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Articles 31 - 38 of 38
Full-Text Articles in Electro-Mechanical Systems
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Theses and Dissertations--Mechanical and Aerospace Engineering
This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Telepresence: Design, Implementation And Study Of An Hmd-Controlled Avatar With A Mechatronic Approach, Darren Michael Chan
Master's Theses
Telepresence describes technologies that allow users to remotely experience the sensation of being present at an event without being physically present. An avatar exists to represent the user whilst in a remote location and is tasked to collect stimuli from its immediate surroundings to be delivered to the user for consumption. With the advent of recent developments in Virtual Reality technology, viz., head-mounted displays (HMDs), new possibilities have been enabled in the field of Telepresence. The main focus of this thesis is to develop a solution for visual Telepresence, where an HMD is used to control the direction of a …
Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel
Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel
Mechanical Engineering
This project is the second iteration of an automated foosball table for Yaskawa America as a trade show display. The table is meant to provide an interactive experience which highlights the speed and precision of the Yaskawa hardware. The first iteration of the project was mainly focused on creating the physical hardware for the system and to begin the basic programming for the system. This phase of the project was focused on finalizing the physical hardware of the system, implementing the vision system and to continue the basic programing of the system AI. A third team will be assigned to …
The Design Of A Mobile, Animatronic Bald Eagle, Eric Burns
The Design Of A Mobile, Animatronic Bald Eagle, Eric Burns
Phi Kappa Phi Research Symposium (Archived)
Modern animatronics are used as a tool to help engage audiences in realistic and entertaining experiences. Many animatronic figures are dynamic in movement, but static in mobility. The research presented covers the beginnings of mobile animatronic research. An animatronic bald eagle, Opportunity, was designed for that purpose. Animations for Opportunity are generated by integration of Arduino, Pololu Mini Maestro, and Hitec Servo Motors. Arduino receives signals from flex sensors which cause voltage variations when “flexed”. The 1:1 scale, animatronic eagle can be perched on the arm of an “actor” who simulates an eagle’s caretaker. The flex sensors are located within …
Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain
Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …
Polygrasp: Reach; Myoelectric Prosthetic Hand Iteration, Devon Patrick Augustus, Mighells Blaed Deuel, Ian Noel Fraser, Nicholas Philip Moesser
Polygrasp: Reach; Myoelectric Prosthetic Hand Iteration, Devon Patrick Augustus, Mighells Blaed Deuel, Ian Noel Fraser, Nicholas Philip Moesser
Mechanical Engineering
Amputations are a common occurrence in soldiers returning home who have suffered the effects of IED and munitions explosions. For upper limb amputees, trans-radial amputations are the most common. Traditional hook devices do not offer an adequate level of normalcy for users, prompting the use of myoelectric devices. While current myoelectric devices do offer a more natural experience, they come with a host of other problems that makes their adoption by service personnel not desirable or not permitted by the VA. PolyGrasp Reach seeks to reduce weight and cost and improve performance. This addresses several of the issues with devices …
Robotic Turret, Daniel Romero, Matthew (Matt) Martelle, Scott Mullens, Rachel Diamant
Robotic Turret, Daniel Romero, Matthew (Matt) Martelle, Scott Mullens, Rachel Diamant
Mechanical Engineering
No abstract provided.
Power-Scavenging Mems Robots, Daniel J. Denninghoff
Power-Scavenging Mems Robots, Daniel J. Denninghoff
Theses and Dissertations
This thesis includes the design, modeling, and testing of novel, power-scavenging, biologically inspired MEMS microrobots. Over one hundred 500-μm and 990-μm microrobots with two, four, and eight wings were designed, fabricated, characterized. These microrobots constitute the smallest documented attempt at powered flight. Each microrobot wing is comprised of downward-deflecting, laser-powered thermal actuators made of gold and polysilicon; the microrobots were fabricated in PolyMUMPs® (Polysilicon Multi-User MEMS Processes). Characterization results of the microrobots illustrate how wing-tip deflection can be maximized by optimizing the gold-topolysilicon ratio as well as the dimensions of the actuator-wings. From these results, an optimum actuator-wing configuration was …