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Filtering by: Creator Gerdemann, J. W. Remove constraint Creator: Gerdemann, J. W. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering License All rights reserved Remove constraint License: All rights reserved

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  • 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

  • Control of spring-mass running robots

    Creator:
    Vejdani Noghreiyan, Hamid Reza
    Abstract:
    We seek the control strategies that are applicable on legged robots and control them to run in real world as robust and efficient as animals. To achieve this goal, we need to understand the principles of legged locomotion and the control policies that animals use during running. In this study...
    Resource Type:
    Masters Thesis
    Full Text:
    approved: Jonathan W. Hurst We seek the control strategies that are applicable on legged robots and

  • Passive dynamics and their influence on performance of physical interaction tasks

    Creator:
    Kemper, Kevin C., II
    Abstract:
    For robotic manipulation tasks in uncertain environments, research typically revolves around developing the best possible software control strategy. However, the passive dynamics of the mechanical system, including inertia, stiffness, damping and torque limits, often impose performance limitations that cannot be overcome with software control. Discussions about the passive dynamics are...
    Resource Type:
    Masters Thesis
    Full Text:
    Dynamics and Their Influence on Performance of Physical Interaction Tasks Abstract approved: Jonathan W

  • Optimal control of an underactuated bipedal robot

    Creator:
    Jones, Mikhail S.
    Abstract:
    Bipedal robots represent a unique class of control problems that combine many of the most difficult elements of nonlinear control. These robots are typically designed to be mobile and as such have limited energy and actuator authority making efficiency a prime concern. Unlike wheeled robots, legged robots must transition between...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst Bipedal robots represent a unique class of control problems that combine many of the

  • Template-based control of the bipedal robot ATRIAS

    Creator:
    Peekema, Andrew T.
    Abstract:
    This thesis details the derivation and application of template-based controls on a bipedal robot, as well as a description of the software framework that enabled experimentation. The software framework uses a combination of open-source tools including ROS, OROCOS, EtherCAT, and Xenomai to create a real-time environment for the controllers. The...
    Resource Type:
    Masters Thesis
    Full Text:
    : Jonathan W. Hurst This thesis details the derivation and application of template-based controls on a

  • 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:
    AN ABSTRACT OF THE DISSERTATION OF Andrew W. Otto for the

  • Modeling and control of a biologically inspired compliant structure

    Creator:
    Ray, Cody W.
    Abstract:
    We hypothesize that the extraordinary maneuverability and efficiency of bats in flight are in part due to the compliant nature of their wing structures. We utilize the parameters of bat bones measured by biologists to create a biologically inspired model of a flapping system consisting of a rotating hub actuator...
    Resource Type:
    Masters Thesis
    Full Text:
    )-(2.5) are Ms ḃ + ns ω̇ = −D b−K a Jω̇ = q T a + r T b + u(t)− n0ω ȧ = b θ̇ = ω, (2.6) where w(t

  • The effects of CI tools and implementation practices on hospital performance

    Creator:
    Holliday, John W.
    Abstract:
    Continuous Improvement (CI) is an integral part of hospital administration. This study examined the relationship between five CI variables against six hospital criterion measures of, wait times to prepare a room, patient costs per day, waiting time for lab results, reportable errors, patient satisfaction, and employee satisfaction. The research was...
    Resource Type:
    Dissertation
    Full Text:
    W. Holliday for the degree of Doctor of Philosophy in Industrial Engineering presented on May 17

  • Modeling, control, and estimation of flexible, aerodynamic structures

    Creator:
    Ray, Cody W.
    Abstract:
    Engineers have long been inspired by nature's flyers. Such animals navigate complex environments gracefully and efficiently by using a variety of evolutionary adaptations for high-performance flight. Biologists have discovered a variety of sensory adaptations that provide flow state feedback and allow flying animals to feel their way through flight. A...
    Resource Type:
    Dissertation
    Full Text:
    AN ABSTRACT OF THE DISSERTATION OF Cody W. Ray for the degree

  • Integrated dual cycle energy recovery using thermoelectric conversion and an organic Rankine bottoming cycle

    Creator:
    Miller, Erik W.
    Abstract:
    Hot engine exhaust and industrial process exhaust represents a resource that is often rejected to the environment without further utilization. This resource is prevalent in the transportation and industrial process sectors, but stationary engine-generator systems also typically do not utilize this resource. Engine exhaust is considered high grade heat and...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Erik W. Miller for the degree of Master of Science in Mechanical