Dissertations / Theses on the topic 'Dog as robot'
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1
Ear, Harold. "A Biologically Inspired Four-Legged Walking Robot (Robo-Dog)." Thesis, Ear, Harold (2017) A Biologically Inspired Four-Legged Walking Robot (Robo-Dog). Honours thesis, Murdoch University, 2017. https://researchrepository.murdoch.edu.au/id/eprint/36717/.
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The Robo-dog was designed and implemented by a Shiqi Peng, a PhD student in 2006. The dog incorporated many control systems such as Reinforced Learning, Subsumption Architecture and a Central Pattern Producer. The dog since 2013 has been in an inactive state, the dog now is used to educate students on various concepts such as debugging, electronics and programming. A variety of issues stem from the dog and are not limited to the lack of documentation, missing equipment and components, broken and faulty hardware components and a limited functioning program.
The objectives of the project are: restore various capabilities of the dog, moving the dog from Point A to Point B, implementing a control system utilising pre-existing sensors on the dog.
To begin attempting to manoeuvre the dog, various components such as tilt-sensors, foot-sensors and microcontroller communication needed to be addressed as the components were not in a working state. Documentation has been updated or created to reflect the changes that have been made to the components of the dog.
Moving the dog from Point A to Point B was achieved through various walking techniques, by adapting and adjusting the limb movements in the walk gait for a dog and then applying the concepts to the robo-dog. The implementation of the limb movement and the walk gait focused on maximising forward movement per cycle incorporating a sequential approach where each movement were dependant on one other.
A control system was implemented in the form of Subsumption Architecture; the behaviours implemented are to determine the balance of the dog, walk sequence of the dog and to determine whether the dog is walking on a ramp. The implementation goal is to provide an easy-to-expand control system so that future students can add additional behaviours to the system.
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Agostinho, Fábio Faustino. "Dog behaviour and ethology." Master's thesis, Universidade de Évora, 2022. http://hdl.handle.net/10174/31720.
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Dogs engage in various interactions with artificial agents (UMOs) but it is not clear whether
they recognize UMOs as social agents. Jealous behaviour emerges when an important relationship
is threatened by another individual, but only when the intruder is a social agent. We investigated
whether UMOs elicit jealous behaviour in dogs. We tested three groups of 15 dogs, each group
observed different behaviour of the UMO: mechanistic movement, non-social or social behaviour.
Then, the owner interacted with another dog, the UMO and a magazine while ignoring the subject.
Dogs displayed more rival-oriented behaviour and attempt to interrupt the owner-rival interaction in
case of the other dog and UMO compared to the magazine (the latter mainly occurred in the Social
UMO group). However, they showed less owner- and interaction-oriented behaviour in case of the
UMO. Thus, although some elements of jealous behaviour emerged toward the UMO, the results are
not conclusive; Resumo:
Comportamento e Etologia Canina
Os cães interagem com agentes artificiais (UMOs), mas não sabemos se os reconhecem
como agentes sociais. O comportamento de ciúme surge quando uma relação importante é
ameaçada por outro indivíduo, mas apenas quando o rival é social. Investigámos se os UMOs geram
comportamento de ciúme nos cães. Testámos três grupos de 15 cães, cada grupo observou
diferentes comportamentos do UMO: comportamento mecânico, não-social ou social.
Posteriormente, o dono interagiu com o outro cão, o UMO e uma revista, enquanto ignorava a cobaia.
Os cães demonstraram mais comportamento orientado ao rival e tentaram interromper a interação
dono-rival mais vezes no caso do outro cão e do UMO comparado com a revista (principalmente no
grupo do UMO Social). Porém, os cães mostraram menos comportamento dirigido ao dono e à
interação no caso do UMO. Portanto, apesar de alguns elementos de comportamento de ciúme
surgirem com o UMO, os resultados não são conclusivos.
3
Singh, Ashish. "A Dog Tail Interface for Communicating Affective States of Utility Robots." Springer, 2012. http://hdl.handle.net/1993/23435.
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As robots continue to enter people's spaces and environments, it will be increasingly important to have effective interfaces for interaction and communication. One such aspect of this communication is people's awareness of the robot's actions and state. We believe that using high-level state representations, as a peripheral awareness channel, will help people to be aware of the robotic states in an easy to understand way. For example, when a robot is boxed in a small area, it can suggest a negative robot state (e.g., not willing to work in a small area as it cannot clean the entire room) by appearing unhappy to people. To investigate this, we built a robotic dog tail prototype and conducted a study to investigate how different tail motions (based on several motion parameters, e.g., speed) influence people’s perceptions of the robot. The results from this study formed design guidelines that Human-Robot Interaction (HRI) designers can leverage to convey robotic states.
Further, we evaluated our overall approach and tested these guidelines by conducting a design workshop with interaction designers where we asked them to use the guidelines to design tail behaviors for various robotic states (e.g., looking for dirt) for robots working in different environments (e.g., domestic service). Results from this workshop helped in improving the confusing parts in our guidelines and making them easy to use by the designers. In conclusion, this thesis presents a set of solidified design guidelines that can be leveraged by HRI designers to convey the states of robots in a way that people can readily understand when and how to interact with them.
4
Fredriksson, Scott. "Design, Development and Control of a Quadruped Robot." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-86897.
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This thesis shows the development of a quadruped platform inspired by existing quadrupled robot designs. A robot by the name of Mjukost was designed, built, and tested. Mjukost uses 12 Dynamixel AX-12a smart servos and can extend its legs up to 19 cm with an operating height of 16 cm. All the custom parts in Mjukost are ether 3d printable or easy to manufacture, and the total estimated cost of Mjukost is around 900$. Mjukost has a simple control system that can position its body freely in 6 DOF using an inverse kinematic model and walk on flat ground using an open-loop walking algorithm. The performance experiments show that its slow control loopcauses difficulties for the robot to follow precise trajectories, but its still consistent in its motions.
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Snyder, Benjamin M. "SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY." Ohio University / OhioLINK, 2006. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196.
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Mamrak, Justin. "MARK II a biologically-inspired walking robot /." Ohio : Ohio University, 2008. http://www.ohiolink.edu/etd/view.cgi?ohiou1226694264.
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Gielniak, Michael Joseph. "Adaptation of task-aware, communicative variance for motion control in social humanoid robotic applications." Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/43591.
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An algorithm for generating communicative, human-like motion for social humanoid robots was developed. Anticipation, exaggeration, and secondary motion were demonstrated as examples of communication. Spatiotemporal correspondence was presented as a metric for human-like motion, and the metric was used to both synthesize and evaluate motion. An algorithm for generating an infinite number of variants from a single exemplar was established to avoid repetitive motion. The algorithm was made task-aware by including the functionality of satisfying constraints. User studies were performed with the algorithm using human participants. Results showed that communicative, human-like motion can be harnessed to direct partner attention and communicate state information. Furthermore, communicative, human-like motion for social robots produced by the algorithm allows humans partners to feel more engaged in the interaction, recognize motion earlier, label intent sooner, and remember interaction details more accurately.
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Andersson, Jakob, and Simon Bonnier. "”Hej kan jag hjälpa dig!” : Principer vid design och tillämpning av en interaktiv servicerobot." Thesis, Linnéuniversitetet, Institutionen för informatik (IK), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-84745.
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Användandet av servicerobotar i olika sammanhang, har under de senare åren stadigt ökat och är idag ett allt vanligare inslag på företag och organisationers webbsidor. Servicerobotar har stor potential att skapa fördelar i kontakten med användare, eftersom de kan tillhandahålla outtröttlig och snabb service på ett kostnadseffektivt sätt. Denna teknik skapar även möjligheten att i viss utsträckning automatisera den viktiga kundkontakten, vilken kan leda till effektivisering av olika affärsprocesser och kostnadsminskningar utan att inskränka på upplevd kvalitet. Den tidigare forskning som utförts inom området för servicerobotar har främst varit inriktad mot att undersöka vilka aspekter ur ett användarperspektiv av en servicerobot som är essentiella för att uppnå god användbarhet och användaracceptans. Man har i tidigare forskning även identifierat att det ur ett organisationsperspektiv saknas ett etablerat och standardiserat tillvägagångssätt för hur man bör hantera design och tillämpning av interaktiva servicerobotar. Denna studie har avsett att undersöka hur design och tillämpning av en servicerobot bör hanteras ur en organisatorisk synvinkel, vilket uppnåtts genom en fallstudie i det Växjö baserade företaget Visma Spcs och deras servicerobot Vera. I fallstudien har en kvalitativ undersökningsmetod tillämpats genom semistrukturerade intervjuer med personer involverade i Vera projektet. Resultatet av fallstudien visade att det finns viktiga aspekter i arbetet med servicerobotar som bör beaktas ur en organisatorisk synvinkel, för att kunna skapa en användbar och accepterad servicerobot. Slutsatsen av studien visade på tre principer: Förstå användaren, Förstå Kontexten, samt Skapande, kontroll och underhåll, som är viktiga delar att beakta vid design och tillämpning av interaktiva servicerobotar ur en organisatorisk synvinkel. Att förstå användaren kommer vara viktigt för att skapa en användarupplevelse som uppfyller användarnas behov. Förstå kontexten kommer vara kritiskt vid val av robottyp, samt vilken typ av mjukvarulösning som ska användas och skapande, kontroll och underhåll kommer vara viktigt för att se till att serviceroboten upprätthåller hög system-, informations- och servicekvalitet.The use of service robots in various contexts has steadily increased in recent years and has become an increasingly common feature of different companies and organizations' websites. Service robots have been proven to have a great potential to provide important benefits in contact with users, where service robots can provide tireless and fast service to users in a cost-effective manner. This technology enables companies and organizations to a certain extent automate the very important customer contact, which can lead to more efficient business processes and cost minimization without restricting perceived quality. The previous research carried out in the field of service robots has focused primarily on investigating which aspects of a service robot that are essential for achieving good usability and user acceptance from a user perspective. Previous research has also identified that there is no established and standardized approach for how to handle the design and application of interactive service robots from an organizational perspective. This study has intended to investigate how the design and application of a service robot should be managed from an organizational perspective, which was achieved through a case study in the Växjö based company Visma Spcs and their service robot Vera. In the case study, a qualitative survey method has been applied through semi-structured interviews with people involved in the Vera project. The result of the case study showed that there are important aspects in the work with service robots that should be considered from an organizational perspective, in order to be able to create a useful and accepted service robot. The conclusion of the study showed three principles: Understand the user, Understand the context, and Creation, control and maintenance, which are important parts to consider when designing and applying interactive service robots from an organizational perspective. Understanding the user will be important for creating a user experience that meets the users' needs. Understanding the context will be critical when choosing a robot type, and what type of software solution is to be used. Creation, control and maintenance will be important to ensure that the service robot maintains high system, information and service quality.
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Abbott, Mark William. "Open Loop Compliance Model of a 6 DOF Revolute Manipulator to Improve Accuracy Under Load." Thesis, Virginia Tech, 2002. http://hdl.handle.net/10919/31899.
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Robotic accuracy has long been limited by the compliance of the manipulator. Whether links under bending loads or backlash in gear trains and stretching of belts, the resulting compliance causes a loss of accuracy at the end-effector. Previous research has investigated accuracy of ideally stiff manipulators from many different points of view; however, an overall compliant modeling technique has not been formulated in the literature. This thesis presents a general technique to develop a compliant model for a general six-degree manipulator with the intent of reducing end-effector error for precision manufacturing.
Experimental and theoretical work was performed on an American Robot Merlin six-degree of freedom robot. The solution technique assumes each link of the manipulator is subject to stiffnesses in three directions, that is, in the direction of motion, laterally and torsionally. Each of the three stiffnesses is assumed constant, but unknown. Three experimental regimes were established, each covering a successively larger region of the workspace, and 243 data samples were taken within each regime. Samples were taken at twenty-seven data points under nine known loads for each of the first two regimes and at nine locations under twenty-seven loads in the third regime. An OPTOTRAK 3020 non-contact distance-measuring system was used to gather data from twelve sensors for each trial. The results were transformed into three displacements and three rotations of the end-effector. A regression algorithm solved for the unknown stiffnesses of the compliant model based on the measured experimental deflection.
Results show that for loads ranging between zero and 445 N, the deflection of the end-effector is predicted within fifteen percent of experimental results for most data points. Furthermore, a load set between zero and 111 N (the stated lift capacity of the
manipulator) predicts end point position with an error of less than one-half a millimeter for all tested points.
This research provides a technique to quantify the compliance of a general manipulator and develops a model capable of being implemented with open-loop position control with known compliance.Master of Science
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Rakhodaei, Hamid. "Design and analysis of a 9 DOF : hybrid parallel robot." Thesis, University of Birmingham, 2013. http://etheses.bham.ac.uk//id/eprint/4668/.
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The research presented in this thesis discusses the design of a new configuration of a hybrid parallel robot with nine degrees of freedom. Parallel robots have been studied due to their high stiffness and accuracy rather than serial robots. However, parallel mechanisms have not been widely used in industry due to the lack of workspace. A major advantage of the proposed hybrid parallel robot is to increase the work volume while the stiffness of the system remains suitable for a range of industrial applications. Novel dynamic formulations have been developed by using Newton Euler and inverse kinematics in order to identify the best configurations based on stiffness and velocity of system in any particular position. The developed program determines the velocity and stiffness of the system for each configuration. A physical robot prototype built to test the developed theoretical model. The control strategies of the robot were developed and tested based on both point to point control and continuous path applications. The path between two points was selected based on the stiffness of the system in a particular position and orientation. A robotic ankle rehabilitation application was successfully used to verify the design of the proposed hybrid parallel robot.
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Yang, Jiteng. "A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87415.
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This thesis explores the field of legged robots with reduced degree-of-freedom (DOF) leg mechanisms. Multi-legged robots have drawn interest among researchers due to their high level of adaptability on unstructured terrains. However, conventional legged robots require multiple degrees of freedom and each additional degree of freedom increases the overall weight and complexity of the system. Additionally, the complexity of the control algorithms must be increased to provide mobility, stabilization, and maneuvering. Normally, robotic legs are designed with at least three degrees of freedom resulting in complex articulated mechanisms, which limits the applicability of such robots in real-world applications. However, reduced DOF leg mechanisms come with reduced tasking capabilities, such as maintaining constant body height and velocity during locomotion.
To address some of the challenges, this thesis proposes a novel bipedal robot with reduced DOF leg mechanisms. The proposed leg mechanism utilizes the Reuleaux triangle to generate the foot trajectory to achieve a constant body height during locomotion while maintaining a constant velocity. By using a differential drive, the robot is also capable of steering. In addition to the analytical results of the trajectory profile of each leg, the thesis provides a trajectory function of the Reuelaux triangle cam with respect to time such that the robot can maintain a constant velocity and constant body height during walking. An experimental prototype of the bipedal robot was integrated and experiments were conducted to evaluate the walking capability of the robot. Ongoing future work of the proposed design is also outlined in the thesis.Master of Science
Bipedal robots are a type of legged robots that use two legs to move. Legs require multiple degrees of freedom to provide propulsion, stabilization, and maneuvering. Additional degrees of freedom of the leg result in a heavier robot, more complex control method, and more energy consumption. However, reduced degree of freedom legs result in a tradeoff between certain tasking capabilities for easier controls and lower energy consumption. As an attempt to overcome these challenges, this thesis presents a robot design with a reduced degree of freedom leg mechanism. The design of the mechanism is described in detail with its preliminary analysis. In addition, this thesis presents experimental validation with the robot which validates that the robot is capable of moving with constant body height at constant velocity while being of capable of steering. The thesis concludes with a discussion of the future work.
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Yi, Yong. "Fault tolerant N-DOF Gough-Stewart platforms kinematics, dynamics, and design /." Laramie, Wyo. : University of Wyoming, 2005. http://proquest.umi.com/pqdweb?did=888857891&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.
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Xu, Xingsheng. "Design and Construction of 9-DOF Hyper-Redundant Robotic Arm." University of Dayton / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1386116629.
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Aasland, Kristoffer. "Optimal 3D Path Planning for a 9 DOF Robot Manipulator with Collision Avoidance." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2008. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-8886.
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This paper describes development of an optimal 3D path planner with collision avoidance for a 9 DOF robot manipulator. The application of the robot manipulator will be on an unmanned oil platform where it will be used for inspection. Most of the time the robot manipulator will follow a pre-programmed collision-free path specified by an operator. Situations where it is desirable to move the end effector from the current position to a new position without specifying the path in advance might occur. To make this possible a 3D path planner with collision avoidance is needed. The path planner presented in this paper is based on the well known Probabilistic Roadmap method (PRM). One of the main challenges using the PRM is to make a roadmap covering the entire collision free Configuration space, Cfree, and connect it into one connected component. It is shown by empirical testing that using a combination of the Bridge Sampling technique and a simple Random sampling technique gives best Coverage of the Cfree space and highest Connectivity in the roadmap for the given environment. An algorithm that increases the Connectivity and sometimes provide Maximal Connection is also described. A backup procedure that can be executed on-line if a query fails is also presented. The backup procedure is slow, but it increases the chances of succeeding a query if the goal is in a difficult area. It is also investigated if the coverage and connectivity can be further improved by using the potential field planner when connecting the waypoints. Empirical testing showed that the improvements of Coverage and Connectivity were limited and the sampling and query time increased. The query time for a roadmap containing 400 nodes and one containing 1000 nodes was compared. It turned out that a large roadmap did not necessarily affect the query time negative because it made it easier to connect the start and goal nodes. Three existing path smoothing algorithms and a new algorithm, called Deterministic Shortcut, were implemented and tested. Empirical testing showed that the Deterministic Shortcut algorithm outperformed the others when it came to path smoothing versus time.
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Sobotka, Marion. "Hybrid dynamical system methods for legged robot locomotion with variable ground contact." [S.l.] : [s.n.], 2007. http://mediatum2.ub.tum.de/doc/619220/document.pdf.
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Tale, Masouleh Mehdi. "Kinematic analysis of Five-DOF (3T2R) parallel mechanisms with identical limb structures." Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/27791/27791.pdf.
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Yussof, Hanafiah, Mitsuhiro Yamano, Yasuo Nasu, and Masahiro Ohka. "Design of a 21-DOF Humanoid Robot to Attain Flexibility in Human-Like Motion." IEEE, 2006. http://hdl.handle.net/2237/9506.
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Gonzalez, Daniel Jesus. "Triple Scissor Extender : A 6-DOF lifting and positioning robot for autonomous aircraft manufacturing." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/104289.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-88).
This thesis presents the Triple Scissor Extender (TSE), a novel 6-DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of the individual scissors. The top point of each scissor is connected to one of three ball joints located at the three vertices of the top triangular plate holding the end-effector. Coordinated motion of the 6 linear actuators at the base allows the end-effector to reach an arbitrary position with an arbitrary orientation. The design concept of the Triple Scissor Extender is presented, followed by kinematic modeling and analysis of the the Inverse Jacobian relating actuator velocities to the end-effector velocities. The Inverse Jacobian eigenvalues are determined for diverse configurations in order to characterize the kinematic properties. The sensitivity of the Inverse Jacobian Eigenvalues to the various non-dimensionalized design parameters is discussed. A proof-of-concept prototype has been designed and built. The detailed mechanical and electrical design, manufacture, and assembly is described, and the control software is discussed. The Inverse Jacobian for use in differential control is evaluated through experiments. A method for extending the functionality of the TSE by using multiple interchangeable end effectors is presented. The detailed design, manufacture, assembly, and testing of one such end effector, the Fastener Robot (FASBot), is described, and its performance characterized.
by Daniel Jesus Gonzalez.
S.M.
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Sita, Enrico. "Hybrid genetic algorithms for energy efficient path placement of a 6 dof robot manipulator." Thesis, KTH, Industriell produktion, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-198150.
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The performance of a manipulator during the execution of a task depends, among other things, on the position of the task inside the robot’s working envelope. When a task can be performed in different locations, depending on the position chosen the solution to the inverse kinematics problem will be different. Thus, by judiciously placing the robot and the given path in the workstation, it is possible to improve its behavior. This project deals with the optimal path placementin order to reduce the overall energy consumption for a 6-dof industrial manipulator. A framework for the visualization of the consumption in the working envelope is proposed and described. Genetic algorithms (GA) are chosen to solve the optimization problem, and the advantages they bring are also described. The proposed approach tries to merge the GA approach with a "brute-force" solution, which is also described. Finally, the goodness of the framework is assessed by comparison of the result with simulations performed with RobotStudioTM.Prestandan av en manipulator under utförandet av en uppgift beror, bland annat, på positionen av uppgiften inuti robotens arbetsområde. När en uppgift kan utföras på olika platser, beroende på positionen valt lösningen på omvänd kinematikproblemet kommer att vara annorlunda. Således, genom att omdömesgillt placera roboten och given väg i arbetsstationen, är det möjligt att förbättra sitt beteende. Detta projekt handlar om optimala vägen placering i syfte att minska den totala energiförbrukningen för en 6-DOF industriell robot. Ett ramverk för visualisering av förbrukningen i arbets kuvert föreslås och beskrivs. Genetiska algoritmer (GA) är valda för att lösa optimeringsproblemet, och de fördelar de få beskrivs också. De föreslagna strategin försöker sammanfoga GA strategi med en"brute-force" lösning, som också beskrivs. Slutligen är godheten i ramen bedömas genom jämförelse av resultatet med simuleringar utförda med RobotStudio.
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Jonsson, Filip. "Kinematic Design of a 3-DoF Robot Manipulator for Automatic handling of Build-Boxes." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-39778.
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The goal of this project has been to make a prototype model of a 3-DOF PPM manipulator based on an old prototype for the purpose of moving heavy build boxes from a 3D-printer to an oven. The project was focused on the development of the kinematic model of the manipulator. By using parallel mechanisms in the mechanical design the number of actuators could be reduced and the remaining actuators could be placed on the base of the manipulator. The model was simulated in V-rep for motion verification.Målet med det här projektet har varit att skapa digital prototyp av en 3-DOF (Degrees of Freedom) PPM (Planar Parallel Mechanism) arm. Modellen är baserad på en gammal prototyp och syftet med armen är att flytta tunga bygglådor från en 3D-Printer till en ugn. Projektet har fokuserats på att ta fram en kinematisk model till armen. Genom att använda parallel länkage (Planar Parallel Mechanism) i den mekaniska designen kunde antalet motorer reduceras och de befintliga motorerna kunde placeras på armens basplatta. Genom att använda den kinematiska modellen kunde armen simulars i programmet V-rep för att testa designen.
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Zhang, Yang. "Control Implementation and Co-simulation of A 6-DOF TAU Haptic Device." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-293508.
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In the research area of virtual reality, the term haptic rendering is defined as the process of computing and generating the interaction force between the virtual object and the operator. One of the major challenges of haptic rendering is the stably rendering contact with a stiff object. Traditional haptic rendering algorithms performs well when rendering contact with soft objects. But when it is used to simulate contact with objects with high stiffness, the algorithm may cause unstable response of haptic devices. Such unstable behavior (e.g., oscillation of the device) can destroy the fidelity of the virtual environment and even hurt the user. To address the above stability issues, a new design approach has been proposed in this paper. The proposed approach consists of three main process steps: modeling and linearization in ADAMS, LQR position controller design, verification with co-simulation. In the first step, a simulation model of the system is firstly created in ADAMS/View. Then this nonlinear ADAMS multi-body dynamics model is linearized and exported as a set of linear state space matrices with the help of ADAMS/Linear. In the second step, different from the traditional force-control algorithms, LQR position controller is developed in Matlab Simulink based on the exported matrices to emulate interactions with stiff objects. At last, the verification of control performance is carried out by setting up co-simulation between ADAMS and Simulink. A case study implementation of this proposed method was performed on the TAU device which was previously developed by Machine Design department at KTH. TAU is an asymmetrical parallel robot with six degrees of freedom for the simulation of surgical procedures like drilling and milling of hard tissues of bones and teeth. The results show that the linear model exported from ADAMS is sufficiently accurate and the proposed controller can render a virtual wall with stiffness at the level of 105 N/m.Inom forskningsområdet virtuell verklighet definieras termen hatisk återgivning (haptic rendering) som processen för beräkning och generering av interaktiva krafter mellan det virtuella objektet och användaren. En av de största utmaningarna med haptisk återgivning är att stabilt simulera känslan av beröring av styv material för användare. Traditionella algoritmer fungerar när det gäller att simulera känslan av beröring av mjuk material, men när algoritmerna används för att simulera kontakt med materialer med stor styvhet kan det orsaka instabilitet hos haptiska enheter. Sådana instabilitet, bland annat svängning hos enheten, kan förstöra den virtuella miljöns exakthet och till och med skada användare. Denna uppsats försöker ta itu med det ovanstående problemet genom att föreslå en ny designmetod. Metoden består av tre huvudsteg: modellering och linearisering med hjälp av ADAMS, design av LQR-positionskontroll, och verifiering med samsimulering (co-simulation). I det första steget skapas systemets simuleringsmodell med hjälp av ADAMS/View. Sedan linjäriseras denna icke-linjära ADAMS-multikroppsdynamikmodell. Modellen exporteras som linjära tillståndsmatriser med hjälp av ADAMS/Linear. I det andra steget designas en LQR-positionskontroll med hjälp av Matlab Simulink baserat på de exporterade matriserna tidigare för att simulera interaktioner med styv material, vilket skiljer sig från de traditionella kraftkontrollalgoritmer (force-control algorithms). I det sista steget utförs verifieringen av positionskontrollens prestanda genom att ställa in samsimulering (co-simulation) mellan ADAMS och Simulink. En testkörning av denna föreslagna metod har utförs på TAU-enheten som tidigare utvecklades av KTH institutionen för maskinkonstruktion. TAU är en asymmetrisk parallellsrobot med sex frihetsgrader för att simulera kirurgiska ingrepp som borrning av hårda vävnader i ben och tänder. Resultaten visar att den linjära modellen som exporteras från ADAMS är tillräckligt korrekt, för den föreslagna positionskontrollen kan framställa en virtuell vägg med styvhet vid 105 N/m.
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Di, Leva Roberto. "Synthesis and kinematic analysis of a passive 6-dof parallel mechanism for human-robot interaction." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2019.
Find full textAbstract:
La maggior parte dei robot industriali può essere caratterizzata da una larghezza di banda di impedenza molto stretta, capacità di carico elevata, attuatori precisi e vasto spazio di lavoro. Al contrario, l’operatore umano presenta un’ampia larghezza di banda di impedenza, flessibilità e destrezza, ma capacità di carico basse. La possibilità di combinare i vantaggi di entrambi può portare alla realizzazione di sistemi robotici molto efficaci. Pertanto, se l’impedenza apparente di un manipolatore può essere minimizzata, l’operatore può sviluppare la propria impedenza, consentendo una collaborazione altamente intuitiva. Ciò è importante nelle operazioni di assemblaggio, dove l’accoppiamento delle parti richiede un’interazione a bassa impedenza, che sia anche efficace ed intuitiva.
Il progetto prevede la sintesi e la progettazione di manipolatori ridondanti nell’ambito dell’interazione fisica uomo-robot. In particolare, si studiano diverse architetture della piattaforma di Gough-Stewart a 6 gradi di libertà e, tra queste, si sceglie quella che garantisce il miglior comportamento isotropo, oltre ad altri vantaggi costruttivi, quali ad esempio la capacità di misurarne facilmente i parametri di controllo.
Impiegando il software Creo, si propone un modello CAD del meccanismo scelto e, grazie alla tecnologia di prototipazione rapida, si riesce a verificare la bontà della progettazione.
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El, Haddad Joyce. "Auto-stabilisation : gestion de robots mobiles et confinement de fautes." Paris 9, 2004. https://portail.bu.dauphine.fr/fileviewer/index.php?doc=2004PA090025.
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Cette thèse porte sur l'étude des algorithmes répartis tolérant aux pannes. Plusieurs approches ont été proposées dans cette optique, parmi lesquelles l'auto-stabilisation (le système rétablit de lui-même un fonctionnement correct au bout d'un temps fini) et le confinement de fautes (on limite la propagation d'une faute singulière). Nos travaux visent à étendre les champs d'application de ces deux approches. Concernant l'approche auto-stabilisante, nous proposons un algorithme d'ordonnancement des déplacements dans un système de robots mobiles communiquant sur des points de rendez-vous fixés. Cet algorithme garantit que, après la phase de stabilisation, chaque visite à un point de rendez-vous aboutit à une communication. Nous présentons ensuite un algorithme auto-stabilisant pour engendrer et maintenir les tables de routage des robots. Concernant le confinement de fautes, nous présentons un algorithme qui résout le problème de l'élection et de l'arbre couvrant dans un graphe quelconque.
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Qin, Zhongkai 1975. "Design and analysis of a two-dof novel drive unit for parallel robots." Thesis, McGill University, 2004. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=81559.
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This thesis reports on the design and analysis of a novel robotic drive unit, intended as the driving kernel for multi-degree of freedom (dof) parallel manipulators. The transmission system of this unit features a planetary gear train and a ball-screw mechanism. Due to this special transmission design, two driving motors can be placed on the fixed base, thereby enhancing the load-carrying capacity of the robotic drive unit. Parallel robots constructed and actuated with the proposed units should exhibit higher load-carrying capacity and faster motion capability, as compared to existing drives. The conceptual design of the unit is first proposed, and a design alternative is then discussed. The application of this novel drive unit is illustrated by the example of integrating three such drive units into a six-dof parallel manipulator with three Universal-Prismatic-Spherical (UPS) legs. With six actuators installed on the fixed base, such a manipulator can be endowed with high stiffness, high speed, high accuracy and high load-carrying capacity. Furthermore, a testbed is designed in order to verify the kinematic and dynamic performance of the drive unit. The kinematic analysis of the drive unit, the testbed and the six-dof parallel manipulator is conducted. The CAD modelling and animation results are included to validate the design and the kinematics of the drive unit.
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Keyrouz, Fakheredine. "Efficient binaural sound localization for humanoid robots and telepresence applications." kostenfrei, 2008. http://mediatum2.ub.tum.de/doc/648977/648977.pdf.
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Dong, Fuhong [Verfasser], and Roland [Akademischer Betreuer] Kasper. "Design, modeling and control of an autonomous field robot for white asparagus harvesting / Fuhong Dong. Betreuer: Roland Kasper." Magdeburg : Universitätsbibliothek, 2014. http://d-nb.info/1059440563/34.
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Ding, Jun. "Mechanism Design, Kinematics and Dynamics Analysis of a 7-Degree-Of-Freedom (DOF) Cable-Driven Humanoid Robot Arm." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299856503.
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Callot, Stanislas Ferrand Pascal. "Analyse des mécanismes macroscopiques produits par les interactions rotot/stator dans les turbomachines." Ecully : Ecole centrale de Lyon, 2002. http://bibli.ec-lyon.fr/exl-doc/scallot.pdf.
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Yu, Alexander. "Geometric method for the accuracy analysis of a class of 3-DOF planar parallel robots." Thesis, McGill University, 2009. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=66719.
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Planar parallel robot accuracy indices are evaluated because such robots are widely used in industrial applications where quick, precise positioning and alignment are essential. With their increasing use comes a need to develop a methodology to compare different parallel robot designs. However no simple method exists to adequately compare the accuracy of parallel robots. Certain indices have been used in the past such as dexterity, manipulability and global conditioning index, but they have inherent problems when applied to both translational and rotational motion of a parallel robot. In direct response to the need for more methods in evaluating the accuracy of parallel robots, this thesis presents a simple geometric method for computing the exact local maximum position error and maximum orientation error, given the actuator displacement inaccuracies. This new method gives a clear, quantitative way to evaluate planar parallel robots. This method is shown to work well when applied to a class of three-degree-of-freedom planar fully-parallel robots, whose legs each have each one passive revolute joint and two prismatic joints.Les indices de précision d'un robot planaire parallèle sont analysés dans la présente thèse en raison de leur large utilisation dans des applications industrielles où la précision du positionnement et de l'alignement est essentielle. Leur utilisation croissante s'accompagne du besoin de développer une méthode pour évaluer différentes conceptions de robots parallèles. Cependant, il n'existe pas de méthode simple d'évaluation comparative de la précision des robots parallèles. Par le passé, on utilisait certains indices tels que la dextérité, la capacité de manipulation et l'évaluation globale, mais ces derniers présentaient des problèmes inhérents lorsque appliqués à la fois au mouvement de translation et de rotation d'un robot parallèle. En réponse directe au besoin de disposer de plus d'outils d'évaluation de la précision des robots parallèles, cette thèse présente une méthode géométrique simple pour calculer les inexactitudes maximales de positionnement et d'orientation, en tenant compte des inexactitudes de déplacement de l'actuateur.Il est prouvé que l'utilisation de cette nouvelle méthode est claire et quantitative pour l'évaluation de robots planaires parallèles. Elle donne de bons résultats quand on l'applique à une catégorie de robots planaires à trois degrés de liberté, dont les pattes ont chacune une a rticulation rotoïde passive et deux articulations prismatiques.
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Vojta, Jakub. "Bezpečnost provozu mobilních robotů v indoor prostředí." Master's thesis, Vysoké učení technické v Brně. Ústav soudního inženýrství, 2012. http://www.nusl.cz/ntk/nusl-232641.
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During cooperation with the Bender Robotics company a need for operational safety assessment of an autonomous mobile robot (AMR) emerged. Operational safety evaluation is a step towards mass production of the studied robot. Market entry of a product requires a string of various actions and safety assessment is one of them. For risk identification and severity rating were used legal requirements, best practice given by standards, FMEA method, experiment and RIPRAN method. Threats, possible scenarios and risks analysis is systematically discussed through all areas of operation of the robot, from design and construction to control software. All the steps are described in logical order. Starting with information research, going on with series of analysis and ending with suggestions for increased operational safety of autonomous mobile robots.
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Espinoza, Mario Sáenz. "Inverse kinematics of a 10 DOF modular hyper-redundant robot resorting to exhaustive and error-optimization methods (a comparative study)." Master's thesis, Instituto Politécnico de Bragança, Escola Superior de Tecnologia e Gestão, 2012. http://hdl.handle.net/10198/8027.
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The present work describes and compares several approaches applied to compute the inverse
kinematics of a ten degrees of freedom hyper-redundant robot. The proposed approaches are
based on an exhaustive method and several error-optimization algorithms. The algorithms’ performance
was evaluated based on two criteria: computational processing time and final actuator
positioning error.
The results obtained show that for a small number of modules (less or equal to four), the exhaustive
method provides the best problem solution: acceptable computational processing time
as well as minimum error. However, for larger number of modules, the error-optimization approach
has far better performance regarding the error to processing time ratio.
The mentioned hyper-redundant robot was projected to be used in biomedical applications. O presente trabalho descreve e compara diferentes abordagens para a obtenção da cinemática
inversa de um robot hiper-redundante com dez graus de liberdade. As abordagens propostas
são baseadas nos métodos exaustivo e da optimização do erro cometido. O desempenho dos
algoritmos foi avaliado segundo os critérios de velocidade de processamento e erro de posição e
orientação do actuador final.
Os resultados obtidos mostram que para um número pequeno de módulos (igual ou menor
que quatro) o método exaustivo fornece a melhor solução: tempo de processamento computacional
aceitável e erro mínimo. No entanto, para um número maior de módulos, a abordagem
de optimização do erro tem um melhor desempenho com respeito à relação entre o tempo de
processamento e o erro final.
O robot hiper-redundante mencionado está projectado para aplicações biomédicas. El presente trabajo describe y compara distintos abordajes aplicados para calcular la cinemática
inversa de un robot hiper-redundante con diez grados de libertad. Los abordajes propuestos
están basados en los métodos exhaustivo y de optimización del error. El desempeño de los algoritmos
fue evaluado basándose en los criterios de velocidad de procesamiento y error tanto de
posición como de orientación del actuador final.
Los resultados obtenidos muestran que para un número pequeño de módulos (igual o menor
que cuatro) el método exhaustivo provee la mejor solución: tiempo de procesamiento computacional
aceptable y error mínimo. Sin embargo, para un número mayor de módulos, el abordage
de optimización del error tiene un mucho mejor desempeño con respecto a la relación de tiempo
de procesamiento y el error final.
El robot hiper-redundante mencionado está proyectado para aplicaciones biomédicas.
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Müller, Armin. "Transformational planning for autonomous household robots using libraries of robust and flexible plans." kostenfrei, 2008. http://mediatum2.ub.tum.de/doc/645588/645588.pdf.
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Bosman, Julien. "Physically-based 6-DoF nodes deformable models : application to connective tissues simulation and soft-robots control." Thesis, Lille 1, 2015. http://www.theses.fr/2015LIL10122/document.
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La simulation médicale est un domaine de recherche de plus en plus actif. Malgré les avancées observées ces dernières années, le modèle complet du patient virtuel reste un objectif ambitieux. Il existe encore de nombreuses opportunités de recherche, notamment concernant la modélisation mécanique des conditions aux limites. Jusqu'à présent, la majorité des travaux était consacrée à la simulation d'organes, ces derniers étant généralement simulés seuls. Cette situation pose problème car l'influence des organes environnants sur les conditions aux limites est négligée. Ces interactions peuvent être complexes, impliquant des contacts mais aussi des liaisons mécaniques dues aux tissus conjonctifs. Ainsi, les influences mutuelles entre les structures anatomiques sont souvent simplifiées, diminuant le réalisme des simulations. Cette thèse visé à étudier l'importance des tissus conjonctifs, et plus particulièrement d'une bonne modélisation des conditions aux limites. Dans ce but, le rôle des ligaments lors d'une intervention chirurgicale par laparoscopie a été étudié. Afin d'améliorer le réalisme des simulations, un modèle mécanique dédié aux tissus conjonctifs, basée sur la mécanique des milieux continus et un ensemble de nœuds à 6 degrés de liberté a été développée. En outre, les travaux sur les tissus conjonctifs ont donné lieu à la mise au point d'une méthode de modélisation utilisée dans le cadre des robots déformables. Cette méthode permet un contrôle précis, et temps-réel, d'un bras robotisé déformable. L'utilisation de nœuds orientables a donné lieu à un modèle à nombre de degrés de liberté réduit, permettant de reproduire le comportement de structures plus complexesDespite the promising advances done in medical simulation, the complete virtual patient’s model is yet to come. There are still many avenues for improvements, especially concerning the mechanical modeling of boundary conditions.So far, most of the work has been dedicated to organs simulation, which are generally simulated alone. This raises a real problem as the role of the surrounding organs in boundary conditions is neglected. However, these interactions can be complex, involving contacts but also mechanical links provided by layers of soft tissues known as connective tissues. As a consequence, the mutual influences between the anatomical structures are generally simplified, weakening realism of simulations.This thesis aims at studying the importance of the connective tissues, and especially of a proper modeling of the boundary conditions. To this end, the role of the ligaments during laparoscopic liver surgery has been investigated. In order to enhance the simulations’ realism, a mechanical model dedicated to the connective tissues has been worked out. This has led to the development of a physically-based method relying on material points that can, not only translate, but also rotate themselves. The goal of this model is to enable the simulation of multiple organs linked by complex interactions.In addition, the work on the connective tissues model has been derived to be used in soft robotics. The principle of relying on orientable material points has been used to developed a reduced model that can reproduce the behavior of more complex structures. The objective of this work is to provide the means to control – in real-time – a soft robot made of a deformable arm
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Ananthanarayanan, Hariharan Sankara. "Complete Path Planning of Higher DOF Manipulators in Human Like Environments." University of Dayton / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=dayton1445972852.
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Shelley, Brett. "Inverse position solutions, workspace, and resolved rate control of all possible 3-DOF parallel planar manipulators." Ohio : Ohio University, 1996. http://www.ohiolink.edu/etd/view.cgi?ohiou1178042286.
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Nayak, Subrat. "Development of a 6 DOF compliant parallel mechanism to sense and control the force-torque and displacement of a serial robot manipulator." [Gainesville, Fla.] : University of Florida, 2009. http://purl.fcla.edu/fcla/etd/UFE0041273.
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Bezerra, Carlos Andre Dias. "Desenvolvimento de um robo bipede para locomoção em ambiente desestruturado." [s.n.], 2002. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263839.
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Orientador : Douglas Eduardo ZampieriTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
Made available in DSpace on 2018-07-31T21:38:27Z (GMT). No. of bitstreams: 1 Bezerra_CarlosAndreDias_D.pdf: 16490008 bytes, checksum: d1766174780575b42c85c12ba542dda7 (MD5) Previous issue date: 2002
Resumo: Neste trabalho desenvolveu-se a concepção, modelagem, simulação, construção e implementação de um robô bípede, capaz de interagir com o ambiente através de sensores e desviar de obstáculos em seu ambiente de trabalho a princípio de localização desconhecida. A determinação da equação de movimento foi realizada através do método de Newton ¿ Euler - Jourdain, que apresenta a vantagem da obtenção da equação de movimento sem a necessidade do conhecimento das forças internas entre as uniões dos segmentos que compõem o robô. Entre os experimentos realizados para validação da modelagem, incluem-se marcha em linha reta, realização de curvas e desvio de obstáculo de maneira autônoma, com o uso de sensores. Os materiais, métodos e resultados experimentais são apresentados na forma de fotos e figuras. Os resultados alcançados neste trabalho permitem o desenvolvimento de robôs capazes de se locomoverem e desviarem de obstáculos através de diferentes estratégias
Abstract: In this work the conception, modeling, simulation, construction, and implementation of a biped robot has been developed. The robot was able to interact with the workspace through sensor and avoid obstacle in his workspace which was initially unknown. The determination of the motion equation was carried out using Newton-Euler- Jourdain, which presents advantages in the determination of motion equation without the necessity of knowing internal forces between the joints which are made the robot. Walk on a straight line, perform curves, and avoid obstacle in autonomous way, with the use of sensors are among the experiments carried out to validate the modeling. The materials, methods, and experimental results are presented by pictures and figures. As result of this work it can be develope biped robots able to move and avoiding obstacles through different strategies
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
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Al, Jabr Kareem A. "Modified UCA-ESPRIT and modified UCA-ROOT-MUSIC for estimating DOA of coherent signals using one snapshot." Thesis, Wichita State University, 2007. http://hdl.handle.net/10057/1516.
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Direction of arrival (DOA) estimation algorithms is the method used to estimate the direction of arrival angle of several signals impinging on a sensor array, which plays an important role in array signal processing. The requirement for DOA estimation arises in different areas of signal processing applications including radar, sonar, and wireless communications. The uniform circular array estimation of signal parameters via rotational invariance techniques (UCA-ESPRIT) and the root multiple signal classification for uniform circular array (UCA-ROOT-MUSIC) algorithms were proposed to estimate the DOA of coherent signals using one single snapshot. First, the mode excitation method was used to transform the uniform circular array (UCA) in element space into a virtual uniform linear array (VULA) in mode space as explained in many papers. Then, the Hermitian Toeplitz matrix was reconstructed from the observed data vector as a decorrelated algorithm in order to rearrange the data and to extend the dimensionality of the noise space. Consequently, signal and noise spaces could be estimated more accurately. The proposed method did not need forward/backward spatial smoothing of the covariance matrix, resulting in reduced computational complexity. Simulation results verify that the proposed algorithm with one snapshot has a close performance to the conventional mode of spatial smoothing with 100 snapshots.Thesis (M.S.)--Wichita State University, College of Engineering, Dept. of Electrical and Computer Engineering
"December 2007."
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Al, Jabr Kareem A. Kwon Hyuck M. "Modified UCA-ESPRIT and modified UCA-ROOT-MUSIC for estimating DOA of coherent signals using one snapshot /." Thesis, A link to full text of this thesis in SOAR, 2007. http://hdl.handle.net/10057/1516.
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Joshi, Atul Ravindra. "Design and control of a three degree-of-freedom planar parallel robot." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.
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Yasar, Temel Kaya. "Improvements In Doa Estimation By Array Interpolation In Non-uniform Linear Arrays." Master's thesis, METU, 2006. http://etd.lib.metu.edu.tr/upload/12607524/index.pdf.
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In this thesis a new approach is proposed for non-uniform linear arrays (NLA) which employs conventional subspace methods to improve the direction of arrival (DOA) estimation performance.
Uniform linear arrays (ULA) are composed of evenly spaced sensor elements located on a straight line. ULA's covariance matrix have a Vandermonde matrix structure, which is required by fast subspace DOA estimation algorithms. NLA differ from ULA only by some missing sensor elements. These missing elements cause some gaps in covariance matrix and Vandermonde structure is lost. Therefore fast subspace DOA algorithms can not be applied in this case. Linear programming methods and array interpolation methods can be used to solve this problem. However linear programming is computationally expensive and array interpolation is angular sector dependent and requires the same number of sensor in the virtual array. In this thesis, a covariance matrix augmentation method is developed by using the array interpolation technique and initial DOA estimates. An initial DOA estimate is obtained by Toeplitz completion of the covariance matrix. This initial DOA estimates eliminates the sector dependency and reduces the least square mapping error of array interpolation. A Wiener formulation is developed which allows more sensors in the virtual array than the real array. In addition, it leads to better estimates at low SNR. The new covariance matrix is used in the root-MUSIC algorithm to obtain a better DOA estimate. Several computer simulations are done and it is shown that the proposed approach improves the DOA estimation accuracy significantly compared to the same number of sensor ULA. This approach also increases the number of sources that can be identifed.
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Alqasemi, Redwan M. "Maximizing manipulation capabilities of persons with disabilities using a smart 9-degree-of-freedom wheelchair-mounted robotic arm system." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002004.
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Krebs, Jonas. "Molecular and physiological characterisation of selected DOF transcription factors in the model plant Arabidopsis thaliana." Phd thesis, Universität Potsdam, 2009. http://opus.kobv.de/ubp/volltexte/2010/4183/.
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About 2,000 of the more than 27,000 genes of the genetic model plant Arabidopsis thaliana encode for transcription factors (TFs), proteins that bind DNA in the promoter region of their target genes and thus act as transcriptional activators and repressors. Since TFs play essential roles in nearly all biological processes, they are of great scientific and biotechnological interest.
This thesis concentrated on the functional characterisation of four selected members of the Arabidopsis DOF-family, namely DOF1.2, DOF3.1, DOF3.5 and DOF5.2, which were selected because of their specific expression pattern in the root tip, a region that comprises the stem cell niche and cells for the perception of environmental stimuli. DOF1.2, DOF3.1 and DOF3.5 are previously uncharacterized members of the Arabidopsis DOF-family, while DOF5.2 has been shown to be involved in the phototrophic flowering response. However, its role in root development has not been described so far.
To identify biological processes regulated by the four DOF proteins in detail, molecular and physiological characterization of transgenic plants with modified levels of DOF1.2, DOF3.1, DOF3.5 and DOF5.2 expression (constitutive and inducible over-expression, artificial microRNA) was performed. Additionally expression patterns of the TFs and their target genes were analyzed using promoter-GUS lines and publicly available microarray data. Finally putative protein-protein interaction partners and upstream regulating TFs were identified using the yeast two-hybrid and one-hybrid system. This combinatorial approach revealed distinct biological functions of DOF1.2, DOF3.1, DOF3.5 and DOF5.2 in the context of root development. DOF1.2 and DOF3.5 are specifically and exclusively expressed in the root cap, including the central root cap (columella) and the lateral root cap, organs which are essential to direct oriented root growth. It could be demonstrated that both genes work in the plant hormone auxin signaling pathway and have an impact on distal cell differentiation. Altered levels of gene expression lead to changes in auxin distribution, abnormal cell division patterns and altered root growth orientation. DOF3.1 and DOF5.2 share a specific expression pattern in the organizing centre of the root stem cell niche, called the quiescent centre. Both genes redundantly control cell differentiation in the root´s proximal meristem and unravel a novel transcriptional regulation pathway for genes enriched in the QC cells.
Furthermore this work revealed a novel bipartite nuclear localisation signal being present in the protein sequence of the DOF TF family from all sequenced plant species.
Summing up, this work provides an important input into our knowledge about the role of DOF TFs during root development. Future work will concentrate on revealing the exact regulatory networks of DOF1.2, DOF3.1, DOF3.5 and DOF5.2 and their possible biotechnological applications.Mehr noch als Tiere, die ihren Lebensraum unter widrigen Umständen verlassen können, sind Pflanzen mit einem festen Standort auf ihre Anpassungsfähigkeit angewiesen. Einen entscheidenden Beitrag dazu leistet die Genregulation, d.h. das gezielte An- und Ausschalten von Erbanlagen, den Genen. Vermittelt wird dieser Regulationsprozess unter anderem durch Transkriptionsfaktoren: Proteine, die die Fähigkeit besitzen, an bestimmte Regionen der Gene zu binden und damit deren Aktivität zu beeinflussen. In der Ackerschmalwand (Arabidopsis thaliana), die als Modellpflanze in der Genetik verwendet wird, existieren etwa 2000 solcher Transkriptionsfaktoren, eingeteilt in Familien, von denen einige auch in tierischen Organismen auftreten, andere pflanzenspezifisch sind. Auf Grund ihrer Funktion als wichtige Kontrollelemente sind sie von großem wissenschaftlichem und biotechnologischem Interesse. Im Rahmen dieser Doktorarbeit sollte die Funktion von vier pflanzenspezifischen Transkriptionsfaktoren, genannt DOF1.2, DOF3.1, DOF3.5 und DOF5.2, untersucht werden, welche durch ihre spezifische Aktivität in der Wurzelspitze der Ackerschmalwand identifiziert wurden. Um die Funktion dieser vier Regulatoren aufzuklären, wurden an der Modellpflanze gentechnische Veränderungen durchgeführt und die so veränderten, auch als transgen bezeichneten Pflanzen mit molekularbiologischen und physiologischen Methoden untersucht. Es konnte gezeigt werden, dass DOF1.2 und DOF3.5 eine wesentliche Funktion beim gerichteten Wurzelwachstum spielen und ein seitliches Wachsen der Wurzel aufgrund veränderter Umwelteinflüsse verhindern, bzw. hervorrufen können. Die beiden anderen Proteine DOF3.1 und DOF5.2 erfüllen ihre Funktion in der Stammzellnische der Wurzel. Vergleichbar mit tierischen Stammzellen sind auch pflanzliche Stammzellen nicht zu einem bestimmten Zelltyp herangereift, sondern verbleiben in einem sogenannten undifferenzierten Zustand. Es konnte gezeigt werden, dass DOF3.1 und DOF5.2 zum Erhalt dieses Zustands benötigt werden, da nach Inaktivierung beider Proteine Zellspezialisierungen auftreten, die bei gentechnisch unveränderten Pflanzen nicht auftreten. Desweiteren konnte in dieser Arbeit geklärt werden, welcher Proteinabschnitt der DOF-Proteine für ihren Transport in den Zellkern notwendig ist. Denn da die pflanzlichen Erbanlagen im Zellkern vorliegen, muss für eine Einflussnahme auf deren Aktivität zunächst ein Transport der Regulationsproteine in den Zellkern stattfinden. Zusammengenommen konnte mit dieser Doktorarbeit das Wissen über Transkriptionsfaktoren und Entwicklungsprozesse der Wurzel erheblich erweitert werden. Zudem ist die Grundlage für interessante zukünftige Arbeiten gelegt worden. Dabei wird es von zentraler Bedeutung sein, komplexe Regulationsnetzwerke verstehen zu lernen und durch gezielte Manipulationen biotechnologisch nutzen zu können.
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Oliveira, Caroline Dantas de. "Características biológicas e moleculares na ovogênese de Anopheles darlingi Root (Diptera Culicidae)." Instituto Nacional de Pesquisas da Amazônia, 2011. http://localhost:8080/tede/handle/tede/2075.
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Conselho Nacional de Pesquisa e Desenvolvimento Científico e Tecnológico - CNPq
The mosquito Anopheles darlingi is the main vector of human malaria in Brazil. Nevertheless, little information exists on the gonotrophic cycle of this important vector, whose knowledge is important for an effecient control strategy. Therefore, this work studied the oogenesis in this mosquito species. Molecular, biologic and morphological aspects of oogenesis, before and after the blood meal (BM), were investigated in female A. darlingi collected at the suburb of Manaus and Coari city to study the. Before the BM, ovaries of female A. darlingi are small and contain few lipid vesicles. At this stage the expression of vitellogenin (Vg) gene is absent. After the BM, there were marked internal and external changes in the ovaries due to storage of yolk in the oocytes. Small granules of yolk are already observed at 3h post BM, although the expression of Vg gene was only detected at 6h post BM. The expression of Vg and their storage in the ovaries are more evident after 24 hours of BM, remaining constant between 36 to 48 hours post BM. The final dimensions of the egg are reached at 72 hours post BM when Vg gene expression decreased. Oviposition occurred at 96 hours post BM when the expression of Vg is absent. In the analyses of the frequence of blood meals taken by female A. darlingi, 80% ingested two blood meals within 24h and 75% fed three times in a period of three days, showing the ability of this species to feed more than once during a single gonotrophic cycle. An apparent increase in Vg gene expression was noticed in females taking multiple BMs.
O mosquito Anopheles darlingi é o principal vetor da malária humana no Brasil. Apesar disso, existem poucas informações sobre o ciclo gonotrófico desse importante vetor, cujo conhecimento é importante para uma efeciente estratégia de controle. Por esse motivo, neste trabalho essa espécie é alvo do estudo da ovogênese. Para tanto, fêmeas de A. darlingi foram coletadas na periferia da cidade de Manaus e Coari para estudar os aspectos biológicos, morfológicos e moleculares do processo da ovogênese antes e após o repasto sanguíneo (RS). Antes do repasto sanguíneo os ovários das fêmeas de A. darlingi são pequenos e contêm algumas vesículas de lipídios. Nesta fase o mRNA do gene da vitelogenina (Vg) é ausente. Após o RS, ocorrem acentuadas mudanças internas e externas nos ovários devido à estocagem das vitelinas nos ovócitos. Pequenos grânulos de vitelinas são observados a partir de 3h após o RS, embora a expressão do gene Vg só é detectável a partir de 6h. A expressão e a estocagem da Vg é mais evidente após 24h do RS, mantendo-se constante entre 36h e 48h após o RS. As dimensões definitivas do ovo são alcançadas após 72h do RS quando a expressão do gene Vg diminui. A oviposição ocorreu após 96h do RS quando a expressão de Vg é ausente. Nas análises de múltiplos repastos sanguíneos, 80% das fêmeas de A. darlingi tiveram dois repastos sanguíneos dentro de 24h e 75% delas alimentaram três vezes num período de três dias, mostrando a capacidade dessa espécie de se alimentar por mais de uma vez durante um único ciclo gonotrófico. Nestas fêmeas foi verificado um aumento aparente na expressão do gene Vg de acordo com um número maior de alimentações sanguíneas.
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HIRANO, Yasuhiro, 泰弘 平野, Taketo YOKOTA, 岳人 横田, Naoki HIJII, and 直樹 肘井. "Responses of Root Production in Japanese Red Cedar (Cryptomeria japonica D. Don) Saplings to Duration of Treatment with Acidic Solutions." 名古屋大学農学部附属演習林, 1997. http://hdl.handle.net/2237/8486.
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Seok, Sangok. "Highly parallelized control programming methodologies using multicore CPU and FPGA for highly dynamic multi-DoF mobile robots, applied to the MIT Cheetah." Thesis, Massachusetts Institute of Technology, 2014. http://hdl.handle.net/1721.1/87982.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 103-113).
This thesis presents highly parallelized control programming methodologies developed for multi-degrees of freedom (DoF) robots capable of highly dynamic movements. In robotic applications that require rapid physical interactions with the environment, it is critical for the robot to achieve a high-frequency synchronization of data processing from a large number of high-bandwidth actuators and sensors. To solve this important problem in robotics, I developed parallelized control programming methodologies that effectively utilize the advantages of modern parallel real-time computing technologies: multicore CPU, the Field Programmable Gate Array (FPGA), and distributed local processors. This approach was implemented in the fast running experiments of the MIT Cheetah. In such a highly dynamic robot, the required control bandwidth is particularly high since the MIT Cheetah's leg actuation system is designed to generate high force (output torque up to 100Nm) with high bandwidth (closed loop bandwidth up to 120Hz) with minimal mechanical impedance for fast locomotive capability. On the integrated control system, a multi-layered architecture is programmed. Inspired by data parallelism, task parallelism, and the pipelining method, more than 50 processes are operated in parallel, and major processes among them are optimized to achieve the maximum throughput.The proposed methodologies enable the high-level control sampling frequency 4 kHz. With this control system platform, I achieved a high-force proprioceptive impedance control [1], and a trot-running up to 6 m/s with a locomotion efficiency rivaling animals [2]..
by Sangok Seok.
Ph. D.
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Forsman, Daniel. "Bangenerering för industrirobot med 6 frihetsgrader." Thesis, Linköping University, Department of Electrical Engineering, 2004. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-2376.
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This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary.
Some means of calculating the zone path as to make the acceleration continuous will be presented. In joint space the path is described by the use of cubic splines. The transformation of the Cartesian path to paths in joint space will be examined. Discontinuities in the second order derivatives will appear between the splines.
A few examples of different zone path calculations will be presented where the resulting spline functions are compared with respect to their first and second order derivatives. An investigation of the number of spline functions needed when, given an upper limit of deviation, the transformation back to Cartesian coordinates is made.
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Cheng, Ching-wen, and 鄭景文. "The Design and Realization of Entertaining Robot Dog." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/75725389163382137400.
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碩士國立臺灣科技大學
機械工程系
97
This paper focuses on the design and realization of entertaining robot dog based on the considerations such as nice exterior design, interactive media, and entertaining value. Therefore, this paper designed robot dog of smaller size, with special emphasis on the appearance design. Speaking of functionality, in addition to the fundamental walking posture, we studied and added in our robot dog several unique functions that are still unavailable on the market. Gait is the use of quadruped robot in the walking gait way to plan and control it actually, and based on standard gait and static stability. In order to increase the effectiveness of interactive, IR tracking strategy is proposed. IR tracking is the used of IR sensor to detect objects, so that the robot dog could be tracked and followed objects. Regarding to the existing product, the motion is settled and the formula should be modified by PC interface. However, this paper has developed a human-machine interface in the control system, so that all indications could be created and modified by the user directly.
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Huang, Ting-wei, and 黃庭偉. "A Design of the leg Mechanism of a Robot Dog." Thesis, 2005. http://ndltd.ncl.edu.tw/handle/29583313341947742596.
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碩士國立中山大學
機械與機電工程學系研究所
93
The purpose of this study is to design an innovative mechanism for robot dog''s legs, including analyzing the existing commercial robot dogs, modeling the characteristic of entity by Pro/Engineer, and simulating the mechanism by Visual Nastran. The leg designed in this study is a five-bar linkage with pantograph mechanism. This leg mechanism has two degrees of freedom. In order to control the motion of legs easily, a method which converts the locus of movement into the control parameters of motor is introduced by analyzing the mechanism of the robot dog''s legs. The result of computer simulation shows that the designed mechanism can achieve slow movement smoothly. The gait of the designed legs is based on the motion pictures of a real dog. The movement of legs of the designed robot dog is then simulated by computer program involved Visual Nastran and then compare to that of a real dog.
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Wang, Hsin-Wei, and 王芯維. "Design and Fabrication of a Robot Dog with Tendon Driving Mechanism." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/90877250565131166279.
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碩士國立高雄應用科技大學
機械與精密工程研究所
98
A robot dog with tendon-driven legs is developed in this study. In order that the motion and the shape of legs can mimic a real dog, each leg of the robot has mechanical parts only. That is, all the electric equipments, such as the power sources, controllers, and servo motors are located in the trunk of the robot, and thus it is unnecessary to consider the arrangement of electric equipments and the wiring problem. Firstly, the design requirements for a desired robot dog are analyzed, and its topological structure is suggested. Secondarily, feasible leg mechanisms are evaluated, and two of them are chosen for further study. In this design stage, the mechanism with a planar five-bar kinematic chain in it is first studied. In order to generate the desired paths of the foot (coupler point), the dimensions of the mechanism are synthesized by using an optimization method. The coupler point of the synthesized mechanism can trace most of the prescribed paths; however, the kinematic analysis of the mechanism shows that there are some regions with poor transmission angles in the desired workspace. Then, a robot leg of serial-type and driven by tendons is developed. Finally, a robot dog with the tendon-driven legs is made for experiments. According to the experiments, some advantages and disadvantages of the tendon-driven leg mechanism are summarized, and the suggestions for improving the performances of the tendon-driven leg are also given.