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 30 for “"Force Estimation."”.
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Muscle force estimation in clinical gait analysis
… influence the skeletal system through muscle force production is needed. Clinical gait analysis lacks in a sufficient estimation of individual muscle forces. To date, joint moments and EMG measurements are used to deduce on the characteristics of muscle forces, however, known limitations …
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Behavior-specific proprioception models for robotic force estimation
… in physically demanding tasks require accurate force sensing capabilities. A common way to achieve this is by monitoring the interaction with the environment directly with dedicated force sensors. Major drawbacks of such special purpose sensors are the increased costs and the reduced payload of …
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Hydrodynamic excitation force estimation and forecasting for wave energy applications
… of the previous, current, and future excitation force acting on the device. However, for the WEC case, the excitation force is an unmeasurable quantity and, therefore, must first be estimated, based on available measurements, and then predicted in the future. The main objective of this thesis is …
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Observer based velocity and environment force estimation for rigid body control
… body subjected to both control and environment forces. All the algorithms presented here were implemented on the Maglev wrist for experimental verification. A good inertial model of the rigid body was needed for the estimation and control work in this work; a least squares identification …
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Improving Data-Driven Contact Localization and Force Estimation for Barometric Tactile Sensors
… for single-point contact localization and force estimation using a previously presented three-quarter sphere barometric tactile sensor. To allow modeling of time-dependent effects in the sensor material, I introduce a multi-threaded data collection system that captures ground truth contact …
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A Mixed-Methods Approach to Force Estimation in Military Operations Other Than War
This thesis presents a new method for estimating force size and composition for Military Operations Other than War. While military planners have tools for planning these kinds of operations, they are largely inaccessible or unsuitable for civilian use. The most common tool for force estimation in …
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Non-Invasive Vision-Based Measurement of Hand Kinematics and Interaction
… measurement of hand kinematics and interaction forces. Unfortunately, current methods involve cumbersome sensors or external forces that inherently change the way that the subject behaves. In order to avoid these confounding factors, this thesis presents an approach to measuring hand kinematics, …
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On Robotic Assembly using Contact Force Control and Estimation
Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, …
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Estimation of in-vivo forces within Anterior Cruciate Ligament in response to increased weightbearing
The knowledge of Anterior Cruciate Ligament (ACL) forces in-vivo is instrumental for understanding ACL injury mechanisms and for improvement of surgical ACL reconstruction. The goal of this thesis was to develop and implement a non-invasive method to determine the ACL forces under physiological …
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Vision Based Surgical Tool Tracking with Robot Kinematics Prior
… surgery, the lack of realistic and real-time force feedback is a major drawback --- discerning tool-tissue interactions can be unintuitive and can ultimately result in unintentional tissue damage. Directly sensing forces at the tool-tissue interface is theoretically possible using tool tip …
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Driver behavior classification and lateral control for automobile safety systems
… developing three technologies (longitudinal tire force estimation, driver behavior classification and lateral control) using low-cost sensors that can be utilized in ADAS. For the longitudinal tire force estimation, a low cost 1Hz positioning global system (GPS) and a steering angle sensor are …
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Touching is believing : sensing and analyzing touch information with GelSight
… manipulation of small parts, normal and shear force estimation, and slip detection, as well as for material recognition, in terms of 3D surface texture classification. With image processing and machine learning techniques applied on the tactile images obtained, the fingertip GelSight sensor …
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On contractile force developed by the Spasmoneme, a biological spring of a peritrich ciliate Vorticella convallaria
… in a few milliseconds generating the contractile force in the order of 10 nN. The spasmoneme, the contractile organelle inside the stalk, is a mechanochemical engine employing calcium ions as the energy source. In this thesis, I evaluate the lower and upper bounds of the contraction force of the …
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Wheel-rail contact force reconstruction using trackside measurements and inverse models
… safety, costs and efficiency. Wheel-rail contact forces, specifically vertical wheel-rail contact forces provide crucial information that can be further analysed and used by decision makers of railway operators to optimize planning and operation. Current methods of vertical force measurement …
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Reduced-Order Atmospheric Density Modeling for LEO Satellite Orbital Reentry Prediction
… and accurate orbit propagation are vital to drag force estimation for satellite reentry prediction and conjunction assessment in today's increasingly cluttered Low Earth Orbit (LEO) environment. Current density models can be computationally expensive, and often contain large errors, which make …
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A distributed electromechanical spine for bio-inspired robots
… The proposed actuator utilizes electromagnetic force induced by coil currents to control torque at each module. This actuator has several benefits, including modularity, scalability, distributed actuation, simple structure, and gearless design, as well as better cooling mechanism and compliance. …
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Design and development of systems and methods for interventional surgical robot
… using image guidance. Inadequate visual and force feedback, while navigating surgical tools during endovascular (guidewire/catheter) procedures, elevates the risk of surgical error. Further, long-term exposure to x-ray and radiation is a potential occupational hazard for health care …
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Parallel pulsed jets for precise underwater propulsion
… maneuvering in a vehicle (Re ~ 350). Using a new force estimation technique developed in this thesis, I analyze the video data to evaluate how thrust and efficiency are affected by the jet spacing. This analysis reveals that, compared to non-interacting jets, the efficiency and thrust generated by …
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