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Articles 181 - 183 of 183
Full-Text Articles in Artificial Intelligence and Robotics
Heuristics For Hospital Inventory Management, Thomas G. Hibson
Heuristics For Hospital Inventory Management, Thomas G. Hibson
Theses and Dissertations
This study investigated the reasoning strategies used by hospital logistics management experts and was conducted at the Wright-Patterson AFB (WPAFB) Medical Center. An expert system was developed to verify the captured strategies. The particular area of interest of this study was the reasoning strategies involved in the reconciliation of the Monthly Stock Status Report within the Medical Logistics Branch. A literature review revealed there were few guidelines as to when and what action to pursue when reconciling the Monthly Stock Status Report. Though there were no references in the literature on expert systems that dealt with this particular report, there …
Three Degrees Of Freedom Compliant Motion Control For Robotic Aircraft Refueling, Clayton M. Andersen
Three Degrees Of Freedom Compliant Motion Control For Robotic Aircraft Refueling, Clayton M. Andersen
Theses and Dissertations
The Air Force Institute of Technology (AFIT) supports on-going research in application of robotic technology to enhance assembly tasks. As a testbed, AFIT supports the ground-based aerial refueling project, with an emphasis on visual servoing techniques and compliant motion control. This thesis focuses on compliant motion control. Previous research developed the testing environment, which includes a PUMA-560 industrial manipulator, and a half scale mock-up of an aerial refueling system. This effort corrected and expanded the existing two degree of freedom (DOF) compliant controller to three DOF. Three DOF compliance was demonstrated by inserting the refueling nozzle into the receiver port. …
Use Of Grasp Force Focus Positioning To Enhance The Torque Resistance Capability Of Robotic Grasps, Stephen G. Edwards
Use Of Grasp Force Focus Positioning To Enhance The Torque Resistance Capability Of Robotic Grasps, Stephen G. Edwards
Theses and Dissertations
Three-point-contact grasps are unique in that the homogeneous solution for the contact forces always produces a grasp force focus. Careful positioning of this focus point in the grasp plane can help avoid two things; slipping at the contact points, and violation of joint torque limits. The focus placement method is explored theoretically by examining two types of grasps on cylinders; 1) fingertip grasps using three independently operated fingers, and 2) single-finger power grasps with one contact point on each of three links. Constraint maps are generated for various fingertip grasps in order to show how proper placement of the grasp …