Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 38 for “"3-DOF"”.
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Design of 3-DOF parallel manipulators for micro-motion applications
… (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF micro-motion manipulator with redundancy has four of these units. …
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Development, Verification, and Future Applications of a 3-DoF Entry and Descent Simulation Tool
<p>With any space related mission, the unknown effects are often some of the most important design considerations. These effects must be accounted for in some fashion, and often lead to mission elements being centered around gathering information on the unknown.</p> <p>It is the purpose of this …
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The transformation of oscillatory equations in six degree of freedom re-entry trajectory models with coordinate transformations
… control systems use a three degree of freedom (3-DOF) trajectory model. The three degrees of freedom represent the linear motion of the missile in three dimensions. A 6-DOF model adds roll, pitch, and yaw, or angular motion in three dimensions to the first three degrees of freedom. Because more of …
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MEMS MULTI-DOF WEAKLY COUPLED RESONATOR BASED ON MODE LOCALIZATION FOR MASS CHANGE SENSING APPLICATIONS
… comprehensively explores the potential of a 3-DOF mode localized weakly coupled resonator. A novel reversible method which exploits the usage of nanoparticles as well quantified mass changes is described. The mass sensitivity of the coupled resonator can be characterized accordingly. It has …
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Control primitives for fast helicopter maneuvers
… new primitives and demonstrate them on a 3-DOF (3 Degrees of Freedom) helicopter. An observed movement is approximated and regenerated using DMP methods. After learning the movement primitives, the partial contraction theory is used to combine them. We imitate the aggressive maneuvers that …
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Design and analysis of the three degrees of freedom parallel kinematic machine
… is about design and analysis of a PKM with 3 DOF. The new PKM is designed as a machine tool in various applications in manufacturing. The PKM is optimized based on the developed stiffness model. Kinematics and dynamics of the new PKM is also modeled and simulated.
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Study of Autonomous Capture and Detumble of Non-Cooperative Target by a Free-Flying Space Manipulator Using an Air-Bearing Platform
This thesis developed a 3-DOF satellite simulator with an attached 3-DOF manipulator to capture and detumble a target satellite simulator. Existing systems are heavily dependent on external systems to compute the position and orientation of the chaser and target satellite simulators. Using external …
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Nanotribology and Nanomechanics Including Nanomechanical Properties, Adhesion and Surface Roughness With Application to Magnetic Storage Hard Disk Drives
… mechanics based analysis was validated by a 3-dof, dynamic, thermomechanical finite element analysis.
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Iterative Learning Control for Precision Motion Control of Microscale and Nanoscale Tracking Systems
… The time-frequency ILC is applied to a 3-DOF piezo driven flexure stage yielding 4x higher bandwidth over the original feedback controller and achieving 1500 Hz tracking bandwidth during critical partitions of a given trajectory.
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An ultrasonic compass for context-aware mobile applications
… I then propose a set of methods to calculate 3-DOF orientation from an array of well placed ultrasonic sensors operating in the Cricket system. I design and implement a prototype of this Cricket Compass using a combination of hardware and software and demonstrate end-to-end functionality of the …
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Electrostatically Levitated Object Handoff to Minimize Wear and Particle Generation
… semiconductor manufacturing process, object handoff between stages is one of the significant particle generation mechanisms. Vibrations in the handoff and pickup stages generate impact forces on the object and cause relative sliding between contact surfaces, leading to wear and particle …
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Egocentric Vision Based Localization of Shopping Cart
… both RGB and depth images together with the 3-DOF data corresponding to the cart position and orientation in the store. The dataset is also labelled with respect to 16 different classes associated to different areas of the considered retail. A second contribution is related to a benchmark study …
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Analysis, development, and control of multi-degree-of-freedom passive haptic devices
… but devices with higher degrees-of-freedom (DOF) have not been examined. This thesis proposes a generalized framework for analyzing and controlling higher-DOF devices and examining the effects of the kinematic structure on the force output capability. A first of its kind 3-Degree-of-Freedom …
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Assessment of seismic damage to civil structures using statistical pattern recognition techniques and time series analysis
… factor and Kalman filter approaches. A linear 3-DOF model with time varying stiffness was investigated and the results showed that damage could be detected and quantified as it occurred. Nonlinear damage detection was addressed with the investigation of a 1-DOF bilinear oscillator and a 3- DOF …
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Biomechanics-Based Optimization for Exoskeleton Design
… parameters to assist in the design of a 5 DOF active shoulder exoskeleton. This thesis will provide a proof of concept on optimization techniques using motion data using a simplified 3 DOF model to facilitate future work implementing a full 5 DOF model. Optimization will be performed to …
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Felted Objects via Robotic Additive Manufacturing
… to make a piece of textile. In this work, a 6 DOF UR-5 robotic arm equipped with a 3 DOF tool head to test various approaches to using felting. Due to the novelty of this approach several different control architectures and methodologies are presented. We created felted test samples using a …
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Enhancement of lateral stability of car-trailer systems using model-reference adaptive control
… end, a reference model is designed using a 3-DOF (degrees of freedom) linear CT model with active trailer steering; the virtual vehicle, i.e., the nonlinear CT model with 22-DOF, is developed in CarSim software; the MRAC controller is constructed in Simulink/MATLAB. To explore the robustness …
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Modeling and vehicle performance analysis of Earth and lunar hoppers
… TALARIS and its lunar version are modeled in 3-DOF simulation and it is discovered that, even with error and uncertainty, TALARIS closely emulates what would be expected to be seen on the Moon.
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Biomimetic improvement of the maneuvering qualities of unmanned underwater vehicles
… characteristics, we reduced the model to a 3 DOF simulation, allowing the dorsal fin to vary in area, location along the length of the AUV, as well as having a turning angle with respect to the REMUS x-axis. We find that the addition of the fin can improve the performance, as measured by the …
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Towards a Human-like Robot for Medical Simulation
… A humanoid robot with a 23 degree of freedom (DOF) hand was developed which is capable of performing complex dexterous tasks such as typing on a keyboard. A single DOF elbow and two DOF shoulder was designed and optimized to maintain human form while being able to dynamically lift common …
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