACT
In this thesis, a new approach for developing practically realizable dynamic models for continuum robots is proposed. Based on the new dynamic models developed, a novel technique for analyzing the capabilities of continuum manipulators to be employed in various real world applications has also been proposed and developed.
A section of a continuum arm is modeled using lumped model elements (masses, springs and dampers). It is shown that this model, although an approximation to a continuum structure, can be used to conveniently analyze the dynamics of the arm with suitable tradeoff in accuracy of modeling. This relatively simple model …
Dynamics And Control Of The Shoot-The-Moon Tabletop Game, Peng Xu
Dynamics And Control Of The Shoot-The-Moon Tabletop Game, Peng Xu
All Theses
The classic table-top game Shoot-the-Moon has interesting dynamics despite its simple structure, consisting of a steel ball rolling on two cylindrical rods. The two sloped rods are hinged at the lower ends and allowed to freely slide in a slot at the higher end. The ball can amazingly roll upward along the rods under carefully manipulation of the rods. There is also an interaction between ball rotation and translation that cause the ball to ``shoot'' (quickly accelerate).
In this thesis, the kinematics are developed for Shoot-the-Moon and then equations of motion are derived using both Lagrangian and Newtonian approaches. The …
Pose Estimation For Robotic Disassembly Using Ransac With Line Features, Shyam Sundar Aswadha Narayanan
Pose Estimation For Robotic Disassembly Using Ransac With Line Features, Shyam Sundar Aswadha Narayanan
All Theses
In this thesis, a new technique to recognize and estimate the pose of a given 3-D object from a single real image provided known prior knowledge of its approximate structure is proposed. Metrics to evaluate the correctness of a calculated pose are presented and analyzed. The traditional and the more recent approaches used in solving this problem are explored and the various methodologies adopted are discussed.
The first step in disassembling a given assembly from its image is to recognize the attitude and translation of each of its constituent components - a fundamental problem which is being addressed in this …