Index Catalog // ScholarsArchive@OSU

Reduced order multi-legged mathematical model of cockroach locomotion on inclines

Creator:: Peterson, Delvin E.
Abstract:: While the locomotion performance of legged robots over flat terrain or known obstacles has improved over the past few decades, they have yet to equal the performance of their animal counterparts over variable terrain. This work analyzes a multi-legged reduced order model of cockroach locomotion on variable slopes which will...
Resource Type:: Dissertation
Full Text:: Introduction 1 2 Mathematical Model 4 2.1 Previous Reduced-Order Modeling Efforts . . . . . . . . . . . . . 4

Derivation and automatic generation of Kane's dynamical equations for mechanical manipulators

Creator:: Nie, Tinglin
Abstract:: To design and precisely control a manipulator requires developing an efficient dynamic model of the system. The present work demonstrates how this can be accomplished by employing Kane's dynamical equations. First, a detailed manual derivation of the equations of motion for a particular robot is presented in such way that...
Resource Type:: Dissertation
Full Text:: to the equations of motion of a robot arm and showed some simplifications of the basic equations

Analytical and visual tools for robot kinematics

Creator:: Harris-Coppola, Marcia M.
Abstract:: Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest...
Resource Type:: Masters Thesis
Full Text:: approved: Redacted for Privacy Computer control of a robot arm's motion requires kinematic algorithms for

Reduced order modeling of legged locomotion in the horizontal plane

Creator:: Wickramasuriya, Gamika Arun
Abstract:: Sprawled-posture insects exhibit a remarkable ability to rapidly run in a stable manner over complex terrain, a feat that has yet to be equaled by man-made legged robots. Recent experimental results suggest that these insects may employ a hierarchical control structure, in which locomotion performance emerges from a combination of...
Resource Type:: Dissertation
Full Text:: phases. While the equations of motion (2.1-2.3) are essential for locomotion simulations of the model

Dynamic mathematical model for transport processes in plants

Creator:: Sangkhasila, Kumut
Resource Type:: Dissertation
Full Text:: Dynamic mathematical model for transport processes in plants

A multiscale modeling approach for bubble-vortex interactions in hydro-propulsion systems

Creator:: Finn, Justin Richard
Abstract:: Multiphase flow dynamics are important in many naval and turbomachinery applications, where bubble interaction with low pressure, vortical structures can lead to undesirable cavitation effects. To better understand the underlying phenomena, a multiscale numerical framework is developed to simulate bubble laden flow in dynamic hydro propulsion systems. Several subproblems in...
Resource Type:: Masters Thesis
Full Text:: DEM approach in this thesis. To model the motion of the moving body, one approach is to use adaptive

Modelling, validation and simulation of multi-degree-of-freedom nonlinear stochastic barge motions

Creator:: Bartel, Warren A.
Abstract:: Recent developments in estimation of the survivability of a U.S. Navy transport barge in random seas are extended to improve accuracy. The single Degree-of-Freedom (DOF) model of a extreme roll response of a barge used in previous research is replaced by a 3-DOF roll-heave-sway model to include linear and nonlinear...
Resource Type:: Masters Thesis
Full Text:: . EQUATIONS OF MOTION A mathematical model representative of the physics of the fluid structure

Applying hierarchical and adaptive control to coordinating simple robots

Creator:: Knudson, Matthew D.
Abstract:: Coordinating multiple robots to achieve a complex task requires solving two distinct control problems: the high-level control problem of ensuring that each robot aims to perform a useful task (e.g., coordination) and the low-level control problem of ensuring that each robot actually performs the correct actions to achieve its task...
Resource Type:: Masters Thesis
Full Text:: coordination remains effective under limited information and physical robot motion restrictions, outperforming

The equations of motion of a deformable saturated porous medium with micropolar structure

Creator:: Dixon, Leonard T.
Abstract:: The micropolar equations of motion are developed, in a very general form, for a mixture of fluid and solid particles. The fluid is allowed to move differently than the solids, and the solids are modeled as a micropolar continuum. That is, the solid particles have an additional degree of freedom...
Resource Type:: Dissertation

Coactive learning for multi-robot search and coverage

Creator:: Potanapalli, Kranti Kumar
Abstract:: We investigate a search and coverage planning problem, where an area of interest has to be explored by a number of vehicles, given a fixed time budget. A good coverage plan has a low probability of a target remaining unobserved. We introduce a formal problem statement, suggest a greedy algorithm...
Resource Type:: Masters Thesis
Full Text:: Coactive Learning for Multi-robot Search Coverage Coactive

ScholarsArchive@OSU

Reduced order multi-legged mathematical model of cockroach locomotion on inclines

Derivation and automatic generation of Kane's dynamical equations for mechanical manipulators

Analytical and visual tools for robot kinematics

Reduced order modeling of legged locomotion in the horizontal plane

Dynamic mathematical model for transport processes in plants

A multiscale modeling approach for bubble-vortex interactions in hydro-propulsion systems

Modelling, validation and simulation of multi-degree-of-freedom nonlinear stochastic barge motions

Applying hierarchical and adaptive control to coordinating simple robots

The equations of motion of a deformable saturated porous medium with micropolar structure

Coactive learning for multi-robot search and coverage

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