Expert systems have been suggested as a solution
for difficult problems, including FMS scheduling. As
one of the aspects of artificial intelligence (AI), expert
systems have achieved considerable success in recent
years in medical science, chemistry, and engineering.
However, building an expert system is a difficult
task, the most crucial...
There are many situations in which contact between two
bodies is at a single point so there can be no tensile
(force). This form of contact only provides a single degree
of restraint, and is defined as a unidirectional point
contact. The analysis of Reuleaux shows that four suitably
placed...
A method to design foot trajectory in Cartesian
coordinates for a six-leg walking machine is presented in
this thesis. The walking machine is based on the geometry of
the darkling beetle.
The walking procedure developed by Y.S. Baek is
introduced first to provide step length and leg swing time
for...
Tensor mathematics provides a powerful language to visualize and analyze physical phenomena. In the last three decades, tensors have been used in various application areas. The visualization and analysis of tensors fields have seen much advance, both in 2D and 3D. However, the physical interpretations of the topological analysis are...
A method by which barrier heights in potential functions
hindering internal rotation in organic molecules can be obtained solely
from thermal data for the solid phase is studied. The observed
heat capacities are analyzed in terms of contributions from the lattice
vibrations, the intramolecular vibrations, the expansion of the lattice,...
This thesis investigates a simple dynamic model of the hind leg
of a beetle during initiation of a step. The primary assumption was
that the full load of the body was carried on the hind leg during
this time. That is, the only forces on the body were that of...
This thesis presents a method for determining range
of body motion for a walking machine with feet fixed on
the ground. The darkling beetle was selected as the
sample subject in this study.
A closed form inverse kinematic solution is used to
determine if a point in space is within...
This thesis presents a control system for a walking
machine leg. The leg is representative of one of the six
legs required for a proposed walking machine based on the
geometry of the darkling beetle.
Each of the three joints is controlled by a DC servo
motor mounted to the...