Control Theory Commons^™

Robot-Based 3d Printing, Aaron Hoffman

Williams Honors College, Honors Research Projects

Details of a large-format 3D printer created to print experimental materials, test multi-axis print techniques, and quickly print large objects. The printer consists of a 7-axis robotic arm and pellet extruder, which are controlled by a PC. Experimental materials such as recycled polymers or carbon-fiber reinforced materials can be easily tested with the pellet format of the extruder. The printer can perform different printing techniques and can be used to experiment with material properties when using these techniques with different polymers. The print surface is around 5 times larger than the average commercial 3D printer, and the robotic arm provides …

Reduced Order Modeling And Analysis Of Cardiac Chaos, Tuhin Subhra Das

Doctoral Dissertations

Numerous physiological processes are functioning at the level of cells, tissues and organs in the human body, out of which some are oscillatory and some are non-oscillatory. Networks of coupled oscillators are widely studied in the modeling of oscillatory or rhythmical physiological processes. Phase-isostable reduction is an emerging model reduction strategy that can be used to accurately replicate nonlinear behaviors in dynamical systems for which standard phase reduction techniques fail. We apply strategies of phase reduction, or isostable reductions in biologically motivated problems like eliminating cardiac alternans to alleviate arrhythmia by applying energy-optimal, non-feedback type control solutions.

Cardiac fibrillation caused …

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Data And Algorithmic Modeling Approaches To Count Data, Andraya Hack

Honors College Theses

Various techniques are used to create predictions based on count data. This type of data takes the form of a non-negative integers such as the number of claims an insurance policy holder may make. These predictions can allow people to prepare for likely outcomes. Thus, it is important to know how accurate the predictions are. Traditional statistical approaches for predicting count data include Poisson regression as well as negative binomial regression. Both methods also have a zero-inflated version that can be used when the data has an overabundance of zeros. Another procedure is to use computer algorithms, also known as …

Description Of Motor Control Using Inverse Models, Anton Sobinov

Graduate Theses, Dissertations, and Problem Reports

Humans can perform complicated movements like writing or running without giving them much thought. The scientific understanding of principles guiding the generation of these movements is incomplete. How the nervous system ensures stability or compensates for injury and constraints – are among the unanswered questions today. Furthermore, only through movement can a human impose their will and interact with the world around them. Damage to a part of the motor control system can lower a person’s quality of life. Understanding how the central nervous system (CNS) forms control signals and executes them helps with the construction of devices and rehabilitation …

Near-Optimal Control Of Switched Systems With Continuous-Time Dynamics Using Approximate Dynamic Programming, Tohid Sardarmehni

Mechanical Engineering Research Theses and Dissertations

Optimal control is a control method which provides inputs that minimize a performance index subject to state or input constraints [58]. The existing solutions for finding the exact optimal control solution such as Pontryagin’s minimum principle and dynamic programming suffer from curse of dimensionality in high order dynamical systems. One remedy for this problem is finding near optimal solution instead of the exact optimal solution to avoid curse of dimensionality [31]. A method for finding the approximate optimal solution is through Approximate Dynamic Programming (ADP) methods which are discussed in the subsequent chapters.

In this dissertation, optimal switching in switched …

Developing A Cyberterrorism Policy: Incorporating Individual Values, Osama Bassam J. Rabie

Theses and Dissertations

Preventing cyberterrorism is becoming a necessity for individuals, organizations, and governments. However, current policies focus on technical and managerial aspects without asking for experts and non-experts values and preferences for preventing cyberterrorism. This study employs value focused thinking and public value forum to bare strategic measures and alternatives for complex policy decisions for preventing cyberterrorism. The strategic measures and alternatives are per socio-technical process.

A Mathematical Framework For Unmanned Aerial Vehicle Obstacle Avoidance, Sorathan Chaturapruek

HMC Senior Theses

The obstacle avoidance navigation problem for Unmanned Aerial Vehicles (UAVs) is a very challenging problem. It lies at the intersection of many fields such as probability, differential geometry, optimal control, and robotics. We build a mathematical framework to solve this problem for quadrotors using both a theoretical approach through a Hamiltonian system and a machine learning approach that learns from human sub-experts' multiple demonstrations in obstacle avoidance. Prior research on the machine learning approach uses an algorithm that does not incorporate geometry. We have developed tools to solve and test the obstacle avoidance problem through mathematics.

Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian

Electronic Thesis and Dissertation Repository

In this thesis, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is developed. It is expected that preoperative planning of RAMICS will improve the rate of success by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patient's thorax, port locations and robot orientations (with respect to the patient's body coordinate frame) are determined to optimize characteristics such as dexterity, reachability, tool approach angles and maneuverability. In this thesis, two approaches for preoperative planning of RAMICS are proposed that …

Integrated Computer Controlled Sensor Monitor, Tariq Hafeez Malik

Theses : Honours

This research has developed an Integrated Computer Controlled Sensor Monitor (ICCSM) environment, to monitor and analyse alarm events associated with sensors, including an interface between a PC and a number of detectors. Such an environment will help the security industry analyse the factors causing false alarms at particular locations. The ICCSM environment monitors, and records, alarm data. Knowing exactly which sensor has been activated, and its location, is of paramount importance to the effective deployment of response forces and making the identification of causes of spurious alarms easier. The lCCSM environment is a combination of software and general purpose hardware, …