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1
Longo, Sheila A. (Sheila Ann). „Construction and installation of public comfort art : "Art as sanctuary"“. Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32952.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (leaf 29).
This paper illustrates the construction and installation of a public piece of art, hidden within which is an enclosed and private meditation space. In making the piece, the artist was influenced by the works of others as well as by her own previous works and personal experiences. The theory of deep touch pressure can be extrapolated to associate encapsulation within small, enclosed spaces with relaxation and the relief of anxiety. Through the fluid process of aesthetic development, the work evolved towards completion and fulfillment of the piece's goals. The result was a basket-like structure containing a close and comfortable space for decompression. Geared towards the MIT community, the piece also explored the effects of isolation and connectivity. Viewer interaction, made possible by a period of public display, remains a critical component of this artwork. There are various directions in which to move forward with the investigation, one of which is to explore the dynamics of multiple pieces in a single location.
by Sheila A. Longo.
S.B.
2
Middleton, Steven Anthony, und smi81431@bigpond net au. „A limited study of mechanical intelligence as media“. RMIT University. Creative Media, 2008. http://adt.lib.rmit.edu.au/adt/public/adt-VIT20080717.161751.
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The project investigates mathematics, informatics, statistical analysis and their histories, the history of human engagement with machines, and illustrates some uses of artificial intelligence and robotic technologies as media. It is concerned with, amongst other issues, the sentient and not sentient binaries offered in discourses on machine intelligence. The term intelligence is used to distinguish between human and not human. However, a non-human, the intelligent machine, has become incorporated into the processes by which our culture defines intelligence. Those processes were explored in phases of the project that focused upon various kinds of interactions between people and machines, particularly the ways in which those interactions are mediated by knowledge. The discourses that underpin the field of mechanical intelligence spring from the same sources as the rhetoric that delineates human beings from all other things. We make intelligent machines because we have something to prove regarding our own intelligence. The devices expose attributes considered in our culture to be intelligent. The size and technical sophistication of modern robots result from the expenditure of considerable funds across several disciplines. Such machines signify wealth, power and excess, despite any other significance their makers intend.
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Leung, Wai-yee. „The politics of perversion the critical pedagogy of art in the age of advanced mechanical reproduction /“. Click to view the E-thesis via HKUTO, 2000. http://sunzi.lib.hku.hk/hkuto/record/B31952720.
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4
Felix, Heather K. „Fusion of engineering, art, and education through an interactive robotic puppet show“. Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40425.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (leaf 11).
In this current age of the Technological Revolution, technical proficiency is not enough for graduating engineers and scientists. Creativity and innovation need to be emphasized and pursued. The Robotic Puppet Show fuses engineering, art, and education all in one. The focus of the project is to promote not only interest in math and science for young women, but it includes art to develop creative thinking. The robotic puppets are powered by Vex motors and servos and operated by remote control. After construction of a robotic puppet, I visited a Boston area high school as a guest speaker to demonstrate the robotic puppet's features and abilities, to talk about engineering as a student and in industry, and to gain feedback from students. The robotic puppet was well-received. Human interaction with the robotic puppet played a large part in the students interest. Future plans for the Robotic Puppet Show include developing more personable robots that interact with students on stage. Results indicate that there is potential for successfully teaching robotics to students in this art/engineering approach to both encourage women to pursue engineering and to develop creative thinking that is much needed in today's changing job market.
by Heather K. Felix.
S.B.
5
Stallabrass, Julian. „The mechanical arts : science, mind and mechanism in art, France 1918-1931“. Thesis, Courtauld Institute of Art (University of London), 1992. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.294638.
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6
Weathers, James Boyd. „VERIFICATION AND VALIDATION USING STATE OF THE ART MEASURES AND MODULAR UNCERTAINTY TECHNIQUES“. MSSTATE, 2008. http://sun.library.msstate.edu/ETD-db/theses/available/etd-03282008-111215/.
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As quantitative validation measures have become available, so has the controversy regarding the construction of such measures. The complexity of the physical processes involved is compounded by uncertainties introduced due to model inputs, experimental errors, and modeling assumptions just to name a few. Also, how these uncertainties are treated is of major importance. In this dissertation, the issues associated with several state of the art quantitative validation metrics are discussed in detail. Basic Verification and Validation (V&V) framework is introduced outlining areas where some agreement has been reached in the engineering community. In addition, carefully constructed examples are used to shed light on differences among the state of the art validation metrics. The results show that the univariate validation metric fails to account for correlation structure due to common systematic error sources in the comparison error results. Also, the confidence interval metric is an inadequate measure of the noise level of the validation exercise. Therefore, the multivariate validation metric should be utilized whenever possible. In addition, end-to-end examples of the V&V effort are provided using the multivariate and univariate validation metrics. Methodology is introduced using Monte Carlo analysis to construct the covariance matrix used in the multivariate validation metric when non-linear sensitivities exist. Also, the examples show how multiple iterations of the validation exercise can lead to a successful validation effort. Finally, modular uncertainty techniques are introduced for the uncertainty analysis of large systems where many data reduction equations or models are used to examine multiple outputs of interest. In addition, the modular uncertainty methodology was shown to be an equivalent method to the traditional propagation of errors approach with a drastic reduction in computational effort. The modular uncertainty technique also has the advantage in that insight is given into the relationship between the uncertainties of the quantities of interest being examined. An extension of the modular uncertainty methodology to cover full scale V&V exercises is also introduced.
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Keating, Steven J. (Steven John). „Renaissance robotics : novel applications of multipurpose robotic arms spanning design fabrication, utility, and art“. Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/78184.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 204-208).
This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale additive manufacturing, jammable granular system design, light painting, and volumetric sensing. While most current applications of robotics in manufacturing rely on repetitive automation and assembly tasks, the flexibility, dexterity, and precision of industrial robotic arms provide for design opportunities of multi-functionary roles. Through exploration and demonstration, a multipurpose fabrication platform was developed using a KUKA KR5 sixx R850 robotic arm. The platform is capable of conventional manufacturing techniques spanning the three traditional fabrication categories: additive, subtractive, and formative. Case studies and digital design fabrication protocols were developed as part of the robotic platform to demonstrate these three types of fabrication including 3D printing, multi-axis milling, and clay sculpting, respectively. Compound processes, such as combining 3D printing and milling, were developed that offer product-, and process-based improvements over standalone techniques. The benefits and drawbacks of a multi-fabrication platform are discussed, including cost, physical footprint, resolution, and flexibility. In addition to replicating conventional manufacturing techniques with a single robotic platform, several novel applications were developed which take advantage of the flexibility of an arm system. First, functionally graded 3D printing was explored using concrete through which density gradients were shown to achieve higher structural efficiency. A novel construction-scale additive manufacturing process capable of 3D printing building components was developed. Secondly, direct recycling 3D printing was developed where waste thermoplastic products are transformed into feedstock and printed into new components within a single operation. Work conducted on jammed granular structures, where external pressure controls system stiffness and strength, resulted in several new formative fabrication possibilities. Combined with robotics, waste-free digital casting using jammable materials was enabled along with a variety of design projects including the design of robotic arms themselves. Finally, the use of robotic arms for fabrication of material and environmental properties without mechanical force transfer was explored. Coined immaterial fabrication,t his fabrication category captures methods that do not fall within the definitions of additive, subtractive, or formative processes. Work produced in this area includes a volumetric sensing technique and robotic light paintings that reveal thermal, electromagnetic, and optical fields.
by Steven J. Keating.
S.M.
8
Linder, Louise. „A series of sculptures based on a creative investigation of the imagery and formal qualities inherent in selected mechanical structures“. Master's thesis, University of Cape Town, 1986. http://hdl.handle.net/11427/21153.
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Includes bibliographical references.In order to meet the requirements for the MFA degree at the University of Cape Town I proposed to create a body of sculptures based on studies initiated during my year of study for the Advanced Diploma in Art at the Michaelis School of Fine Art. These studies involved the observation and formal analysis of certain functional structures relating mostly to industry, and led to the making of sculptures characterised by formal reduction and abstracted 'constructivist' forms. My intention for the MFA study was to pursue this methodology and to extend the scope to include architectonic elements relating to both interior and exterior structures and spaces, as well as other objects such as machines. My source material was largely taken from 19th-century technical illustrations of industrial machinery for the reason that the functions of the chosen mechanical structures were overtly expressed by the constituent parts, which became the compositional elements of my sculptural abstractions.
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Leung, Wai-yee, und 梁偉怡. „The politics of perversion: the critical pedagogy of art in the age of advanced mechanical reproduction“. Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2000. http://hub.hku.hk/bib/B31952720.
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Tornari, Vivi. „Holographic interference : structural deformation detection applied to cultural heritage objects“. Thesis, University of Sunderland, 2013. http://sure.sunderland.ac.uk/5228/.
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Interference is a fundamental physical phenomenon proving the wave nature of energy. It is based on wave superposition forming natural waveeffects expressed both in nature under random selective conditions as well as in laboratory scientific experiments by carefully controlled selection of parameters. Science generates a number of technology applications using the inherited properties of waves after their superposition in space termed interference. These interfering waves have extremely rare properties compared to their initial physical systems and become entities with measurable quantities which can be used to quantify qualities in other phenomena, mechanisms, and physical objects with variety of physical properties. These waves are currently fully explored in theoretical and experimental physics finding many modern applications and enlightening the way to longstanding questions. Remote non contact study of surfaces and their reactions visually witnessing internal subsurface and unknown bulk information without need to implement destructing forces or penetrating irradiation to trace them and without interacting with it or interfering with the results is one of the most challenging modern applications of interference physics. Apart from everyday life applications artworks’ conservation is a field that interference properties are uniquely suited. It is the quality of light wave interference that is being utilised in this body of research and summarised in the present thesis. The context of the presented thesis unfolded in next chapters is constructed in one book on a contextual rather than chronological order. The contextual base presentation is achieved through clustering same context published articles that have resulted over the course of years of research which have been published in review journals, conference proceedings or governmental publications. The formation of laser interference fringe patterns and their exceptional qualitites in application for structural diagnosis with defect detection and definition, their unique properties utilised in studies of environmental and climate effects, the prototype optical geometries and novel experimental methodologies envisaged to solve specific application problems are presented along with examination on theoretical matters of exploring interference properties, qualities, geometries and their outmost final product the interference fringe pattern. Thus in this thesis the aim is to prove the contribution of the experimental research publications to the study of interference patterns as a highly sophisticated structural diagnostic tool in the complicated problems of Cultural Heritage applications. The implementation of interference phenomena and the development in experimental investigations applied in inhomogeneous, anisotropic, shape variant, multilayered, multicomposition cultural heritage objects, paves the way to implement “fringe patterns” as a scaleless (scale independent) diagnostic detector allowing generation of novel tools and practices on problem solving projects. The developments are beyond the specific application and are extended to other fields of science and technology. The articles and bibliography cited within the text including author's publications utilised as sources in the writing of this thesis are referenced in square brackets and are explicitly listed in ANNEX I The list of publications of the author is shown in ANNEX II. The originals of author's publications supporting the thesis are provided after the Annex II as have been published. Due to limitation in number of pages there is not included a section to present the fundamental principles of the phenomena presented here instead a list of books commonly found in most University libraries is provided for interested readers as BIBLIOGRAPHY at the last paragraphs of ANNEX I.
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Deshpande, Ajay A. „A pseudo-polynomial time O(log² n)-approximation algorithm for art gallery problems“. Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/36243.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2006.Includes bibliographical references (p. 55-56).
In this thesis, we give a pseudo-polynomial time O(log² n)-approximation algorithm for a variant of the art gallery problem the point-guard problem. The point-guard problem involves finding the minimum number of points and their positions so that guards located at these points cover the interior of the art gallery. Our algorithm is pseudo-polynomial in the sense that it is polynomial in the number of walls of the art gallery but is possibly exponential in the number of bits required to represent the positions of the vertices of the art gallery. Our approach involves reducing the point-guard problem to a new problem of choosing a minimum number of guard-locations from a finite set obtained by a special subdivision procedure. The new problem has the optimal solution at most three times the optional solution of the point-guard problem. We further reduce the new problem to the set cover problem and obtain an approximate solution to the set cover problem.
by Ajay A. Deshpande.
S.M.
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Türk, Serhat, und Kristoffer Müller. „Kinetic Art Table : Polar sand plotter“. Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296307.
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CNC machines are used with plenty of different implementations, one of which is in this project where a polar CNC machine was used to draw mesmerizing patterns on a table with fine sand. This construction read G-code and converted it to polar coordinates. The capabilities of what the plotter could draw were tested, everything from ODE plots to custom-made patterns and drawings with the help of Sandify. Although the patterns were drawn properly with small errors the ODE was too difficult to draw because it required a smaller magnetic ball and an even more precise system than what was used. This machine also generated noise at roughly 33 dB when it was in use.CNC-maskiner används med massor av olika implementationer, en av dem är i det här projektet där en polar CNC maskin användes för att rita fascinerande mönster på ett bord fylld med fin sand. Denna konstruktion läste in G-kod och konverterade det till polära koordinater. Förmågan av vad maskinen kunde rita testades, allt från ODE grafer till specialtillverkade mönster och ritningar med hjälp av Sandify. Aven om de olika mönstren ritades ordentligt men med mindre små fel var ODE för svårt att rita på grund av att det krävde en mindre magnetisk kula och ännu mer noggrannhet jämfört med detta system. Denna maskin alstrade också ljud på cirka 33 dB under användning.
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Nelson, Todd G. „Art to Engineering: Curved Folding and Developable Surfaces in Mechanism and Deployable Structure Design“. BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/6865.
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This work investigates how curved-crease origami and the developable surfaces which compose it can be transitioned to engineering design. Methods for creating flexible, tailorable-property surfaces that function as thick panels in place of paper are presented. Concepts from curved-crease origami and developable surfaces that can describe and extend engineering applications are discussed and demonstrated. These concepts are particularly beneficial to applications where curved surfaces are integral to the function, deployability is desired, and planar manufacturing could be beneficial.The first part of this work uses arrays of compliant elements to create flexible-tailorable property surfaces. The key feature to these arrays is the alignment of the most flexible bending axis of the individual elements to the ruling line arrangement of a developable surface. This alignment can enable bending of thick panels while maintaining lower stresses, a quality necessary for the transitioning of curved-crease origami into thick materials. The stiffness and stress of these arrays is modeled and physical prototypes are demonstrated. Additionally, shape factors are developed for these compliant arrays (CAs) to facilitate material selection for the panels and understand how the geometry of the array changes the effective properties of the panel. The second part of this work describes and demonstrates several concepts of curved-crease origami and developable surfaces that can benefit mechanism and structure design, particularly in the context of rolling-contact mechanisms. The design of a rolling-contact joint connected by flexible bands similar to a Jacob's Ladder toy is extended through incorporating curved creases into the design. The resulting design is deployable from a compact state to a functional state and can be manufactured from a single plane and folded into shape. Mathematical formulations are presented to describe the classes of developable surfaces in terms of properties which are frequently important in mechanism design. These natural equations for a single class of developable surface are conducive to modeling the folding motion of rigid-ruling developables, developables whose ruling lines do change location in a surface during folding. These formulations are used to generalize the design of rolling-contact joints to a family of joints capable of single degree of freedom spatial motions, being manufactured from a plane, and exhibiting a tailorable force response. Finally practical design suggestions for the implementation of rolling-contact joints is given. These include methodology to create sunken flexures which serve to increase the normal force between rolling bodies to prevent slip.
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Chevalier-Menu, Aurélia. „Comment concevoir un protocole d'application des technologies laser et nanogels pour la conservation/restauration des peintures sur toile“. Phd thesis, Ecole nationale supérieure d'arts et métiers - ENSAM, 2010. http://pastel.archives-ouvertes.fr/pastel-00563478.
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La recherche en conservation justifie et nécessite la mise en commun de compétences différentes et complémentaires. Un protocole innovant intégrant les lasers et les nanogels a été élaboré pour la conservation-restauration d'œuvres peintes sur toile. Cette recherche s'appuie sur l'expertise de chimistes, de physiciens associés aux historiens d'art et aux restaurateurs. Une telle démarche bouleverse à terme les pratiques des restaurateurs et engage la profession dans une nouvelle perspective de modèle industriel. C'est pourquoi, l'apport du LCPI de l'ENSAM fut déterminant pour proposer une méthode d'intégration des technologies innovantes à un métier caractérisé jusqu'alors par une tradition ancestrale de transmission de techniques héritées des pratiques artistiques. Le mémoire s'articule en cinq parties qui abordent les différents aspects de la problématique de recherche. Dans un premier temps, une recherche documentaire fait le constat de l'état du métier de restaurateur de peintures, en décrivant au fil des siècles comment tout d'abord se sont constituées les collections nationales avec une conscience de l'émergence d'un patrimoine collectif. Concomitamment et naturellement des questions de conservation-restauration se sont alors posées, à l'origine même du métier de restaurateur. Dans une seconde partie, la problématique de la thèse est décrite, aboutissement d'une réflexion sur les moyens traditionnels pour dégager les adhésifs de rentoilage. L'hypothèse fut énoncée que les lasers et les nanogels devraient pouvoir remplacer à terme les méthodes mécaniques (scalpel) et chimiques (gels classiques). La troisième partie s'attelle donc à mettre en place le modèle méthodologique, définir un plan d'expériences s'appuyant sur une connaissance des interactions laser-matière et des effets des gels chimiques sur les différents adhésifs testés. La quatrième partie présente alors les résultats des expérimentations et propose une interprétation dont on cherche la validation par diverses méthodes comme l'interférométrie holographique. La cinquième partie est un essai de synthèse de la recherche et propose une méthodologie nouvelle basée sur un modèle scientifique pour parfaire l'élimination des adhésifs des supports-toile. Au sein d'une démarche " métiers ", la méthode intègre les différents paramètres et les différentes contraintes de la pratique des restaurateurs pour concevoir une approche nouvelle en mettant en œuvre des procédés innovants. Une telle recherche doit aboutir à la mise en place d'un protocole contrôlé et reproductible, basé sur une automatisation mettant en œuvre la réalité augmentée. Cette méthodologie soucieuse de l'environnement et du développement durable ne néglige pas l'expérience de l'œil des praticiens
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Nowacki, Brenna M. „Verification and Calibration of State-of-the-Art CMC Mechanistic Damage Model“. University of Dayton / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1461761780.
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Meymand, Sajjad Zeinoddini. „State of the Art Roller Rig for Precise Evaluation of Wheel-Rail Contact Mechanics and Dynamics“. Diss., Virginia Tech, 2016. http://hdl.handle.net/10919/64920.
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The focus of this study is on the development of a state-of-the-art single-wheel roller rig for studying contact mechanics and dynamics in railroad applications. The use of indoor-based simulation tools has become a mainstay in vehicle testing for the automotive and railroad industries. In contrast to field-testing, roller rigs offer a controlled laboratory environment that can provide a successful path for obtaining data on the mechanics and dynamics of railway systems for a variety of operating conditions. The idea to develop a laboratory test rig started from the observation that there is a need for better-developed testing fixtures capable of accurately explaining the complex physics of wheel-rail contact toward designing faster, safer, and more efficient railway systems. A review of current roller rigs indicated that many desired functional requirements for studying contact mechanics currently are not available. Thus, the Virginia Tech Railway Technologies Laboratory (RTL) has embarked on a mission to develop a state-of-the-art testing facility that will allow experimental testing of contact mechanics in a dynamic, controlled, and consistent manner. VT roller rig will allow for closely replicating the boundary conditions of railroad wheel-rail contact via actively controlling all the wheel-rail interface degrees of freedom: cant angle, angle of attack, and lateral displacement. Two sophisticated independent drivelines are configured to precisely control the rotational speed of the wheels, and therefore their relative slip or creepage. A novel force measurement system, suitable for steel on steel contact, is configured to precisely measure the contact forces and moments at the contact patch. The control architecture is developed based on the SynqNet data acquisition system offered by Kollmorgen, the motors supplier. SynqNet provides a unified communication protocol between actuators, drives, and data acquisition system, hence eliminating data conversion among them. Various design analysis indicates that the rig successfully meets the set requirements: additional accuracy in measurements, and better control on the design of experiments. The test results show that the rig is capable of conducting various contact mechanics studies aimed for advancing the existing art. Beyond developing the experimental testing fixture for studying contact mechanics, this study provides a comprehensive review of the contact models. It discusses the simplifying assumptions for developing the models, compares the models functionality, and highlights the open areas that require further experimental and theoretical research. In addition, a multi-body dynamic model of the entire rig, using software package SIMPACK, is developed for conducting modal analysis of the rig and evaluating the performance of the rig's components. A MATLAB routine is also developed that provides a benchmark for developing creep curves from measurements of the rig and comparing them with existing creep curves.Ph. D.
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Miller, Daniel Jeffrey. „Design and Analysis of an Innovative Semi-Flexible Hybrid Personal-Body-Armor System“. Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3247.
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Current military-grade rifle body armor technology uses hard ballistic plates positioned on top of flexible materials, such as woven Kevlar® to stop projectiles and absorb the energy of the impact. However, absorbing the impact energy and stopping a rifle projectile comes at a cost to the wearer - mobility. In this thesis, a new concept for personal body armor is proposed - a semi-flexible hybrid body armor. This hybrid armor is comprised of two components that work as a system to effectively balance the flexibility offered by a soft fabric based armor with the protection level of hard plated armor. This work demonstrates techniques used to analyze and design the hybrid armor to be compliant with National Institute of Justice guidelines. In doing so, finite element analysis is used to simulate the effect of a projectile impacting the armor at various locations, angles, and velocities, while design of experiments is used to study the effect of these various impact combinations on the ability of the armor component(s) (including the wearer) to absorb energy.
The flexibility and protection offered by the two component armor system is achieved by the use of proven technique and innovative geometry. For the analytical design, the material properties, contact area(s), dwell duration, and energy absorption are all carefully considered. This yields a lightweight but yet effective armor, which is estimated to weigh 36% less than the current military grade hard body armor.
Using ANSYS, several simulations were conducted using finite element analysis, including a direct center impact, along with various other impacts to investigate possible weak points in the armor. In doing so, it is determined that only one of these impact locations is indeed a potential weak point. The finite element analysis continues to show that a rifle projectile impacting at an oblique angle reduces the energy transferred to the wearer by about 25% (compared to a direct impact).
A design of experiments approach was used to determine the influence of various input parameters, such as projectile impact velocity and impact location. It is shown that the projectile impact velocity contributes 36% to the ability of the wearer to absorb energy, whereas impact velocity contributes only 13% to the energy absorbed by the top armor component. Furthermore, the analysis shows that the impact location is a highly influential factor (with a 69% contribution) in the energy absorption by the top armor component.
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Rozvadská, Marcela. „Stavebně technologický projekt polyfunkčního domu Art Passage v Trenčíně“. Master's thesis, Vysoké učení technické v Brně. Fakulta stavební, 2014. http://www.nusl.cz/ntk/nusl-227056.
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This thesis deals with the structural and technological project of multifunctional building Art Passage in Trencin. Solve division building construction and civil engineering objects, draw up the draft machine assembly time and financial plan. They will further focus on the rough construction of the main building structure, where processing technology studies during construction schedule, the project site equipment, budget and other documents that are necessary for the proper implementation of construction.
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Najafi, Seyed Kamran. „Design of Contact Line Friction Measurement Machine Apparatus“. Scholar Commons, 2012. http://scholarcommons.usf.edu/etd/4377.
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The purpose of this project is to design and manufacture a high precision machine to directly measure the surface force of fluids. Knowing how to move droplets easier with less resistance can increase the potential of a wide range of applications and improve the performance of things such as self-assembly applications. This machine has the ability to measure forces of up to 100 N with a MEMS based sensor. The motion system on this machine moves a substrate underneath of a droplet for 100 mm and applies dragging force to the sensor. It moves with a controlled speed with high accuracy and repeatability. The machine also consists of three manual, three axis controls for positioning key components for observation, control of the air vacuum lifter, and adjustment of the sensor position. There is also an enclosure box that provides visibility to operate and protects the inside environment from dirt during process and also by applying positive air flow during setting up with open windows. The test components were designed to provide maximum flexibility to adjust the setup. A camera in the machine contributes to collect data during the test progress and has the ability to capture pictures and record videos.
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Barata, Terezinha de Jesus Esteves. „Avaliação clínica de dois métodos minimamente invasivos: químico-mecânico e mecânico (ART)“. Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/25/25131/tde-09112007-153751/.
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Este estudo comparou o desempenho clínico de dois métodos minimamente invasivos: químico-mecânico [Carisolv®-MediTeam (MQ-M)] e mecânico [Tratamento Restaurador Atraumático (MM-ART)] no tratamento restaurador da cárie dentária. Os métodos foram testados, aleatoriamente, em 50 pares de lesões cariosas similares de dentes permanentes, usando o modelo de estudo \"boca-dividida\", em 50 gestantes (2º trimestre). As variáveis operatórias avaliadas foram: eficácia e eficiência do grau de remoção do tecido cariado, aceitabilidade das voluntárias e percepção dos operadores. Todos os preparos cavitários foram restaurados com cimento de ionômero de vidro de alta viscosidade (Ketac Molar/3M ESPE), usando a técnica restauradora do ART. As restaurações foram avaliadas por dois examinadores calibrados e independentes, seguindo os critérios do ART, após 1 e 4 anos, sendo o nível de concordância interexaminadores de 0,97 e 0,89, respectivamente. Os dados foram submetidos aos testes estatísticos: correlação linear de Pearson, qui-quadrado, \'t\' Student, Fischer, Wilcoxon e intervalo de confiança (IC)95% (p<0,05). Para eficácia, eficiência e aceitabilidade ambos os métodos não apresentaram diferença estatisticamente significante entre si. Em relação à percepção dos operadores foi observada diferença estatisticamente significante a favor do MQ-M. O grau de sucesso das restaurações no grupo do MM-ART foi de 97,6% (IC=87,4-99,9%) após o 1º ano de avaliação e de 84,2% (IC=66,5-92,5%) após o 4º ano. No grupo do MQ-M, 100% (IC=91,8-100%) e 87,2% (IC=72,6-95,7%) das restaurações foram consideradas sucesso no 1º e 4º anos de avaliação, respectivamente. Quanto ao grau de sucesso das restaurações, diferença estatisticamente significante não foi observada entre os métodos após 1 ano (p=0,49) e 4 anos (p=0,75). Conclui-se que ambos os métodos apresentaram boa eficácia, eficiência e aceitabilidade para o tratamento de gestantes. Operadores reportaram maior facilidade técnica no MQ-M do que no MM-ART. Os dois métodos minimamente invasivos não influenciaram no desempenho clínico das restaurações ionoméricas realizadas pela técnica restauradora do ART após 1 e 4 anos.This study compared the clinical performance of two minimally invasive restorative treatment methods: chemo-mechanical [Carisolv(TM)-MediTeam (CM)] and mechanical [Atraumatic Restorative Treatment (ART)] for managing dental caries. Using a split-mouth design, the methods were tested randomly in 50 matched pairs of permanent teeth. A total of 50 pregnant women (2nd trimester of pregnancy) were treated. The outcome variables were: efficacy and efficiency of caries removal, acceptability and perception of the methods by pregnant women and operators. In both methods, the cavities were restored using the ART approach with high-viscous glass ionomer cement (Ketac Molar/3M ESPE). The restorations were evaluated by 2 calibrated independent examiners according to ART criteria, after 1 and 4 years. The inter examiner kappa was 0.97 and 0.89, respectively. Pearson correlation, 95% Confidence Interval and Student\'s, Chi-square, Fischer\'s and Wilcoxon tests were used for data analysis (p<0.05). The results showed there were no significant differences for efficacy and efficiency of carious dentin removal, as well as for patients\' acceptability, using both methods. A statistically significant difference regarding the feasibility of techniques in favour of the CM method was observed. In the ART method, 97.6% (CI=87.4-99.9%) of the restorations were judged to be successful at 1 year and 84.2% (IC=66.5-92.5%) at 4 years. The 1 and 4-year success for CM method was 100% (CI=91.8-100%) and 87.1% (CI=72.6-95.7%), respectively. The success rate for both methods was not statistically significant after 1 (p=0.49) and 4 (p=0.75) years. It is concluded from the results that both methods showed good efficacy, efficiency and acceptability in treating of the pregnant women. Operator\'s data revealed the CM method as being a more feasible approach than ART. The two minimal intervention restorative approaches showed similar performance after 1 and 4 years in pregnant women.
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West, Jerry. „Orthoplanar Spring Based Compliant Force/Torque Sensor for Robot Force Control“. Scholar Commons, 2017. http://scholarcommons.usf.edu/etd/6637.
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A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and reduces impact forces.
Sensor design considerations are discussed, followed by a discussion of the proposed design concept. Theoretical compliance and stress analysis of the orthoplanar spring is presented that allows for rapid design calculations; these calculations are validated via finite element analysis. A mechanical design method is given which uses the results of the compliance and stress analysis. Transducer design is then addressed by developing a model of the sensor. The design methods are used to design a prototype sensor which is tested to determine its instrument uncertainty. Finally, the sensor is implemented on a robotic platform to test its performance in force control.
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Feng, Chieh-Chuan. „Sliding control design and implementation on a single-link flexible arm“. Thesis, Monterey, California : Naval Postgraduate School, 1990. http://handle.dtic.mil/100.2/ADA242714.
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Thesis (M.S. in Mechanical Engineering and Mechanical Engineer)--Naval Postgraduate School, December 1990.Thesis Advisor(s): Chang, Liang-Wey. "December 1990." Description based on title screen as viewed on March 30, 2010. DTIC Identifier(s): Sliding Mode Control Systems, Sliding control Algorithms, Program Listings, Theses. Author(s) subject terms: Sliding Mode Control, Flexible Arm, Control of Flexible Arm, Uncertainty. Includes bibliographical references (p. 116). Also available in print.
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Brown, Lenard Dwight. „Art stories: synthesis of homo mechanicus defectio“. The Ohio State University, 1997. http://rave.ohiolink.edu/etdc/view?acc_num=osu1321892286.
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Palnati, Mahendra. „Design, Fabrication and Analysis of a Paver Machine Push Bar Mechanism“. Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/6007.
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Now-a-days, the major challenge that’s being faced by the concrete industry is the cleaning of concrete handling equipment. Concrete consists of aggregates, which harden with time, and the transportation of concrete mixture within the plant is a significant problem. This will not only increase the overall maintenance cost, but will lead to loss of raw materials, affect the rate of production, and reduce the lifetime of concrete handling equipment.
The present study focuses on the design and implementation of an adaptive cleaning mechanism in the concrete industry and its importance in achieving efficient cleaning, which is tested to verify its performance in the Paver production plant. The goal of this study is to provide practical evidence about the importance of adaptive cleaning mechanisms for industrial applications.
The first chapter gives a detailed introduction about pavers and the production process, the cause of material loss that occurs during transportation of wet concrete mixture inside a paver plant, and its effect on handling equipment and work environment. The second chapter explains design and working of the paver machine push bar mechanism, which can be implemented in a hydraulic press production process of pavers. The third chapter includes analysis and results of the mechanism obtained using Solidworks and Autodesk Inventor followed by observations that are achieved based on practical application of this mechanism in a paver production plant.
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Johansson, Hampus. „Alternative Path : Konstruktion av Dynamisk Gångväg“. Thesis, Högskolan i Halmstad, Akademin för ekonomi, teknik och naturvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-31093.
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Detta examensarbete har utförts ihop med konstnären Robert Hais, som vill skapa ett konstverk i det offentliga rummet, beläget på Tullkammarkajen i Halmstad, med arbetsnamnet "Alternative Path". Alternative Path är en dynamisk gångväg, som skall ge besökaren en unik upplevelse varje gång den beträds. Gångvägen är tänkt att upprättas samtidigt som kommunen bygger om området Tullkammarkajen, och detta projekt skall vara det material som får kommunen att vilja upprätta konstverket. Projektet startades i fas 1 med att definiera vad en dynamisk gångväg innebär, och vad som krävs för att skapa unika upplevelser. Projektet gick sedan över i att skapa olika koncept på hur upplevelserna kan alternera, varpå många lades på is, för att utvecklas i kommande faser. Arbetet resulterade i övergripande design för gångvägen och olika koncept för hur vyer kan blockeras, och konstruktionsarbetet av dessa mekanismer påbörjades. FMEA och andra analyser har på dessa delar utförts, och projektet har följt David Ullmans konstruktionsmetod.This thesis has been performed in cooperation with the artist Robert Hais, who wishes to create a piece of art located outdoors on Tullkammarkajen in Halmstad, with the working title "Alternative Path." Alternative Path is a dynamic pathway, which gives each visitor a unique experience every single time the path is visited. The pathway is meant to be erected by the same time the county rebuilds the district "Tullkammarkajen", and this project is going to be the material that aim to interest the city officials to erect the piece of art.The project started with phase 1, which aims to define what a dynamic pathway is, and what is needed to create unique experiences. The project then continued with concept generation regarding experience alternation, of which many concepts got put on hold to be developed in upcoming phases. This thesis resulted in the design of the pathway and different concepts for view blocking, and initial constructing of these mechanisms was started. FMEA and other analyses on these parts were conducted, and the methodology used was David Ullman's design process.
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Dehghanghadikolaei, Amir. „Enhance its Corrosion Behavior of Additively Manufactured NiTi by Micro-Arc Oxidation Coating“. University of Toledo / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo1525475381922659.
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Weatherman, Andrea Dawn. „Prophecy Fulfilled? Walter Benjamin's Vision and Steve Reich's Process“. Bowling Green State University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1300577313.
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Karlsson, Mattias, und Axel Magnusson. „Wire and Arc Additive Manufacturing : Pre printing strategy for torque arm“. Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79176.
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Wire and Arc Additive Manufacturing (WAAM) is a novel Additive manufacturing method. It is a high deposition rate process which can be suitable for producing low to medium quantities of medium to large sized components. Because it is such a novel method, there are still somechallenges to solve for the method to be useful. This project have been focusing on how to dealwith these challenges and how to manufacture a torque arm with WAAM. This includes the process on how to go from a CAD model to a printed product. Tests have been done during the project parallel with the design of the torque arm. The design have been modied according to the results from the tests. The result of the project was a more specic description how the softwares can be used to optimizethe process for a successful print. The used slicing software, Simplify3D, have some limitations and other options should be considered. Some limitations for the part design have been identied and some known challenges have been solved. The torque arm was successfully printed but with more time and refinement, the added offset could be reduced. The process was time consuming and needs to be more automated in the future. Some proposals on what should be further tested and evaluated is also stated in this report.
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Opong, George Kofi. „Design of a six-degree-of-freedom mechanical arm“. Ohio : Ohio University, 1985. http://www.ohiolink.edu/etd/view.cgi?ohiou1184071995.
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MARKOVSKA, MARIA, und VIEIDER FELICIA GIHL. „Drawing robotic arm“. Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226660.
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A drawing robot requires precise steering and high accuracy.The purpose with this project is to design a roboticarm with 3-dof that can be fed with a gray scale picture anddraw it on a paper. This thesis investigates which drawingtechnique that fits better for the robot, which controller isthe most suitable and what accuracy is achieved with thechosen controller. During the project a drawing robot iscreated and two different controllers are implemented andtested PD and PID. The implementation shows that PDcontrol is not working for this application. Therefore, PIDcontrol is the most suitable. Experiments are set up tomeasure the drawing accuracy using the PID-controller. Adrawing accuracy of ±11mm is achieved by the robot. Theachieved accuracy is a result depending on several factors,for instance the resolution of the potentiometers.En ritande robot kräver en precis styrning och hög noggrannhet. Syftet med detta projekt är att skapa en robot arm med tre frihetsgrader som kan matas med en svartvit bild och rita upp den på ett papper. Projektet undersöker vilken ritteknik som är mest passande för ändamålet, vilken regulator som passar bäst samt vilken noggrannhet som uppnås för den ritade bilden. Under projektets gång skapas en ritande robot och två olika regulatorer testas och implementeras, PD- och PID-regulatorn. Implementeringen visar att en PD-regulator inte fungerar för denna applikation. PID-regulatorn är därför den lämpligaste. Experiment utförs med PID-regulatorn implementerad för att mäta den noggrannhet som roboten ritar med. Roboten uppnår en noggrannhet på ±11mm. Den uppnådda noggrannheten är ett resultat beroende av flera faktorer, bland annat upplösningen på potentiometrarna.
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Johnson, Douglas L. „Power output prediction determined from vertical jump and reach test for male and female university athletes“. Virtual Press, 1994. http://liblink.bsu.edu/uhtbin/catkey/917037.
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The purpose of this study was to devise a simple mechanical power formula for both peak and average power using a countermovement jump and reach test for both college male and female athletes. Forty-nine female and 69 male athletes were measured for height, weight, thigh circumference, thigh skinfold, upper leg length, and lower leg length. The athletes performed a countermovement jump and reach test off of a force platform. A Vertec jumping apparatus was used to measure vertical jump height and the force platform was used to acquire force/time data to determine actual peak and average power output. Eight anthropometric measurements, vertical jump height, and gender were the variables presented to develop the equations. A stepwise multiple regression statistical procedure was used to develop the prediction equations. Vertical jump height, mass, and body height were the significant (p<.05) variables loaded into both peak and average mechanical power prediction equations. Gender was not significant (p>.05) and, therefore, not loaded into either equation. Predicted peak power and actual peak power values were 4,707 t 1,511 and 4,687 ± 1,612 watts, respectively. Predicted averagepower and actual average power values were 2,547 ± 760 and 2,463 ± 753 watts, respectively. The following best model regression-derived equations produced R2 values of .91 for peak power and .82 for average power:Peak Power (W) = 78.47 • VJ (cm) + 60.57 • Mass (kg) - 15.31 • Ht (cm) - 1,308 Average Power (W) = 41.41 • VJ (cm) + 31.18 • Mass (kg) - 13.86 • Ht (cm) + 431 Results of this study conclude that the two regression equations are good predictors of peak and average mechanical power output.School of Physical Education
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Dasht, Bozorg Amin. „Mechanical development for a soft robotics solution“. Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-183537.
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Nowadays, the human ability to utilize the technology has increased. One of the most important branches of technology in human service is Robotics, which helps humans to perform their daily work.This thesis is a part of a big project (Iron Arm) that was done at the Bioservo Technology AB in Kista-Stockholm. Bioservo exerts its effort to use SEM™ (Soft Extra Muscle) technology to build the new products. The aim of this thesis work was to design an effective mechanical actuator that will complete the former prototype built by Bioservo through another master thesis work done by John Ekblom in 2014. The thesis also describes how a mechanical actuator can be used in a device (robotic arm) to provide extra force and to assist someone who has weak arm lifting muscles. A big challenge for this device is to have a low weight because the user should wear the device and carry it during the entire day.Bioservo Technology AB är ett företag som etablerades i Sverige 2006 . Företaget samarbetar med läkare och sjukhus för att utveckla produkter för att hjälpa de som har svaga muskler. Det här examensarbete, som gjordes på Biservo Tecknology AB i Stockholm, är en del av projektet Iron Arm, som började 2014. Syftet med Iron Arm projektet är att assistera äldre som lider av nedsatt muskelstyrka och därmed har svårt att lyfta armen. I detta examensarbete konstrueras en aktuator som ger extra kraft för att lyfta armen och underlätta vardagsarbeten, som att kamma håret, äta mat, laga mat och att ta på sig ytterkläder.
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Leeb, Adam Paul. „Anthro Arm : the design of a seven degree of freedom arm with human attributes“. Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/40458.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Includes bibliographical references (leaf 24).
Studying biological systems has given robotics researchers valuable insight into designing complex systems. This thesis explores one such application of a biomimetic robotic system designed around a human arm. The design of an anthropomorphic arm, an arm that is similar to that of a human's, requires deep insight into the kinematics and physiology of the biological system. Investigated here is the design and completion of an arm with 7 degrees of freedom and human-like range of motion in each joint. The comparison of actuation schemes and the determination of proper kinematics enable the arm to be built at a low cost while maintaining high performance and similarity to the biological analog. Complex parts are built by dividing structures into interlocking 2d shapes that can easily be cut out using a waterjet and then welded together with high reliability. The resulting arm will become part of a bionic system when combined with an existing bionic hand platform that is being developed in the Intelligent Machines Laboratory at MIT. With a well thought out modular design, the system will be used as a test bed for future research involving data simplification and neurological control. The completion of the anthropomorphic arm reveals that is indeed feasible to use simple DC motors and quick fabrication techniques. The final result is a reliable, modularized, and anthropomorphic arm.
by Adam Paul Leeb.
S.B.
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Ding, J. „Thermo-mechanical analysis of wire and arc additive manufacturing process“. Thesis, Cranfield University, 2012. http://dspace.lib.cranfield.ac.uk/handle/1826/7897.
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Conventional manufacturing processes often require a large amount of machining and cannot satisfy the continuously increasing requirements of a sustainable, low cost, and environmentally friendly modern industry. Thus, Additive Manufacturing (AM) has become an important industrial process for the manufacture of custom-made metal workpieces. Among the different AM processes, Wire and Arc Additive Manufacture (WAAM) has the ability to manufacture large, low volume metal work-pieces due to its high deposition rate. In this process, 3D metallic components are built by depositing beads of weld metal in a layer by layer fashion. However, the non-uniform expansion and contraction of the material during the thermal cycle results in residual stresses and distortion. To obtain a better understanding of the thermo-mechanical performance of the WAAM process, a study based on FE simulation was untaken in this thesis. The mechanism of the stress generation during the deposition process was analysed via a 3D transient thermo-mechanical FE model which is verified with experimental results. To be capable of analysing the thermo-mechanical behaviour of large-scale WAAM components, an efficient FE approach was developed which can significantly reduce the computational time. The accuracy of this model was validated against the transient model as well as experimental measurements. With the help of the FE models studies on different deposition parameters, deposition sequences and deposition strategies were carried out. It has been proved that the residual stresses and the distortions are possible to be reduced by using optimised deposition parameters and sequences. In addition, a robot path generation prototype has been developed to help efficiently integrate these optimised process settings in the real-wold WAAM process.
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Bennett, David J. (David James). „The control of human arm movement : models and mechanical constraints“. Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/13588.
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Eberman, Brian Scott. „Whole-arm manipulation : kinematics and control“. Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14428.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1989.Includes bibliographical references.
Support provided in part by the Office of Naval Research University Initiative Program under the Office of Naval Research. N00014-86-K-0685 Support provided in part by the Advanced Research Projects Agency of the Department of Defense under Office of Naval Research. N00014-85-K-0124
by Brian Scott Eberman.
M.S.
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Deshpande, Aditya. „Robot Swarm Based On Ant Foraging Hypothesis With Adaptive Levy Flights“. University of Cincinnati / OhioLINK, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1504780906566663.
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Cronje, M. „Finite element modelling of shielded metal arc welding“. Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/2649.
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Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2005.This study involved the modelling and verification of the Shielded Metal Arc Welding of mild steel with the focus on displacement and temperature distribution prediction of welded plates. The project was divided into three phases namely; the literature survey into finite element modelling of welding processes, the modelling of a welding process and verification of the modelling with experimental results. A working welding model was created using a commercial finite element software package with the capabilities to model welding processes. The welding model was systematically developed from a two-dimensional model into a threedimensional full physics process model. Experimental measured welding heat input parameters were applied in the model, temperature dependent material properties were applied and actual structural restraints from the experiments were modelled. Displacement and temperature distributions were measured on mild steel plates welded with the Shielded Metal Arc Welding process. The plate temperature was measured at various locations with K-type thermocouples spot welded onto the plates. Plate deformation was measured at various stages of the manufacturing process. Tendencies in plate displacement were investigated with a change in certain welding parameters. The finite element model was verified and good correlations were found, especially for the temperature distribution in the welded plates.
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Vaitheeswaran, Vijay Vythianathan. „Workfare and the Family Support Act of 1988“. Thesis, Massachusetts Institute of Technology, 1989. http://hdl.handle.net/1721.1/14013.
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Aidov, Alexandre. „Modified continuous ant colony algorithm for function optimization“. FIU Digital Commons, 2008. http://digitalcommons.fiu.edu/etd/1166.
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Many classical as well as modern optimization techniques exist. One such modern method belonging to the field of swarm intelligence is termed ant colony optimization. This relatively new concept in optimization involves the use of artificial ants and is based on real ant behavior inspired by the way ants search for food. In this thesis, a novel ant colony optimization technique for continuous domains was developed. The goal was to provide improvements in computing time and robustness when compared to other optimization algorithms. Optimization function spaces can have extreme topologies and are therefore difficult to optimize. The proposed method effectively searched the domain and solved difficult single-objective optimization problems. The developed algorithm was run for numerous classic test cases for both single and multi-objective problems. The results demonstrate that the method is robust, stable, and that the number of objective function evaluations is comparable to other optimization algorithms.
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Dunlop, Douglas Donald. „The Desires of Rebecca Horn: Alchemy and the Mechanics of Interpretation“. Thesis, University of North Texas, 1997. https://digital.library.unt.edu/ark:/67531/metadc278016/.
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The purpose of this thesis is to analyze the use of alchemy within the work of Rebecca Horn, to elucidate its presence in her work, and to illuminate its purpose as a personal philosophy and as a creative tool. The use of alchemy within Horn's work occurs as a process of revelation and transformation. Alchemy is revealed as a spiritual philosophy and as an interpretative system through the changes that occur in Horn's oeuvre. Throughout Horn's career, alchemy has developed into an interpretive system, a type of spiritual and cosmic perspective, that allows the artist to study, access, and meld diverse realities (sacred and profane) and diverse social systems (religious and scientific) into a more holistic and spiritually infused reality for herself and society-at-large. The purpose of her work is to help reinvest contemporary life with a spiritual presence by offering a model and a means of bringing the sacred into the profane.
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Aubrecht, Michelle Adrienne. „Using Gamestar Mechanic with Elementary Art students: An exploration of one teacher’s experiences“. The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1313592553.
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Gano, Selam. „Characterizing reaction bandwidths in a position-controlled robotic arm“. Thesis, Massachusetts Institute of Technology, 2018. http://hdl.handle.net/1721.1/119957.
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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2018.Cataloged from PDF version of thesis.
Includes bibliographical references (page 11).
Position-controlled robotic manipulators remain an industry standard but are ill-suited for guarded move approaches to advanced manipulation. Adding additional feedback with the expectation that a position-controlled system can account for it cannot guarantee successful implementation. To explore and define the limitations of position-controlled arms, I attempt to characterize different motion and force bandwidths of a large, 6-DOF robotic arm. Peak force and motion overshoot measurements were taken at varying speeds of the robot. These experiments showed that at speeds as low as 10 mm/s, the robot still exerted over 40 Newtons of force, enough to crush objects typically used for manipulation tasks. Overcoming these issues in using position-controlled arms are difficult to account for with software approaches, but different mechanical solutions can be envisioned to combat this problem in robotic manipulation.
by Selam Gano.
S.B.
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Won, Justin. „The control of constrained and partially constrained arm movements“. Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/12621.
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Woodhouse, Marjolein. „Are strategies, including mechanical and traditional repositioning, effective for pressure ulcer prevention?“ Thesis, University of Southampton, 2016. https://eprints.soton.ac.uk/411975/.
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Pressure ulcers represent a debilitating condition for patients and present a significant challenge for healthcare professionals. To determine the risk of pressure ulcer development, patients are typically assessed with pressure ulcer risk assessment scales. Bed-bound patients deemed at risk of pressure ulcers may receive a range of interventions, including regular repositioning by nursing staff. However, this is resource intensive and could be augmented by mechanical lateral rotation systems, although there is a paucity of research examining these systems. Several experimental studies were conducted, utilising physical output parameters and comfort assessments to examine the efficacy and acceptability of two lateral rotation systems, when compared to traditional repositioning, in cohorts of healthy participants. In addition, a study sought to determine the inter-practitioner variability of traditional repositioning. An integrative review of pressure ulcer risk assessments scales was further undertaken, to update and extend previous reviews. A number of differences were observed in the physical and comfort data, some of which were device dependent. A trend towards fewer instances of compromised tissue viability was observed during traditional repositioning, although some participants preferred turning by means of a lateral rotation system. Considerable variation was noted in the repositioning technique employed by practitioners, even after written guidance, and offloading of vulnerable areas was not always achieved. Ninety-four risk assessment scales were identified, but only 15% of these scales were assessed for inter-rater reliability. The methodological quality of such studies was often poor. Lateral rotation systems may provide an adjunct to repositioning by traditional methods, but the design is important, both in terms of efficacy and acceptability. Practitioners should be provided with practical training, focusing on the procedural aspects of repositioning. Further high-quality primary research is required to evaluate existing risk assessment scales.
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Lee, Yu-Lin. „Prise en compte des non-linéarités de comportement des sols et des roches dans la modélisation du creusement d'un tunnel“. Phd thesis, Ecole Nationale des Ponts et Chaussées, 1994. http://pastel.archives-ouvertes.fr/pastel-00569423.
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Cette thèse a pour cadre général l'étude du comportement des ouvrages de génie civil, sous le double aspect, de la loi de comportement non-linéaire des sols et des roches, et de la résolution des problèmes du creusement des tunnels par la méthode de calcul aux éléments finis. Deux catégories de lois de comportement non-linéaires ont été plus particulièrement considérées : modèles hyperboliques (modèle de Duncan et Chang, 1970 ; modèle modifié de Hardin et Drnevich, 1972) et modèles élastoplastiques avec écrouissage (modèle Cam-Clay modifié, 1968) ; dans le dernier, différentes variantes ont été proposées pour tenir compte de la non-linéarité de la partie élastique, trois variantes de type hyperélastique, considérés à partir d'une fonction énergie complémentaire et obéissent aux principes de la thermodynamique Ces modèles ont été appliqués à la simulation du creusement d'une galerie à section circulaire en milieu homogène. Les variantes élastiques non-linéaires du modèle Cam-Clay modifié donnent, dans le cas de contraintes initiales anisotropes, en piédroit des zones en compression et en clé des zones en extension à l'intérieur du massif. L'étude des chemins de contrainte à proximité de la galerie met en évidence l'influence de l'état des contraintes initiales sur les mécanismes différents de rupture induits par le déconfinement. Les modèles retenus ont également été appliqués à la construction du tube Sud du tunnel de Las Planas, creusé dans des marnes. Le comportement de la marne de Las Planas a été étudié à partir d'essais triaxiaux réalisés sous fortes contraintes (essais isotropes et de cisaillement). Les variantes élastiques non-linéaires de type hyperélastique du modèle Cam- Clay modifié et le modèle de Duncan et Chang (1970) conduisent aux résultats les plus satisfaisants pour la plupart des essais de cisaillement. En revanche, la variante élastique linéaire du modèle Cam-Clay modifié surestime systématiquement les déformations volumiques. La modélisation de creusement du tunnel Sud de Las Planas à l'aide des variantes hyperélastiques du modèle Cam-Clay modifié conduit également à des simulations plus représentatives des mesures expérimentales que les autres modèles. Les modèles hyperboliques tendent à surestimer les déplacements induits, par le creusement, dans le massif encaissant.
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Dingle, Matthew, und mikewood@deakin edu au. „Elastic behaviour in mechanical draw presses“. Deakin University. School of Engineering and Technology, 2001. http://tux.lib.deakin.edu.au./adt-VDU/public/adt-VDU20051017.150247.
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This thesis explores the elastic behaviour of the mechanical double action press and draw die system commonly used to draw sheet metal components in the automotive industry. High process variability in production and excessive time spent in die try-out are significant problems in automotive stamping. It has previously been suggested that the elastic behaviour of the system may contribute to these problems. However, the mechanical principles that cause the press system to affect the forming process have not been documented in detail. Due to a poor understanding of these problems in industry, the elasticity of the press and tools is currently not considered during the die design. The aim of this work was to explore the physical principles of press system elasticity and determine the extent to which it contributes to problems in try-out and production. On the basis of this analysis methods were developed for controlling or accounting for problems during the design process.
The application of frictional restraining force to the edges of the blank during forming depends on the distribution and magnitude of the clamping force between the binders surfaces of the draw die. This is an important control parameter for the deep drawing process. It has been demonstrated in this work that the elasticity of the press and draw die can affect clamping force in two ways. The response of the press system, to the forces produced in the press during forming, causes the magnitude of clamping force to change during the stroke. This was demonstrated using measured data from a production press. A simple linear elastic model of the press system was developed to illustrate a definite link between the measured force variation and the elasticity of the press and tools. The simple model was extended into a finite element model of the complete press system, which was used to control a forming simulation. It was demonstrated that stiffness variation within the system could influence the final strains in a drawn part. At the conclusion of this investigation a method is proposed for assessing the sensitivity of a part to clamping force variation in the press during die design. A means of reducing variation in the press through the addition of a simple linear spring element is also discussed.
The second part of the work assessed the influence of tool structure on the distribution of frictional restraining forces to the blank. A forming simulation showed that tool stiffness affects the distribution of clamping pressure between the binders. This was also shown to affect the final strains in a drawn part. However, the most significant influence on restraining force was the tendency of the blank to increase in thickness between the binders during forming. Using a finite element approximation of the try-out process it was shown that the structure of the tool would also contribute to the problems currently experienced in try-out where uneven contact pressure distributions are addressed by manually adjusting the tool surfaces.
Finally a generalised approach to designing draw die structures was developed. Simple analysis methods were combined with finite element based topology optimisation techniques to develop a set of basic design guidelines. The aim of the guidelines was to produce a structure with uniform stiffness response to a pressure applied at the binder surface.
The work concludes with a recommendation for introducing the methods developed in this thesis into the standard production process.
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Doeringer, Joseph A. (Joseph Alfred). „An investigation into the discrete nature of human arm movements“. Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/9395.
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Shu, Yuan 1983. „Tabletop robot to aid in arm rehabilitation of stroke patients“. Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32926.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references.
The aim of this project was to design and build a tabletop robot that could move the arm of a patient with limited motor function around on a table in any given trajectory to aid the patient in regaining function. The design that resulted from bench level experiments was that of an arm brace mounted to a moving base. The base needed to be omni directional to accommodate all possible trajectories of motion, the arm brace needed to be able to move vertically as well as be flexible enough to accommodate yaw, pitch and roll of the forearm. After choosing a three-wheeled design using TransWheelsTM, the base of the robot was built and programmed by Adam Kraft. The arm brace, which I designed and built, had a rack and pinion setup with a variable voltage regulator to control its vertical motion and a foam and linear spring combination to allow for yaw, pitch and roll while still providing for support. Testing of the prototype proved extremely valuable in refining the requirements of the robot as well as the design. Issues that were discovered during testing of the robot included drift of the robot, the inability to orient the robot the same each time, the slipping of the pinion on the rack if too much downward force is applied to the arm brace and the stiffness of the arm brace during yaw, pitch and roll.
(cont.) Several suggestions were made for possible solutions to the issues, all which seem very feasible to implement. As it is the robot can only move the patient's arm, the patient cannot move the robot since the motors are not back-drivable. This is an impediment in allowing the patient to initiate movement, which is a critical part of therapy. Solutions were proposed that are worth further examination to determine their feasibility. In addition, with a few changes, the robot act as a guide to move a patient's passive arm along a preprogrammed trajectory to aid the patient in performing tasks such as reaching. Even if the robot is unable to match its initial goal, it has great potential to become a valuable asset to stroke patients with limited arm motor function.
by Yuan Shu.
S.B.
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Hall, Allison L. (Allison Leigh). „Method for the acquisition of arm movement data using accelerometers“. Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32893.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2005.Includes bibliographical references (p. 37).
Partial paralysis is one of the most common problems that affect stroke survivors. Many different rehabilitation therapies are available to stroke patients, including robot-aided rehabilitation, immobilization therapy, and electrical stimulation. Regardless of the choice of therapy, it is beneficial for the therapist to know whether the therapy is improving the patient's functional use of the impaired limb in daily activity. The goal of this project is to develop a method for using accelerometers to monitor and quantify the amount of motion in the arm, for the application of monitoring limb use in stroke patients outside of therapy sessions. Two analysis methods were designed. The first was based on the kinematics of the arm. The second was based on angular accelerations and the related forces applied to the shoulder and elbow joints. The two methods were tested on samples of different movement, which were chosen to represent the general motion of daily activities. The methods were tested to determine their accuracy at counting the number of movements that occurred, and their ability to produce activity values as an indication of the amplitude of the movements. The two analysis methods which were developed can identify movement of the arm under the conditions which were tested.
Thus, it appears that acceleration values can be processed to monitor and quantify arm motion. With future investigation into analyzing areas that were not tested by this project, these methods hold potential to be applied to using accelerometers to monitor arm use of patients while they are receiving rehabilitation therapy.
by Allison L. Hall.
S.B.