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Filtering by: Alternative title ssim Circular of information no. 455 Remove constraint Alternative title ssim: Circular of information no. 455 Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Planning Under Uncertainty for Unmanned Aerial Vehicles

    Creator:
    Skeele, Ryan
    Abstract:
    Unmanned aerial vehicle (UAV) technology has grown out of traditional research and military applications and has captivated the commercial and consumer markets, showing the ability to perform a spectrum of autonomous functions. This technology has the capability of saving lives in search and rescue, fighting wildfires in environmental monitoring, and...
    Resource Type:
    Masters Thesis
    Full Text:
    distributions, we can derive a principled way of leveraging information further down a path. The result is a

  • Geometry of Locomotion

    Creator:
    Ramasamy, Suresh
    Abstract:
    Many animals and robots move through the world by coupling cyclical changes in shape called gaits to an interaction with the environment. Because mobility is an important aspect of such robots, a key metric when evaluating design and performance of mobile robots is the efficiency of their optimal gaits. The...
    Resource Type:
    Dissertation
    Full Text:
    in the tangential direction e‖ produces no change in area, as the area of the triangle given by half

  • Improving Understanding of Geometric Swimmer Locomotion

    Creator:
    Remaley, Jacquelin L.
    Abstract:
    This work seeks to improve the knowledge surrounding geometric snake swimmers through both theoretical and practical means. To begin, manufacturing techniques for a silicon-based pneumatic actuator were validated through experimentation. When inflated, the actuators exhibited an unanticipated elongation. In an attempt to confirm theoretical displacement predictions, a more accurate dynamic...
    Resource Type:
    Masters Thesis
    Full Text:
    magnitude of the tangent component, and no effect from rotational forces. [21]. Given the position of each

  • Structure and Actuation of Cephalopod-Inspired Soft Robots

    Creator:
    Olson, Gina M.
    Abstract:
    Cephalopod-inspired soft robot arms have been studied as a new type of manipulator. These arms have been proposed for reach and grab tasks, underwater locomotion via swimming and walking, and robotic surgery. However, the capabilities of existing soft arms are limited to simple motions and light loads. Arm design has...
    Resource Type:
    Dissertation
    Full Text:
    during characterization. (b) An example of a circular cross section arm with twelve actuators, suspended

  • Direct 3D Printing of Silicone Elastomer Soft Robots without Support

    Creator:
    Morrow, John F.
    Abstract:
    Soft robotics utilizes compliant materials (such as rubber) to make robots that are flexible and safe around humans, however these materials present many practical manufacturing challenges. Current fabrication methods use molding techniques which limits the soft robot designs which could be fabricated and impacts part consistency. This defense introduces a...
    Resource Type:
    Masters Thesis
    Full Text:
    places. There is no automatic generation of Scode commands for dynamic control developed, but this is a

  • Improving Soft Snake Robot Locomotion Through Targeted Environmental Interactions Using Artificial Snake Skin

    Creator:
    Branyan, Callie A.
    Abstract:
    This dissertation outlines the design and development of the first fully-soft, snake robot and its snake-inspired skin. Soft robotics takes advantage of soft materials to, among other things, improve robot interactions with complex, unstructured environments. Due to the interplay between the soft material and the environment, minor tweaks to the...
    Resource Type:
    Dissertation
    Full Text:
    % improvement in velocity over the original robot with no skin. The main contributions of this dissertation are

  • Robots Against Infectious Diseases : A Technologically Grounded, Human-Centered Exploration

    Creator:
    Kraft, Kory
    Abstract:
    Robots have the potential to protect health care workers, provide patient care, and ultimately save lives in infectious disease outbreaks. Nevertheless, infectious disease outbreak scenarios present unique technological and social challenges for robotics. This work explores what robots can and should do in the fight against infectious diseases. We present...
    Resource Type:
    Masters Thesis
    Full Text:
    modelled as a circular region proportional to the diameter of the robot’s base. Future methods could take

  • Orb Web Vibrations: Modeling, Localization, and Measurement

    Creator:
    Otto, Andrew W.
    Abstract:
    The orb web is a multipurpose structure---serving as a home for its inhabitant spider, as a prey capture device, and as a physical extension of the spider’s sensing abilities. Biologists are particularly interested in the spider’s ability to locate prey trapped in its web by sensing the vibrations induced from...
    Resource Type:
    Dissertation
    Full Text:
    advance of a predator. What information is available to orb weaving spiders from web vibrations, and how

  • Providing Informative Feedback for Learning in Tightly Coupled Multiagent Domains

    Creator:
    Rockefeller, Golden C.
    Abstract:
    Autonomous agents that sense, decide, act, and coordinate effectively with each other are critical in many real-world domains such as autonomous driving, search and rescue missions, air traffic management, and underwater or deep space exploration. All such domains share a key difficulty: though high-level mission goals are clear to system...
    Resource Type:
    Dissertation
    Full Text:
    the relevance of that information to the task. The impact of this approach is to more accurately

  • Making the Unconscious Unconscious : Reclaiming Microinteractions for People with Motor Disabilities

    Creator:
    Lazewatsky, Daniel A.
    Abstract:
    Numerous diseases and injuries can limit a person's ability to perform everyday tasks -- things like getting dressed, bathing, and eating. Anything that requires physical activity can be affected; even simple things like turning on the lights can become difficult or impossible. Until recently, the only way for a person...
    Resource Type:
    Dissertation
    Full Text:
    of reminders or encouragement during rehabilita­ tion [30], information retrieval [12], or