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 62 for “"Degree Of Freedom (DOF)"”.
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Development of standard components for multi-degrees-of-freedom mems positioning stages with closed-loop feedback
… are playing a significant role in a variety of fields such as electronics, micro-fluidics, bio-medical applications, and MEMS in micro-electro-mechanical systems. These miniaturized devices have advantages such as higher efficiency, less power consumption, and higher sensitivity than their …
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Design and control of a voice coil actuated robot arm for human-robot interaction
The growing field of human-robot interaction (HRI) demands robots that move fluidly, gracefully, compliantly and safely. This thesis describes recent work in the design and evaluation of long-travel voice coil actuators (VCAs) for use in robots intended for interacting with people. The basic …
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Multirotor UAS Sense and Avoid with Sensor Fusion
<p>In this thesis, the key concepts of independent autonomous Unmanned Aircraft Systems (UAS) are explored including obstacle detection, dynamic obstacle state estimation, and avoidance strategy. This area is explored in pursuit of determining the viability of UAS Sense and Avoid (SAA) in static …
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Analysis, development, and control of multi-degree-of-freedom passive haptic devices
… as passive actuators can display a wide range of impedance while guaranteeing stability. However, passive haptic devices suffer from a serious drawback; their force output is difficult to control. This issue was addressed extensively for planar manipulators but devices with higher …
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EMG Control of an Upper-Limb Rehabilitation Exoskeleton for SCI Affected Users
… motivated and mentally engaged in the execution of therapeutic exercises. Consequently, designers of the human-robot interface are challenged with developing control schemes that can detect user intent and maximize their engagement. Electromyography (EMG) is a promising technique to address this …
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Optimal Slewing of a Constrained Telescope Using Seventh Order Polynomial Input Torques
… point cameras and telescopes at various points of interest for surveillance, science, and art. The rotation of a two-axis gimbal system is governed by nonlinear angular momentum equations of motion. This paper presents a method for slewing a telescope in space with a gimbaled sensor attached to …
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Development of a 6-DOF robotic test system for studying the biomechanics of total knee replacement
… testing system for studying the biomechanics of Total Knee Arthroplasty (TKA) was developed in this project. 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 …
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Design of human-like posture prediction for inverse kinematic posture control of a humanoid robot
… forward kinematic equation and the optimization of human-like constraints. The Multiple Objective Optimization (MOO) is preformed using a Genetic Algorithms (GA) and implemented using the Genetic and Evolutionary Algorithm Matlab Toolbox. The designed system is illustrated on a simple redundant 3 …
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Grasp Stability with a Robotic Exoskelton Glove
… is important so as to reduce the chances of the object slipping and dropping. But there was little focus on the grasp stability of robotic exoskeleton gloves and most of the research was focused on mechanical design. A robotic exoskeleton glove was developed as well as novel methods to …
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A proposed methodology for the control of a semi-robotic convoy
The purpose of this thesis is to develop a generic control law for unmanned-trail vehicles as they follow a manned lead vehicle. The development of this semi-robotic convoy control law begins with a model of an individual vehicle. Two methods are then explored of coupling these into a model of the …
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Towards a Human-like Robot for Medical Simulation
… learning experience. 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 …
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Multidisciplinary Design Optimization of Nose Landing Gears with Two Degrees of Freedom Considering Out of Plane Loading and Actuator Performance
… by simultaneously considering multiple branches of physics without manual iterations. The design of lightweight retractable aircraft landing gear is a sophisticated multidisciplinary problem. It is difficult to finalize the design through manual iterations, especially under the demands of an …
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Design and development of a 7 degree-of-freedom powered exoskeleton for the upper limb
… with joints and links corresponding to those of the human body. With applications in rehabilitation medicine and virtual reality simulation, exoskeletons offer benefits for both disabled and healthy populations. A pilot database defining the kinematics and dynamics of the upper limb during …
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A High-Precision Bioelectric Neural Interface Toward Human-Machine Symbiosis
Objective. A symbiosis of human intelligence and artificial intelligence (AI) cannot be achieved without establishing an intuitive, bidirectional, and high-bandwidth information conduit between the minds and machines. Approach. Here we focus on developing high-precision bioelectronics underlying a …
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Influence of spatial abilities on primary and secondary space telerobotics operator performance
… is believed to correlate with 3 subcomponents of spatial intelligence: spatial visualization (SV), mental rotation (MR) and perspective taking (PT). In particular, PT (the ability to imagine an object from another viewpoint) is thought to be important for integrating camera views. Two …
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A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism
This thesis explores the field of legged robots with reduced degree-of-freedom (DOF) leg mechanisms. Multi-legged robots have drawn interest among researchers due to their high level of adaptability on unstructured terrains. However, conventional legged robots require multiple degrees of freedom …
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Design and Control of a Cable-Driven Sectorial Rotary Actuator for Open-Loop Force Control
… the detailed design, implementation, and testing of a unique high performance rotary actuator for use in a custom haptic force feedback device. This six degree of freedom (DoF) position input and three DoF force output haptic device is specifically designed to recreate force sensations with the …
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From Smart Entities Design to the Smart EM Planning and Optimization
… to become a fundamental pillar in the design of next generation wireless communication systems. It is based on the disruptive idea that the environment should be regarded, differently from the past, as an additional degree-of-freedom (DoF) to improve the overall Quality-of-Service (QoS), …
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Single Degree of Freedom Solid Rotor Velocity Control Induction Drive
This thesis studies a single degree of freedom (DOF), two-pole, three-phase, solid rotor, induction motor operating in closed loop angular velocity control via a proportional-integral (PI) controller applying a constant amplitude, variable frequency drive. The stator consists of six iron teeth, …
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FlexiGesture : a sensor-rich real-time adaptive gesture and affordance learning platform for electronic music control
… input affordances being tied to the physics of their sound-production mechanism. More recently, the advent of digital sound synthesizers and electronic music controllers has abolished the tight coupling between input gesture and resultant sound, making an exponentially large range of …
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