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Filtering by: Creator Au, Whitlow W. L. Remove constraint Creator: Au, Whitlow W. L. Committee Member Balasubramanian, Ravi Remove constraint Committee Member: Balasubramanian, Ravi Degree Name Master of Science (M.S.) Remove constraint Degree Name: Master of Science (M.S.) 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

  • 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

  • Mechanically Robust Additively Manufactured Magnetically Coupled Aperture and Patch Microstrip to Rectangular Waveguide Transition

    Creator:
    Merrill, Scott
    Abstract:
    Advances in additive manufacturing technologies allow for the rapid, inexpensive manufacturing of microwave circuits. Circuits made using additive manufacturing are comparable in performance to circuits produced circuits produced using conventional methods such as printed circuit board fabrication, thin film deposition, machining, and milling. Very little work has been done in...
    Resource Type:
    Masters Thesis
    Full Text:
    0.533 w cond 1 2.78 t sub lower 1 w sub 28 d h2h 7.55 l sub 44.1 d hole cnct 1.98 w cond 2 7.51 d

  • Coevolution and transfer learning in a point-to-point fleet coordination problem

    Creator:
    Yliniemi, Logan Michael
    Abstract:
    In this work we present a multiagent Fleet Coordination Problem (FCP). In this formulation, agents seek to minimize the fuel consumed to complete all deliveries while maintaining acceptable on-time delivery performance. Individual vehicles must both (i) bid on the rights to deliver a load of goods from origin to destination...
    Resource Type:
    Masters Thesis
    Full Text:
    fitness eval- uation: G, the global system utility (upper, dotted line); L i (lower, solid line). Note

  • Contour Following by Human-Safe Cobots using Real-Time Vision and Force Feedback with Workpiece Location Uncertainty

    Creator:
    Nishat, Nuha
    Abstract:
    Human-safe Cobots are a popular replacement for industrial robots to automate manufacturing processes such like cutting and deburring that all involve accurate contour following across a workpiece surface while maintaining sufficient tool contact. Cobot arms are less expensive and human-safe but they have larger error motion in comparison when only...
    Resource Type:
    Masters Thesis
    Full Text:
    can make the au- tomation of more manufacturing processes very expensive. Ideally, we should be able

  • Force and impulse control for spring-mass running

    Creator:
    Koepl, Devin N.
    Abstract:
    We present a novel control strategy for running which is robust to disturbances, and makes excellent use of passive dynamics for energy economy. The motivation for our control strategy is based on observations of animals, which are able to economically walk and run over varying terrain and ground dynamics. It...
    Resource Type:
    Masters Thesis
    Full Text:
    Impulse Control for Spring-Mass Running Abstract approved: Jonathan W. Hurst We present a novel control