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Filtering by: Creator Au, Whitlow W. L. Remove constraint Creator: Au, Whitlow W. L. Academic Affiliation Mechanical, Industrial, and Manufacturing Engineering Remove constraint Academic Affiliation: Mechanical, Industrial, and Manufacturing Engineering Rights Statement In Copyright Remove constraint Rights Statement: In Copyright

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  • 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

  • Agile Bipedal Locomotion via Hierarchical Control by Incorporating Physical Principles, Learning, and Optimization

    Creator:
    Green, Kevin
    Abstract:
    Robotic Bipedal locomotion holds the potential for efficient, robust traversal of difficult terrain. The difficulty lies in the dynamics of locomotion which complicate control and motion planning. Bipedal locomotion dynamics are dimensionally large problems, extremely nonlinear, and operate on the limits of actuator capabilities, which limit the performance of generic...
    Resource Type:
    Dissertation
    Full Text:
    Optimization Abstract approved: Jonathan Hurst Ross L. Hatton Robotic Bipedal locomotion holds the potential

  • Advanced Computational Modeling and Design of Wave Energy and Floating Offshore Wind Energy Technologies

    Creator:
    Mankle, Hannah L.
    Abstract:
    Given the immense energy potential of o shore wind and ocean waves, offshore renewable energy can significantly contribute to the renewable energy landscape. Fixed floating wind is already making strides internationally with increased electricity capacity, while floating offshore wind turbines and marine hydrokinetic (MHK) technology have significant potential that can...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Hannah L. Mankle for the degree

  • Temperature Evolution of Nonreacting Spark Kernels at Sub-Atmospheric Pressures

    Creator:
    Caplan, Daniel L.
    Abstract:
    In the event of a mid-flight flameout of a gas turbine engine, reignition is paramount to occupant safety. Ignition at high altitude can be challenging, due in part to the potentially lower ambient pressures. An understanding of the effects of sub-atmospheric pressures on the temperature evolution of spark kernels is...
    Resource Type:
    Masters Thesis
    Full Text:
    AN ABSTRACT OF THE THESIS OF Daniel L. Caplan for the

  • The impact of shared ownership on virtual team effectiveness

    Creator:
    Bonnono, Mark A.
    Abstract:
    This research studied the role of shared ownership on virtual team effectiveness, using student teams enrolled in engineering management coursework at Oregon State University and Virginia Polytechnic Institute. After a thorough review of the literature, the concept of shared ownership was developed. This concept was operationalized as the extent to...
    Resource Type:
    Masters Thesis
    Full Text:
    ) P au l (2 0 0 6 ) P o w el l et a l. ( 2 0 0 4 ) W ar k en ti n , S ay ee d

  • 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

  • Data-Driven Environmentally Sustainable Product Design: A Shift Toward Increased use of Sustainable Design Activities in the Early Design Phase

    Creator:
    Ferrero, Vincenzo J.
    Abstract:
    Modern product design drives the boundaries of innovation by encompassing complex Design-for-X objectives, and the inclusion of multidimensional stakeholders. This growing complexity in product design has left design teams unequipped, as classical design theory is bounded by designer experience, expertise, and cognition. One novel approach to tackling product complexity is...
    Resource Type:
    Dissertation
    Full Text:
    Design Activities in the Early Design Phase Abstract approved: Bryony L. DuPont Modern product design

  • Design Optimization of a Structurally Flexible Wave Energy Converter with a Direct Search Algorithm

    Creator:
    Berrier, Austin S.
    Abstract:
    Several wave energy converter designs have been recently proposed that are made of flexible materials. Flexible devices are able to generate electricity by being stretched, and are intended to simplify deployment and maintenance concerns over existing wave energy devices. Due to the relative infancy of flexible wave energy converters, however,...
    Resource Type:
    Masters Thesis
    Full Text:
    Structurally Flexible Wave Energy Converter with a Direct Search Algorithm Abstract approved: Bryony L

  • Geometric Motion Planning for Inertial Systems

    Creator:
    Faraji, Hossein
    Abstract:
    In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is...
    Resource Type:
    Dissertation
    Full Text:
    . Title: Geometric Motion Planning for Inertial Systems Abstract approved: Ross L. Hatton The

  • Experimental Study of the Impact of Physical and Chemical Properties on Smoldering Combustion in Natural Fuels

    Creator:
    Smucker, Benjamin
    Abstract:
    Smoldering combustion in wildland fires is difficult to extinguish, can transition to flaming combustion, and produces a significant amount of pollutants. It is necessary to understand parameters controlling smoldering in order to help predict the smoldering behavior and potentially mitigate these hazards. The wide variety of natural fuels that occur...
    Resource Type:
    Dissertation
    Full Text:
    Natural Fuels Abstract approved: David L. Blunck Smoldering combustion in wildland fires is difficult to