Dissertations / Theses on the topic 'Arm'
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Nore, Miko, and Caspar Westerberg. "Robotic Arm controlled by Arm Movements." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264509.
Full textUnder senare årtionden har mänskliga arbetare inom tillverkning och industri över lag i stor utsträckning ersatts av robotar och automatiserade maskiner, men det finns fortfarande uppgifter som kräver mänsklig tankeförmåga. Denna rapport presenterar utvecklingen av en trådlös robotarm styrd av en människas arm, vilket möjliggör både att kombinera en maskins styrka med en människas intelligens, samt för en människa att utföra dynamiska uppgifter utan att vara närvarande. En applikation lämplig för arbete i farliga miljöer. Detta uppnåddes med en styrenhet i form av ett exo-skelett fastsatt på operatörens högra arm och kopplad till robotarmen genom en sändare. Styrenheten mäter rörelserna i varje led med potentiometrar och robotarmen härmar dessa rörelser. En handske med en flexsensor på pekfingret fästes sedan på styrenheten för att mäta fingerrörelsen. All information som innehåller vinklar skickas trådlöst till robotarmen med hjälp av Arduino Uno och transceiver moduler. Robotarmen mottog informationen via en annan uppsättning Arduino Uno och transceiver modul som fick varje servomotor på robotarmen att rotera i enlighet. Resultatet visade att robotarmen kunde imitera operatörens arm väl och kunde bära olika föremål med olika vikter och ytor. Den trådlösa styrningen var pålitlig och kunde styra robotarmen från ett annat rum, vilket gör det möjligt att använda denna robot i skadliga miljöer för människor.
Immenschuh, Ursula. ""My arm und leg they are just sleeping"." Saarbrücken VDM Verlag Dr. Müller, 2005. http://d-nb.info/987893564/04.
Full textOn, Calvin. "ANA : a method for ARM-on-ARM execution." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/45973.
Full textIncludes bibliographical references (p. 61-62).
This thesis proposes and implements ANA, a new method for the simulation of ARM programs on the ARM platform. ANA is a lightweight ARM instruction interpreter that uses the hardware to do a lot of the work for the read-decode-execute piece of simulation. We compare this method to the two existing methods of full simulation and direct execution that have been traditionally used to achieve this. We demonstrate that despite some setbacks caused by the prefetching and caching behaviors of the ARM, ANA continues to be a very useful tool for prototyping and for increasing simulator performance. Finally, we identify the important role that ANA can play in our current efforts to virtualize the ARM.
by Calvin On.
M.Eng.
Loburenko, M. V. "Bionic arm." Thesis, Сумський державний університет, 2013. http://essuir.sumdu.edu.ua/handle/123456789/33723.
Full textMARKOVSKA, MARIA, and VIEIDER FELICIA GIHL. "Drawing robotic arm." Thesis, KTH, Maskinkonstruktion (Inst.), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-226660.
Full textEn 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.
WALLÉN, KIESSLING ALEXANDER, and NICLAS MÄÄTTÄ. "Anthropomorphic Robot Arm." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279804.
Full textRobotmanipulatorer är idag vanligt förekommande i industriella applikationer. I denna rapport konstrueras en 3D-printad antropomorf robotarm med tre frihetsgrader. Robotarmen styrs med hjälp av en mikrokontroller och servomotorer. Baserat på DenavitHartenberg metoden och inverskinematik kan robotens ändpunkt ta sig till en specificerad punkt i rummet. Vidare har rapporten funnit att den konstruerade robotens exakthet beror på avståndet emellan robotens manipulator och dess bas. Det relativa felet av robotens positionering ligger inom intervallet 1.3-6.9% med en 99% konfidens.
Aronsson, Alexander, and Fahim Pirmohamed. "Multipurpose Robot Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296223.
Full textDagens samhälle står inför en stor ökning av automatisering och smarta produkter. Allt från kaffemaskiner till kyl och frys innehåller någon form av elektronik och inbäddade system. Det huvudsakliga syftet med detta kanditatexamensarbete var att gräva djupare i hur dessa automatiserade produkter kan kontrolleras och mer specifikt i detta fall, en robotarm. Projektet handlade om att konstruera en robotarm som kunde styras och kontrolleras genom tre olika metoder i programmet MATLAB. Dessa tre har vi valt att kalla manuell kontroll, numerisk kontroll och neuralt nätverksbaserad kontroll. Prototypen tillverkades genom att montera sexservomotorer på 3D-utskrivna delar. Armen bestod av tre huvuddelar, en bas, en arm och en gripklo. Systemet styrdes av en Arduino mikrokontroll ansluten till en dator. Resultaten visar att den manuella kontrollmetoden var enkel att implementera, snabb samt var tillförlitlig. Den gav precis styrning av alla vinklar för varje servomotor, vilket också innebar att den gav god styrning av varje frihetsgrad. Den numeriska metoden, mer bestämt Newton Raphson’s metod, vidgade möjligheterna att kontrollera armen men var långsammare. Den tredje och sista lösningen var att använda ett neuralt nätverk, fuzzy logic. Detta visade sig vara ett kraftfullt sätt att styra roboten med låg latens. Det neurala nätverket visade sig dock vara opålitligt, men metoden visade stor potential för vidare utveckling och kan då prestera mycket bättre än de andra två metoderna. Slutsatsen var att det neurala nätverket var den generellt bästa metoden för att kontrollera och manövrera robotarmen via programmeringsprogrammet MATLAB.
Polson, Kathryn. "Test-retest reliability and responsiveness of the shortened disability arm shoulder hand (QuickDASH) questionnaire a pilot study : a dissertation submitted to Auckland University of Technology in partial fulfilment of the requirements for the degree of Master of Health Science (MHSc), 2007 /." Abstract. Full dissertation, 2007.
Find full textPrimary supervisor: Duncan Reid. Includes bibliographical references. Also held in print (ix, 60 leaves ; 30 cm.) in North Shore Campus Theses Collection (T 615.82 POL)
BATOR, CHRISTOFFER, and RICKARD SVENSSON. "Exoskeleton arm : How to construct a smart support structure for an arm." Thesis, KTH, Mekatronik, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-190843.
Full textTanken med detta arbete var att hitta ett optimalt sätt att konstruera en produkt som skulle hjälpa de som lider av muskel -svaghet och -sjukdom. Produkten skulle bestå av två större delar (överarmen och underarmen) som var sammanlänkade med en motoriserad led. Fokusen låg på att hitta en tillfredställande konstruktion som kunde hantera krafterna och med hjälp av sensorer kunna mäta avståndet och rörelsen på användarens arm och förflytta konstruktionen utifrån det. Produkten behövde vara snabb, pålitlig och reagera på små rörelser för att vara så bekväm för användaren som möjligt. Resultatet blev en konstruktion som styrs genom att mäta tryckkraften, när användaren flyttar armen, med hjälp av trycksensorer som placeras vid handleden. Konstruktionen lyckades följa användarens arm, snabbt och på ett tillfredställande sätt.
Fillis, Alicia Jo-Anne. "Gesinsveerkragtigheid by arm enkelouergesinne." Thesis, Stellenbosch : University of Stellenbosch, 2005. http://hdl.handle.net/10019.1/1555.
Full textFamily resilience focuses on the salutegenic properties of families and refers to the ability of families to return to normal family functioning after experiencing adversity. The primary aim of this study was to identify factors that contribute to resilience in poor single parent families.
Mulumbwa, Sebe Stanley. "Humanoid Arm Geometric Model." Thesis, Högskolan i Gävle, Avdelningen för elektronik, matematik och naturvetenskap, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-21769.
Full textHothi, Jaspal S., Ranjit R. Philip, Melinda Lucas, and Gayatri Jaishankar. "Lazy Arm Racy Infant." Digital Commons @ East Tennessee State University, 2010. https://dc.etsu.edu/etsu-works/8852.
Full textInácio, Marcus. "Measuring hand-arm vibrationsSpecifying." Thesis, KTH, Medicinteknik och hälsosystem, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-282881.
Full textBidgood, Lee, and Banjo Romantika Band. "Performance at ARM Banquet." Digital Commons @ East Tennessee State University, 2018. https://dc.etsu.edu/etsu-works/3255.
Full textKarlsson, Mattias, and 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.
Full textHatzitaki, Vassilia. "Patterns of interlimb coordination during asymmetrical reaching movements." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=29042.
Full textDecoupling of the asymmetrical limb movements was effected by an earlier onset of the antagonist muscles in the constrained limb which scaled the amount of muscle torque production and therefore the stiffness of the limb during the acceleration phase of the movement. Thus, the movement amplitude differentiation was achieved by an initial accelarative impulse attributed to the differential control of the muscle torque production at each joint. On the other hand, the interactive forces played a secondary role in the degree of decoupling process. Overall, the degree of decoupling scaled according to the magnitude of the interlimb difference in distance; the greater the asymmetry, the greater the differentiation between the limbs. However, systematic variations of the interlimb asymmetry in distance gave rise to a wide variety of individual decoupling trends. Bimanual practice of the asymmetrical reaching tasks did not result in the development of more independent limb movements. The results of the present study have implications to human factor design and ergonomics.
Shah, Shridhar. "Musculoskeletal simulation of upper extremity motion effect of selective muscle weakness and application to rehabilitation /." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 147 p, 2009. http://proquest.umi.com/pqdweb?did=1889099081&sid=9&Fmt=2&clientId=8331&RQT=309&VName=PQD.
Full textErlhagen, Wolfram. "Lokalisierte, stationäre Verteilung in neuronalen Feldern : Modellierung experimenteller Befunde zur Planung und Kontrolle zielgerichteter Bewegungen /." Thun ; Frankfurt am Main : Deutsch, 1997. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=009134234&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.
Full textMüller, Stefan. "Psychophysik willkürlicher Bewegungen: Kinästhesie der Geschwindigkeit eine neuartige Methode zur erstmaligen Erhebung von Unterschiedsschwellen in der kinästhetischen Wahrnehmung der Geschwindigkeit von willkürlich ausgeführten Armbewegungen /." [S.l. : s.n.], 2001. http://deposit.ddb.de/cgi-bin/dokserv?idn=963416324.
Full textKnarr, Brian A. "Design and analysis of a finite element model of the biceps brachii integrated with dynamic in vivo strain fields." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 196 p, 2008. http://proquest.umi.com/pqdweb?did=1650507211&sid=4&Fmt=2&clientId=8331&RQT=309&VName=PQD.
Full textKelly, Richard E. "An investigation of the necessity of an upper extremity injury prevention program." Online version, 1999. http://www.uwstout.edu/lib/thesis/1999/1999kellyr.pdf.
Full textAbdulhadi, Sami. "ARM i inbyggt system - med prototyp." Thesis, Karlstad University, Faculty of Technology and Science, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-4612.
Full textInbyggda system blir allt vanligare i dagens samhälle. De inbyggda systemen finns i nästan allt nuförtiden, från diverse fordon till leksaker för barn.
Dagens teknik innebär bland annat att gårdagens lösningar kan realiseras på en bråkdel av den tidigare ytan. Allt mer blir ytmonterat med mindre och mer komplexa kretsar. Detta är inte alltid till utvecklarnas fördel då montering av prototypkort blir en svår och/eller dyr process.
Målet är att ta fram ett inbyggt system med en ARM-processor. Systemet ska innehålla USB-OTG, ethernet, minne av olika slag som FRAM och microSD samt en display med pekskärm för användargränssnitt. Projektet omfattar allt från komponentval till test och verifiering med programkod.
Tiden räckte inte till för att få med alla delar som planerats. Resultatet av projektet blev ett prototypkort och två små programsekvenser, en som blinkar två lysdioder på kortet och en som skriver ut en bild på displayen.
Detta inbyggda system är i första hand till för utvärdering av ARM-processorer för Mikrodidakt AB.
Embedded systems has become more and more common in today's society. The embedded systems are included in almost everything today, from various vehicles to children's toys.
Today's technology means that yesterday's solutions can be realised on a fraction of the area. More and more become surface mounted with smaller and more complex circuits. This is not always an advantage for the developers when assembling and soldering prototype circuit boards become a more difficult and/or an expensive process.
The goal is to create an embedded system with an ARM-processor. The system will consist of USB-OTG, ethernet, various memory like FRAM and microSD and a display with touchscreen for user interface. The project includes everything from choice of components to test and verification with program code.
The time was too short to include all the parts that was planned. The result of the project was a prototype card and two small program sequences, one that blinks the two light diodes on the card and one that writes a picture on the display.
This embedded system is intended for evaluating ARM-processors by Mikrododakt AB.
Gabriel, David Abraham. "Muscle activation patterns for goal-directed multijoint arm movements." Thesis, McGill University, 1995. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=28748.
Full textTo this end, six subjects performed goal-directed arm movements in the horizontal plane. Two movement amplitudes (300 mm and 400 mm) were completed at a moderate speed (1050 mm/s) and as-fast-as possible. The speed and amplitude conditions were repeated for the 45$ sp circ$ and 90$ sp circ$ movement directions. Finally, each of the movement conditions mentioned thus far, were performed within the right and left sections of the work-space. Surface electro-myographic activity was recorded from the pectoralis major, posterior deltoid, biceps brachii short head, brachioradialis, triceps brachii long head, and triceps brachii lateral head. Motion recordings were obtained with a spatial imaging system that monitored the positions of infrared emitting diodes attached to the subject's upper arm and forearm-hand complex.
Several simplification schemes were found to be operative at the level of the electro-myogram. These include: (a) simple timing relationships for agonists between joints and agonist/antagonist intermuscle latencies within each joint; (b) tightly coupled timing between agonists within a single joint; (c) for a particular movement direction, the form and shape of EMG burst activity followed a strategy associated with modulation of pulse height and width; (d) the slope, duration, and onset were further affected by the direction of hand movement which resulted in the greatest RMS-EMG signal amplitude, changing in a predictable manner, and finally (e) there was tuning in which elbow muscles were activated earlier for goal-directed arm movements in the left area of the work-space.
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.
Full textIncludes 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.
Sæstad, Ane. "Dependability modelling of Jgroup/ARM." Thesis, Norwegian University of Science and Technology, Department of Telematics, 2008. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-8871.
Full textIn the later years, fault tolerant distributed systems have been applied to a variety of network internal and external services. Keeping distributed systems consistent and fault tolerant require management functionality. Jgroup/ARM is a java based prototype system which automates this management functionality for fault tolerant distributed systems. This thesis presents an evaluation of the dependability characteristics of the Jgroup/ARM system. Both static and dynamic modelling techniques are introduced, but the main focus is on the dynamic techniques; state-diagrams and Petri net models. Previous work is evaluated to nd an approach suitable for dependability modelling of Jgroup/ARM. A system delivery model for Jgroup/ARM is developed based on its functionality. The monitored subsystem is dened to include the hardware (processors), a given number of services in the system and the replication management functionality (ARM framework). A Petri net model of Jgroup/ARM is developed in the Möbius modelling tool based on the system delivery model. A model of a single service replicated on a cluster of processors is developed, analyzed and expanded to include multiple services and the ARM framework functionality. The dependability of Jgroup/ARM is evaluated through simulating example scenarios in Möbius. The results show that the system availability is very high, even with a relatively high failure rate.
Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.
Full textRönnqvist, Oskar. "Pekskärmsanvändargränssnittsmodul till ARM Cortex-M3." Thesis, KTH, Maskinkonstruktion (Inst.), 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-40281.
Full textAbstractThis report investigates how a touch sensitive user interface can be implemented on Syntronic AB’s hardware and software platform based on an ARM Cortex-M3 microcontroller.A touch sensitive user interface consists of two systems, one touch sensitive system to detect and position user input and one display to present a graphical user interface.The first part of the report describes available touch and display technologies. The purpose is to deepen the knowledge about the different technologies and their advantages and disadvantages. This knowledge is then used to evaluate the technologies in collaboration with Syntronic AB based on their needs. The evaluation leads to a choice of technology both for the touch sensitive system and display technology. Hardware corresponding to the technology choices is ordered and implemented.The implementation consists of both software that is strongly connected to the hardware to handle the communication with the touch panel and display and API software to enable easier interfacing to the hardware.Both hard- and software are documented to describe the system structure. This documentation can also be used as a software manual to ease further development or implementation.The result of the implementation is a touch panel and a display with a simple GUI. The implementation clearly shows how a touch sensitive interface can be implemented on the platform and provides software that is reusable.
Makha, Mohamed 1965. "Novel sulfonated extended arm calixarenes." Monash University, School of Chemistry, 2001. http://arrow.monash.edu.au/hdl/1959.1/8295.
Full textNojonen, Matti. "Guanxi : the Chinese third arm /." Helsinki : Helsinki School of Economics, 2007. http://www.loc.gov/catdir/toc/fy0716/2007462330.html.
Full textGezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm." [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.
Full textKeywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).
Sundberg, Edward D. "Arm sales to Latin America." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 2003. http://library.nps.navy.mil/uhtbin/hyperion-image/03Dec%5FSundberg.pdf.
Full textThesis advisor(s): Harold Trinkunas, Robert Looney. Includes bibliographical references (p. 63-66). Also available online.
Ledvina, Jan. "Využítí ARM GCC vývojového řetězce." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2012. http://www.nusl.cz/ntk/nusl-219831.
Full textTesař, Jan. "Web server s mikroprocesorem ARM." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-219962.
Full textHejdová, Martina. "Hudební přehrávač s mikrokontrolérem ARM." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2013. http://www.nusl.cz/ntk/nusl-220144.
Full textBarstorp, Marcus. "Optimering av ARM-maskinkod med predikatbaserad exekvering : En undersökning av predikatbaserad exekvering i ARM-arkitekturen." Thesis, Högskolan i Skövde, Institutionen för kommunikation och information, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-4353.
Full textPieterse, Simone Gerarda Elisabeth Maria. "Nutritional vulnerability of older refugees." Thesis, London School of Hygiene and Tropical Medicine (University of London), 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312847.
Full textNelson, Josh. "Surgical repair of a biceps tendon rupture a systematic review /." Morgantown, W. Va. : [West Virginia University Libraries], 2010. http://hdl.handle.net/10450/10936.
Full textTitle from document title page. Document formatted into pages; contains vi, 84 p. : ill. (some col.). Includes abstract. Includes bibliographical references.
Jonsson, Fredrik. "Arm-P : Almost Reliable Multicast protocol." Thesis, Linköping University, Department of Computer and Information Science, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-14954.
Full textDistribution of information across IP based networks is today part of our everyday life. IP is the backbone of the Internet and most office networks. We use IP to access web pages, listen to radio, and to create computation clusters. All these examples use bandwidth, and bandwidth is a limited resource.
Many applications distribute the same information to multiple receivers, but in many cases the same information is sent to a single receiver at a time, thus multiple copies of the same information is sent, thus consuming bandwidth.
What if the information could be broadcasted to all the clients at the same time, similar to a television broadcast. TCP/IP provides some means to do that. For example UDP supports broadcasting; the problem faced when using UDP is that it’s not reliable. There is no guarantee that the information actually reaches the clients.
This Bachelor thesis in Computer Science aims to investigate the problems and solutions of how to achieve reliable distribution of fixed size data sets using a non reliable multicast communication channel, like UDP, in a LAN environment.
The thesis defines a protocol (Almost Reliable Multicast Protocol – Arm-P) that provides maximum scalability for delivery of versioned data sets that are designed to work in a LAN-environment. A proof-of-concept application is implemented for testing purposes.
Hägg, Magnus. "Controlling a robotic arm using linux." Thesis, Mälardalen University, School of Innovation, Design and Engineering, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-7546.
Full textUskarci, Algan. "Human Arm Mimicking Using Visual Data." Master's thesis, METU, 2004. http://etd.lib.metu.edu.tr/upload/12605620/index.pdf.
Full textEder, Moritz. "Blutdruckmessung am bekleideten und unbekleideten Arm." Diss., lmu, 2008. http://nbn-resolving.de/urn:nbn:de:bvb:19-94964.
Full textHernández, González Francisco. "Planar Robot Arm Modelling and Control." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-14883.
Full textKappassov, Zhanat. "Touch driven dexterous robot arm control." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066085/document.
Full textRobots have improved industry processes, most recognizably in conveyor-belt assemblysystems, and have the potential to bring even more benefits to our society in transportation,exploration of dangerous zones, deep sea or even other planets, health care and inour everyday life. A major barrier to their escape from fenced industrial areas to environmentsco-shared with humans is their poor skills in physical interaction tasks, includingmanipulation of objects. While the dexterity in manipulation is not affected by the blindnessin humans, it dramatically decreases in robots. With no visual perception, robotoperations are limited to static environments, whereas the real world is a highly variantenvironment.In this thesis, we propose a different approach that considers controlling contact betweena robot and the environment during physical interactions. However, current physicalinteraction control approaches are poor in terms of the range of tasks that can beperformed. To allow robots to perform more tasks, we derive tactile features representingdeformations of the mechanically compliant sensing surface of a tactile sensor andincorporate these features to a robot controller via touch-dependent and task-dependenttactile feature mapping matrices.As a first contribution, we show how image processing algorithms can be used todiscover the underlying three dimensional structure of a contact frame between an objectand an array of pressure sensing elements with a mechanically compliant surfaceattached onto a robot arm’s end-effector interacting with this object. These algorithmsobtain as outputs the so-called tactile features. As a second contribution, we design a tactileservoing controller that combines these tactile features with a position/torque controllerof the robot arm. It allows the end-effector of the arm to steer the contact frame ina desired manner by regulating errors in these features. Finally, as a last contribution, weextend this controller by adding a task description layer to address four common issuesin robotics: exploration, manipulation, recognition, and co-manipulation of objects.Throughout this thesis, we make emphasis on developing algorithms that work notonly with simulated robots but also with real ones. Thus, all these contributions havebeen evaluated in experiments conducted with at least one real robot. In general, thiswork aims to provide the robotics community with a unified framework to that will allowrobot arms to be more dexterous and autonomous. Preliminary works are proposedfor extending this framework to perform tasks that involve multicontact control withmultifingered robot hands
Derhami, Shahriar. "Software Performance Analysis for ARM architectures." Thesis, Linnéuniversitetet, Institutionen för datavetenskap (DV), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-48443.
Full textNorinder, Ludvig. "Breeding power-viruses for ARM devices." Thesis, Uppsala universitet, Institutionen för informationsteknologi, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-211944.
Full textSibindi, Tafadzwa. "Arm-turnk coordination in vestibular patients." Thesis, McGill University, 2011. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=96802.
Full textLes systèmes d'enregistrement du mouvement 3D trouvées aux laboratoires de recherche sont coûteuses et compliquées. Le Ultrasound Motion Tracking (UMT) système est léger, portable et à faible coût pour mieux répondre aux besoins de cliniques. Nous avons validé le système en comparant la précision des mouvements d'atteints impliquant le tronc enregistré simultanément avec les systèmes UMT et Optotrak. La précision du UMT a été acceptable en ce qui concerne la précision du mouvement en comparaison avec le système 'standard d'or' de Optotrak. Dans une deuxième étude, UMT a été utilisé pour détecter des déficits du mouvement coordonné chez des patients vestibulaire pour deux taches du mouvement à l'aide d'une mesure de 'gain' ou de comparaison. Les tests du mouvement sont justifiés parce que la position de la main est maintenue grâce à la compensation vestibulo-spinale et les patients vestibulaires ont moins de compensation bras-tronc lors du mouvement (gain plus bas) quant ils essaient de maintenir stable la position de la main pendant les mouvements du tronc. Les résultats de 16 patients et les témoins jumelés par l'âge et le sexe ont démontrés que les gains/comparaisons ont été plus bas chez les patients et ce pour les deux types de tâches. Les résultats supportent la validité de l'utilisation des tâches de coordination bras-tronc d'identifier les déficits moteurs et de leur gravité chez les patients présentant des déficits vestibulaires.
Stossel, Deborah Louise. "The engineering geology of Frankton Arm." Thesis, University of Canterbury. Geology, 1999. http://hdl.handle.net/10092/6815.
Full textEid, Hussein M. H. "Computer simulation of crawl arm stroke." Thesis, Loughborough University, 1988. https://dspace.lboro.ac.uk/2134/10323.
Full textHeide, Anna Maria von der. "Der Camera Augmented Mobile C-arm." Diss., Ludwig-Maximilians-Universität München, 2015. http://nbn-resolving.de/urn:nbn:de:bvb:19-179446.
Full textShuttleworth, P. J. "Visual feedback for maniplulator arm control." Thesis, Nottingham Trent University, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.327879.
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