Index Catalog // ScholarsArchive@OSU

A Novel Method for the Quantitative Assessment of Fingered Robot Hand Designs for In-Hand Manipulation using Human Studies and Object-Centric Benchmarks

Creator:: Morrow, John F., IV
Abstract:: Fingered robot hands are complicated systems made of three essential system components: its morphology, its actuation, and its software control. These system components are tightly coupled to each other. Due to this, it is hard to benchmark robot hand performance in a way to understand the contributions of the individual...
Resource Type:: Dissertation
Full Text:: Manipulation using Human Studies and Object-Centric Benchmarks Abstract approved: Cindy Grimm Ravi

Total synthesis of indole alkaloids: pt. 1. Asymmetric synthesis of (-)-ibogamine. pt. 2. An approach toward the synthesis of koumine

Creator:: Choi, Younggi
Abstract:: PART I. The preparation of (-)-ibogamine (1) in fourteen steps from benzoquinone and in 10% overall yield is a powerful illustration of the value of the asymmetric Diels-Alder reaction as a starting point in a multistep synthesis. All four cycloadducts, 70, 77, 84 and 96, obtained with the (S)-BINOL-TiCl₂ complex...
Resource Type:: Dissertation
Full Text:: AN ABSTRACT OF THE DISSERTATION OF Younggi Choi for the degree

Deep Perception Without a Camera: Enabling 3D Reconstruction and Object Recognition using Lidar and Sonar Sensing

Creator:: DeBortoli, Robert A.
Abstract:: Deep learning has recently revolutionized robot perception in many canonical robotic applications, such as autonomous driving. However, a similar transformation has yet to occur in more harsh environments including underwater and underground. This is due in part to the difficulty in deploying robots in these environments, which lack large real...
Resource Type:: Dissertation
Full Text:: re- search directions. I would like to thank my committee members Cindy Grimm, Michael Olsen, and

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Creator:: Bira, Nicholas P.
Abstract:: This dissertation presents novel, field-activated smart material systems for the actuation and control of autonomous robots. Smart materials, a type of material whose properties can be changed with an external stimuli, represent a promising direction to expand upon existing robotic control and actuation methods, particularly in the sub-fields of soft...
Resource Type:: Dissertation

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

Mechanisms of Vigilance Loss in Sensory and Cognitive Tasks

Creator:: Gyles, Shannon P.
Abstract:: When observers monitor for infrequent signals for extended durations, they generally experience a decline in detections over time. This decline is termed the vigilance decrement. Current theories of vigilance attribute the decrement to three potential mechanisms: conservative shifts in response bias, losses of sensitivity, and an increased rate of attentional...
Resource Type:: Dissertation

Functional Materials and Techniques for Additive Manufacturing in Soft Robotics

Creator:: Walker, Stephanie
Abstract:: This thesis outlines the development of new elastomeric materials and manufacturing processes for soft robotics. Specifically, this work describes the development of custom material formulations for use in additive manufacturing, additive manufacturing processing techniques for silicone elastomers, and multi-component additive manufacturing techniques. Material synthesis and processing is a gap in...
Resource Type:: Dissertation
Full Text:: experiments Samantha Hemleben – performed motion capture experiment Cindy Grimm – provided text for motion

Understanding And Improving The Activity Of Oxygen Evolution Reaction Catalysts In Alkaline And Chloride-Containing Electrolytes

Creator:: Adiga, Prajwal Prakash
Abstract:: Water electrolysis plays a pivotal role in achieving a green hydrogen economy by sourcing electricity from intermittent renewable sources. However, the efficiency of the electrolysis process is limited by the sluggish oxygen evolution reaction (OER) kinetics, whereas the kinetics of the hydrogen evolution reaction (HER) are more facile. This thesis...
Resource Type:: Dissertation
Full Text:: challenging times. I would also like to show my gratitude to Quinn Carvalho, Cindy Wong and other graduate

The physicochemical, microbiological, aroma and flavor profile of selected commercial sweet whey powder

Creator:: Sithole, Rhoda
Abstract:: Sweet whey powder is mainly used as an ingredient in foods and has a potential for increased use with the development of new foods. In view of the many whey powder producers, there is need to establish the quality of the whey powders currently on the market in terms of...
Resource Type:: Dissertation
Full Text:: of this whey project, Kannapon, Cindy, Astrand, Renata, and I-Min whose friendship and help made

Synthesis of Intercalation Compounds and Nanocomposites of Inorganic Layered Hosts

Creator:: Liyanage, Medagama Liyanage Amila Udayanga
Abstract:: Novel synthetic strategies are developed to prepare new intercalation compounds and nanocomposites with several layered hosts (NiPS₃, Na-montmorillonite, MoS₂ and MoO₃). In these products, alkali metals are ionic intercalates and linear polymers, dendrimers or amines act as co-intercalates. In addition to new synthetic approaches, new structures are identified and characterized....
Resource Type:: Dissertation
Full Text:: , Cindy, Paula, Luanne, Talley, Kristi, Todd, Greg, Jenna, Dan, Mark, Teresa (OSU Electron Microscopy

ScholarsArchive@OSU

A Novel Method for the Quantitative Assessment of Fingered Robot Hand Designs for In-Hand Manipulation using Human Studies and Object-Centric Benchmarks

Total synthesis of indole alkaloids: pt. 1. Asymmetric synthesis of (-)-ibogamine. pt. 2. An approach toward the synthesis of koumine

Deep Perception Without a Camera: Enabling 3D Reconstruction and Object Recognition using Lidar and Sonar Sensing

Robotic Actuation and Control with Programmable, Field-Activated Material Systems

Smooth Trajectory Generation for Machine Tools and Industrial Robots

Mechanisms of Vigilance Loss in Sensory and Cognitive Tasks

Functional Materials and Techniques for Additive Manufacturing in Soft Robotics

Understanding And Improving The Activity Of Oxygen Evolution Reaction Catalysts In Alkaline And Chloride-Containing Electrolytes

The physicochemical, microbiological, aroma and flavor profile of selected commercial sweet whey powder

Synthesis of Intercalation Compounds and Nanocomposites of Inorganic Layered Hosts

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