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 68 for “"Degrees of freedom (DoF)"”.
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Design and analysis of a three degrees of freedom (DOF) parallel manipulator with decoupled motions
Parallel manipulators have been the subject of study of much robotic research during the past three decades. A parallel manipulator typically consists of a moving platform that is connected to a fixed base by at least two kinematic chains in parallel. Parallel manipulators can provide several …
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An interference alignment scheme for multiple multicast traffic
… general message demands. For the X Channel, the Degrees of Freedom (DoF) region achievable by the scheme is shown to touch a known outer bound at several points. For multiple multicast demands we show that the achievable region is at least half of the cut-set bound region. We also recover …
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Safe and Efficient Motion Planning in Robotic Manipulation through Formal Methods
… for rapid, real-time planning and the assurance of safe operational paths. The challenges come from varying shapes of the manipulated objects and high-dimensional nature of manipulators. This thesis addresses these issues by developing (1) a mixed-integer linear programming (MILP)-based approach …
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Provably convergent anisotropic output-based adaptation for continuous finite element discretizations
The expansion of modern computing power has seen a commensurate rise in the reliance on numerical simulations for engineering and scientific purposes. Output error estimation combined with metric-based mesh adaptivity provides a powerful means of quantifiably controlling the error in these …
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Estimation and tracking of rapidly time-varying broadband acoustic communication channels
… caused by extensive delay spread; limited number of degrees of freedom (DOF) due to resolvable paths and inter-path correlations; and rapid fluctuations induced by scattering from the moving sea surface. Traditional LS estimation techniques often fail to reconcile the rapid fluctuations with the …
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Laser direct-write fabrication of MEMS
… industry. Unfortunately, the development of novel MEMS is significantly hindered by the limitations of the state-of-the-art MEMS microfabrication processes such as high cost of equipment ownership, long development time, and limited choice of fabrication material selection and integration. …
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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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Design optimization of active trailer differential braking systems for car-trailer combinations
… (ATDB) systems to improve the lateral stability of car-trailer (CT) combinations. CT combinations exhibit unique unstable motion modes, including jack-knifing, trailer sway, and roll-over. To address this CT stability problem, two ATDB controllers are proposed, which are designed using the Linear …
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A robot for gait rehabilitation
… to regain ambulatory function. While 82% of patients recover the ability to walk, current methods including physiotherapy and partial body-weight supported treadmill training (PBWSTT) are monotonous and require intense therapist effort. The Mechanized Gait Trainer and the LOKOMAT are two …
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Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response
… study focuses on the design and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of …
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A design of actuation mechanisms for use in 'huggable' robotic teddy bear
… use in therapeutic applications. The benefits of pet therapy include a reduction in stress and an increase in rate of healing. The Huggable teddy bear will attempt to offer the same benefits through a life-like interaction with the user. Consequently, the actuators were created to be compact …
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Robotic Finger Hardware and Controls Design for Dynamic Piano Playing
… designed with the industrial world in mind. High degrees of freedom (DOF) robotic hands are starting to enable a new section of tasks like grasping unfamiliar objects with complex shapes, in-hand re-orientation, and even solving Rubik's cubes. This work explores a new kind of task: playing piano. …
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Reduced-order modeling of MEMS using modal basis functions
The field of MEMS has matured significantly over the last two decades increasing in both complexity and level of integration. To keep up with the demands placed by these changes requires the development of computer-aided design and modeling tools (CAD/CAM) that enable designers to reduce the time …
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A Hybrid Tracking Approach for Autonomous Docking in Self-Reconfigurable Robotic Modules
… in modular robotic systems has received a lot of interest recently as it allows small versatile robotic systems to coalesce and achieve the structural benefits of larger robotic systems. This feature enables reconfigurable modular robotic systems to bridge the gap between small agile systems …
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Force control for one degree of freedom haptic device using PID Controller
… thus haptic devices are needed. Most of the rehabilitation devices are included with haptic feedback to enhance therapy exercise during the rehabilitation process. However, the devices come with multiple degrees of freedom (DOF), complex design and costly. Rehabilitation for hand …
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Laxity of the Hip Capsule in Natural and Posteriorly Implanted Specimens
<p>The hip capsule consists of ligament tissue that surrounds the hip joint, providing stability to ensure proper alignment, prevent dislocation, and facilitate proper joint function. The objective of this study was to characterize the torque-rotation response of the natural and posteriorly …
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Highly parallelized control programming methodologies using multicore CPU and FPGA for highly dynamic multi-DoF mobile robots, applied to the MIT Cheetah
… programming methodologies developed for multi-degrees of freedom (DoF) robots capable of highly dynamic movements. In robotic applications that require rapid physical interactions with the environment, it is critical for the robot to achieve a high-frequency synchronization of data processing …
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Estimation and tracking of rapidly time-varying broadband acoustic communication channels
… caused by extensive delay spread; limited number of degrees of freedom (DOF) due to resolvable paths and inter-path correlations; and rapid fluctuations induced by scattering from the moving sea surface. Traditional LS estimation techniques often fail to reconcile the rapid fluctuations with the …
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Parallel design optimization of multi-trailer articulated heavy vehicles with active safety systems
… have poor maneuverability at low speeds. Of all contradictory design criteria of MTAHVs, the trade-off relationship between the maneuverability at low speeds and the lateral stability at high speeds is the most important and fundamental. This trade-off relationship has not been adequately …
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Structural Design of a 6-DoF Hip Exoskeleton using Linear Series Elastic Actuators
A novel 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 …
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