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 73 for “"6-DOF"”.
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Adaptive trajectory targeting within a 6-DOF simulation
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1995.
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Building a Language Conditioned System for 6-DoF Tabletop Manipulation
We present a full-stack modular system for solving tabletop manipulation tasks from natural language task descriptions. The tasks that the system can perform include everyday pick-place tasks, such as sorting, or rearrangement, and the ability to learn new skills. The system primarily consists of …
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Simulation and Integration of a 6-DOF Controllable Multirotor Vehicle
The purpose of this thesis is to develop an existing design of a fully controllable multi-rotor vehicle toward simulating small satellite dynamics, enabling technology development to be accelerated and component failure risks to be mitigated by providing a testing platform with dynamics similar to …
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Deep learning-based approaches for depth and 6-DoF pose estimation
… depth estimation from a single RGB image, and 6-DoF object pose estimation from a partial point cloud. Geometric vision problems are concerned with extracting information (e.g. depth, agent trajectory, 3D structure, 6-DoF pose of objects) of the scene from noisy sensor data (e.g. RGB images, …
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Bearingless Slice Motor and 6-DoF Position Sensor for Extracorporeal Pump
… target design the coupling is minimized. The 4 DoF Z, theta_X, theta_Y and theta_Z position sensor uses a printed circuit board (PCB) with 8 coils. These coils are driven by inductance to digital converters measuring the inductances of the coils. The conductive target is designed such that the …
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Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators
… hip exoskeleton with six degrees of freedom (DoF) was developed, and multiple prototypes of this product were created in this thesis. The device was an upper level of the 12-DoF lower-body exoskeleton project, which was known as the Orthotic Lower-body Locomotion Exoskeleton (OLL-E). The hip …
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Triple Scissor Extender : A 6-DOF lifting and positioning robot for autonomous aircraft manufacturing
… the Triple Scissor Extender (TSE), a novel 6-DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual …
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Open Loop Compliance Model of a 6 DOF Revolute Manipulator to Improve Accuracy Under Load
Robotic accuracy has long been limited by the compliance of the manipulator. Whether links under bending loads or backlash in gear trains and stretching of belts, the resulting compliance causes a loss of accuracy at the end-effector. Previous research has investigated accuracy of ideally stiff …
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Development of a 6-DOF robotic test system for studying the biomechanics of total knee replacement
… The system is composed of a 6 Degree-of-Freedom (DOF) robotic manipulator (Kawasaki UZ150(TM) and a 6-DOF universal force-moment sensor (JR3[TM]). This testing system offers the ability to operate with force and displacement controls and is capable of characterizing the in-vitro kinematics and the …
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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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A method for the spatial functionalization of the dynamic response of a structure with structural stability considerations
… VA, to develop a six-degree-of-freedom (6-DOF) structural response model based on experimental data. This paper represents a portion of the research for the 6-DOF structural imaging project. A method for creating a functionalized description of a discreetly sampled 2-D data field containing …
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Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment
… between an UUV's six degrees of freedom (6 DOF) is particularly important when attempting complex maneuvers such as coordinated turns (e.g. simultaneous dive and heading change) or vehicle hovering in such an environment. Given the parameter and modelling uncertainties endemic to these …
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Technique and application for quantifying dynamic shoulder joint kinematics and glenohumeral joint contact patterns
… joint kinematics in 6-Degrees-of-Freedom (6-DOF) (translations and rotations) and subsequently quantify articular cartilage contact patterns of that joint has been and remains a difficult biomechanics problem. As a result, little is known about normal in-vivo glenohumeral joint contact …
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Accuracy Improvement in Robotic Milling Through Data-Driven Modelling and Control
Six degree of freedom (6-dof) articulated arm industrial robots are promising candidates for aerospace machining operations such as milling due to their low-cost and large workspace compared to Computer Numerical Control (CNC) machine tools. However, the instantaneous position accuracy of …
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The Development and Application of a Custom Robotic Biomechanical Testing Platform Employing Real-time Load-control to Compare Spinal Biomechanical Testing Protocols: Pure Moment, Ideal Follower Load, and a Novel Trunk Weight Protocol
… spine is subject to six degrees of freedom (DOF) of motion as a consequence of the applied loads of surrounding musculature which apply component loads in 6 DOF. However current <em>in vitro</em> standard protocols apply isolated loads primarily in the anatomical planes. Although the primary …
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Nonlinear Control for Dual Quaternion Systems
… rigid bodies includes three degrees of freedom (DOF) for rotation, generally referred to as roll, pitch and yaw, and 3 DOF for translation, generally described as motion along the <em>x, y</em> and <em> z</em> axis, for a total of 6 DOF. Many complex mechanical systems exhibit this type of …
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Optimized Thruster Allocation Utilizing Dual Quaternions for the Asteroid Sample Return Mission (OSIRIS-REx)
… accuracies. For agile 6-Degrees of freedom (6-DOF) spacecraft with redundancy, the actuators are usually oversized or overpopulated to meet the desired slew requirements. Currently, most spacecraft utilize an over-actuated thruster system to produce 6-DOF control. This thesis presents a …
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Modeling dispersions in initial conditions for air-launched rockets and their effect on vehicle performance
… rocket configuration. A six-degree-of-freedom (6-DOF) simulation models the vehicle's behavior during the uncontrolled drop phase prior to rocket ignition. The results of 1000 Monte Carlo runs with various initial conditions produce a statistical representation of the expected dispersions in …
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Six degree of freedom active vibration isolation using quasi-zero stiffness magnetic levitation.
… stiff in the remaining five degrees of freedom (DOF). In order to address the limitations of traditional isolator designs, this thesis details the development of a 6-DOF active vibration isolation approach. The proposed solution is based on a magnetic levitation system, which provides quasi-zero …
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On-chip magnetic sensor and readout design for 3D position tracking in image-guided interventions
… from approximately $25 for 5-degrees-of-freedom (DoF) devices to around $250 for 6-DoF devices. This thesis proposes a cost-effective solution using compact 0.5 mm wide and 2.3 mm long on-chip magnetic sensors. The on-chip magnetic sensor includes a state-of-the-art low-noise analog-front-end …
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