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.
Results
Showing 1 to 20 of 78 for “"contact force"”.
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Robotic Assembly and Contact Force Control
… only position controlled robots. By adding a force sensor to the system, it gives the robot ability to correct for uncertainties by measuring contacts. This thesis presents a framework for force controlled robotic assembly. Assembly tasks are specified as sequences of constrained motions, …
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A contact force sensor for medical jet injection
… in a tunable, high-performance linear Lorentz-force jet injector which allows for careful control of many injection variables. The sensor presented in this thesis further improves the ability to quantify and control contact forces between the injection nozzle and tissue. This sensor uses a …
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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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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 …
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Tactile Sensing System Integrated to Compliant Foot of Humanoid Robot for Contact Force Measurement
Human beings have a touch and force estimation mechanism beneath their feet. They use this feeling of touch and force to maintain balance, walk, run and perform various agile motions. This paper presents a new sensor platform beneath the humanoid feet, enabled by a pragmatic model based compliant …
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Tactile measurement with a GelSight sensor
This thesis introduces a method of measuring contact force with GelSight. GelSight is an optical-based tactile sensor that uses a piece of coated elastomer as the contact medium. A camera records the distortion of the elastomer during contact. This sensor can obtain a high-resolution view of the …
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Exploration of parameters affecting jet injection using a high-speed X-ray imaging system
… thesis explores the effects of two parameters, contact force and jet shape, on jet injection using a high-speed X-ray imaging system. The scope of the thesis is twofold. The first part describes the process of optimization of the high-speed imaging system for better stress distribution and …
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Handheld force-controlled ultrasound probe
An hand-held force controlled ultrasound probe has been developed. The controller maintains a prescribed contact force between the probe and a patient's body. The device will enhance the diagnostic capability of free-hand elastography, swept-force compound imaging, and make it easier for a …
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Development of hybrid force-position controller for ultrasound-guided breast biopsy robotic system
… robotic system to maintain desired contact force between the ultrasound transducer and the breast. For that reason, a hybrid force/position controlled UGBB robotic system has been developed in simulation environment. The UGBB robotic system involves a 5 degree of freedom (DOF) …
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Deformation correction in ultrasound imaging in an elastography framework
… the change of tissue deformation with contact force, a force sensor is used to provide contact force measurement. Correlation-based displacement estimation techniques are applied to ultrasound images acquired under different contact forces. Based on the estimation results, a …
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Modeling the structural behavior of the piston rings under different boundary conditions in internal combustion engines
… that calculates ring free shape and ring bore contact force from ring ovality data is introduced for the first time. The analysis of ring bore interaction is widened. The model was applied to an industry ring design case. In this case it shows the free and fit procedure in this model is …
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Influence of contact conditions on thermal responses of the hand
… for this thesis was to evaluate the influence of contact conditions on the thermal responses of the finger pad and their perceptual effects. A series of experiments investigated the thermal and perceptual effects of different contact conditions including contact force, contact duration, the …
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Electromechanical systems to enhance the usability and diagnostic capabilities of ultrasound imaging
… unique because it generally requires significant contact force with the patient. This has a number of important consequences. The contact forces exerted by the ultrasound probe are generally not known, resulting in images that are acquired at non-repeatable levels of compression, which makes …
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Development and evaluation of a thermal model for haptic interfaces
… temperatures of the skin and object, and by the contact force and surface roughness of the contact surfaces. This thermal interaction is modeled in this research which characterizes the transient thermal responses during contact. The thermal model was evaluated in psychophysical and physiological …
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Dynamic simulation of particulate and molecular systems
… Distinct Element Method (DEM). The dissipative forces including viscoelastic and frictional contact forces between the colliding particles cause the energy loss during the packing process, and finally the particles agglomerations is formed. When the particle diameter is less than 100 …
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May the force be with you : a medical ultrasound system with integrated force measurement
… ultrasound scanning requires significant contact of the transducer face with the patient, and the contact force exerted by the sonographer can vary widely throughout a scan or from scan to scan. This thesis explores the design and development of an electromechanical system to measure the …
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A three dimensional mathematical model of the human knee
Muscle and joint force during locomotion is estimated according to available formulations consistent with available methods of solving the indeterminate problem. In the case of the knee joint direct comparisons of results between several optimization methods proposed in the literature presents …
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Development of In-Plane Compliant Bistable Microrelays
… characterization includes a treatment of a new force-tester, a preliminary contact resistance study, contact-force measurements, switching time measurements, insertion loss, AC isolation, breakdown voltage, and DC isolation. This document also includes recommendations for further research.
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Micromechanics of Granular Media: A Fundamental Study of Interphase Systems
… by controlling development of fabric and contact force anisotropy inside the interphase region. A unique bilinear relationship exists between the mobilized granular media strength and the principal direction of average contact force anisotropy at the interface between the particles …
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Impact Mechanics of PMMA/PC Multi-Laminates with Soft Polymer Interlayers
… is achieved with a shock accelerometer measuring contact force and optical displacement sensors recording deflection. Previous impact research utilizing instrumented gas guns by Levy and Goldsmith, and Delfosse et al. have measured contact force, but did not record simultaneous out-of-plane …
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