Multi-path planning for hydraulic fluid routing

In this thesis, I designed, implemented, and optimized an algorithm to solve the circuit-routing problem, optimizing the solution for exact correctness in a low aspect ratio scenario, as opposed to approximate correctness in high aspect ratio scenarios, where topological approaches are typically applied. I applied this algorithm to 3D printed hydraulically actuated robots, though it has additional applications in circuit routing for PCB assembly, FPGA interconnect optimization, fiber optic routing, and other routing applications. The performance of the algorithm is discussed, profiled, and tuned from an algorithmic perspective, with further improvements suggested. The effect of starting conditions on the performance of the algorithm is discussed theoretically and analyzed in real-world performance. Overall, the algorithm is shown to provide exactly correct results and perform adequately over a range of starting conditions useful for 3D printed hydraulic fluid pipes.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2018

Author dc:creator

• Carter, Landon (Landon Y.)

Advisor dc:contributor.advisor

• David R. Wallace.

• Electrical Engineering and Computer Science.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/119751

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/119751