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Filtering by: Creator Evans, T. Matthew Remove constraint Creator: Evans, T. Matthew Degree Field Mechanical Engineering Remove constraint Degree Field: Mechanical Engineering Degree Field Robotics Remove constraint Degree Field: Robotics

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  • Smooth Trajectory Generation for Machine Tools and Industrial Robots

    Creator:
    Tajima, Shingo
    Abstract:
    This thesis presents accurate and time-optimal smooth reference trajectory generation techniques for manufacturing equipment such as high-speed machine tools (MT) and industrial robots (IR). Typical machining tool-paths for MTs and IRs are defined as a series of discrete linear moves. Although Point-to-Point (P2P) feed motion can be generated by interpolating...
    Resource Type:
    Dissertation
    Full Text:
    response model in the time domain (t) and frequency domain (ω). Forced vibrations are either induced by

  • From running birds to walking robots : optimization as a unifying framework for dynamic bipedal locomotion

    Creator:
    Hubicki, Christian M.
    Abstract:
    Bipedal locomotion is a complex phenomenon to understand and control, making it difficult for legged robots to achieve the speed, agility, efficiency, and robustness of their animal counterparts. This thesis argues for the use of numerical optimization to investigate and implement bipedal control as it applies to biology, dynamical models,...
    Resource Type:
    Dissertation

  • Multi-Objective Optimization in Multiagent Systems

    Creator:
    Yliniemi, Logan Michael
    Abstract:
    Cooperative multiagent systems are used as solution concepts in many application domains including air traffic control, satellite communications, and extra planetary exploration. As systems become more distributed and complex, we observe three phenomena. First, these systems cannot be accurately modeled, rendering traditional model based control methods inadequate. Second, system parameters...
    Resource Type:
    Dissertation
    Full Text:
    . . . . . 102 6.3 PaCcET solution densities in KUR on tF1, F2u using T R´ LC ´ Ξ. . 106 6.4 PaCcET solution