Дисертації з теми "Mechatronics and robotics not elsewhere classified"
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Leitner, Jürgen. "From vision to actions: Towards adaptive and autonomous humanoid robots." Thesis, Università della Svizzera Italiana, 2014. https://eprints.qut.edu.au/90178/2/2014INFO020.pdf.
Повний текст джерела(9839792), Peter Thomas. "Evolutionary learning of control and strategies in robot soccer." Thesis, 2003. https://figshare.com/articles/thesis/Evolutionary_learning_of_control_and_strategies_in_robot_soccer/13423691.
Повний текст джерела(9834113), Suryamani Sharma. "Acoustic detection of flying vertebrate pest in fruit orchard: Case study of lorikeets." Thesis, 2018. https://figshare.com/articles/thesis/Acoustic_detection_of_flying_vertebrate_pest_in_fruit_orchard_Case_study_of_lorikeets/13445555.
Повний текст джерела(9876422), I. Sadasiva. "A real time code generator for power electronic applications and implementation of PWM converter control strategies." Thesis, 2002. https://figshare.com/articles/thesis/A_real_time_code_generator_for_power_electronic_applications_and_implementation_of_PWM_converter_control_strategies/13429301.
Повний текст джерела(9809531), Patrick Keleher. "Adaptive and sliding mode control of articulated robot arms using the Liapunov method incorporating constraint inequalities." Thesis, 2003. https://figshare.com/articles/thesis/Adaptive_and_sliding_mode_control_of_articulated_robot_arms_using_the_Liapunov_method_incorporating_constraint_inequalities/21721025.
Повний текст джерелаIn this thesis we investigate the control of rigid robotic manipulators using robust adaptive sliding mode tracking control. Physical state constraints are incorporated using a multiplicative penalty in a Liapunov function from which we obtain analytic control laws that drive the robot's endeffector into a desired fixed target within finite time.
(10716315), Vaibhav Kailas Ahire. "PHYSICS-BASED DIESEL ENGINE MODEL DEVELOPMENT CALIBRATION AND VALIDATION FOR ACCURATE CYLINDER PARAMETERS AND NOX PREDICTION." Thesis, 2021.
Знайти повний текст джерелаStringent regulatory requirements and modern diesel engine technologies have engaged automotive manufacturers and researchers in accurately predicting and controlling diesel engine-out emissions. As a result, engine control systems have become more complex and opaquer, increasing the development time and costs. To address this challenge, Model-based control methods are an effective way to deal with the criticality of the system study and controls. And physics-based combustion engine modeling is a key to achieve it. This thesis focuses on development and validation of a physics-based model for both engine and emissions using model-based design tools from MATLAB & Simulink. Engine model equipped with exhaust gas circulation and variable geometry turbine is adopted from the previously done work which was then integrated with the combustion and emission model that predicts the heat release rates and NOx emission from engine. Combustion model is designed based on the mass fraction burnt from CA10 to CA90 and then NOx predicted using the extended Zeldovich mechanism. The engine models are tuned for both steady state and dynamics test points to account for engine operating range from the performance data. Various engine and combustion parameters are estimated using parameter estimation toolbox from MATLAB and Simulink by applying least squared solver to minimize the error between measured and estimated variables. This model is validated against the virtual engine model developed in GT-power for Cummins 6.7L turbo diesel engine. To account the harmonization of the testing cycles to save engine development time globally, a world harmonized stationary cycle (WHSC) is used for the validation. Sub-systems are validated individually as well as in loop with a complete model for WHSC. Engine model validation showed promising accuracy of more than 88.4 percent in average for the desired parameters required for the NOx prediction. NOx estimation is accurate for the cycle except warm up and cool down phase. However, NOx prediction during these phases is limited due to actual NOx measured data for tuning the model for real time NOx estimation. Results are summarized at the end to compare the trend of NOx estimation from the developed combustion and emission model to show the accuracy of in-cylinder parameters and required for the NOx estimation.
(10725198), Yi Yang. "Electromechanical Characterization of Organic Field-Effect Transistors with Generalized Solid-State and Fractional Drift-Diffusion Models." Thesis, 2021.
Знайти повний текст джерелаThe miniaturization and thinning of wearable, soft robotics and medical devices are soon to require higher performance modeling as the physical flexibility causes direct impacts on the electrical characteristics of the circuit – changing its behavior. As a representative flexible electronic component, the organic field effect transistor (OFET) has attracted much attention in its manufacturing as well as applications. However, as the strain and stress effects are integrated into multiphysics modelers with deeper interactions, the computational complexity and accuracy of OFET modeling is resurfacing as a limiting bottleneck.
The dissertation was organized into three interrelated studies. In the first study, the Mass-Spring-Damper (MSD) model for an inverted staggered thin film transistor (TFT) was proposed to investigate the TFT’s internal stress/strain fields, and the strain effects on the overall characteristics of the TFT. A comparison study with the finite element analysis (FEA) model shows that the MSD model can reduce memory usage and raises the computational convergence speed for rendering the same results as the FEA. The second study developed the generalized solid-state model by incorporating the density of trap states in the band structure of organic semiconductors (OSCs). The introduction of trap states allows the generalized solid-state model to describe the electrical characteristics of both inorganic TFTs and organic field-effect transistors (OFETs). It is revealed through experimental verification that the generalized solid-state model can accurately characterize the bending induced electrical properties of an OFET in the linear and saturation regimes. The third study aims to model the transient and steady-state dynamics of an arbitrary organic semiconductor device under mechanical strain. In this study, the fractional drift-diffusion (Fr-DD) model and its computational scheme with high accuracy and high convergence rate were proposed. Based on simulation and experimental validation, the transconductance and output characteristics of a bendable OFET were found to be well determined by the Fr-DD model not only in the linear and saturation regimes, but also in the subthreshold regime.
(8796875), Dana L. Moryl. "A STUDY ON APHONOPELMA SEEMANI BIOMECHANICS OF MOTION WITH EMPHASIS ON POTENTIAL FOR BIOMIMETIC ROBOTICS DESIGN." Thesis, 2020.
Знайти повний текст джерелаWith a stable center of mass, pneumatic-aided movement, and the ability to scale multiple terrain types, the uniquely efficient and lightweight form of spiders has changed the way we think about robotic design. While the number of papers on arachnid biomechanics and spider-based biomimetic robots has been increasing in recent years, the style of analysis and the motion-types analyzed have barely changed since the 1980s. Current analyses are based on a force plate and treadmill design, in which the spider is induced into an escape run. This environmental change can affect the movements of the spider. Here I propose a novel method of testing the biomechanical and kinematic properties of spiders using a tank with a built-in sensor matrix which allows for a more natural environment for the specimens and provides force data from individual legs. The system detects a minimum force of .0196 N and has a sampling rate of 1,000 samples /second, which allows for the analysis of forces during the step. Aphonopelma seemanni, a tarantula commonly used in such research, but whose forces during movement have to date not been analyzed, was recorded walking across the matrix, and the forces, step patterns, joint angles, and center of mass deviations were recorded. Walking indicated significantly different step pattern traits than current literature, and forces per leg (.07281 N±.0235) recorded were much smaller than expected in comparison to other spiders. Statistical analysis also indicated no changes in walking movement over a range of temperatures, which also varies from literature. These findings indicate that further research on spiders should be done with respect to walking gaits in order to improve upon current biomimetic models.
Mastilovich, Nikola. "Automatisation of programming of a PLC code : a thesis presented in partial fulfilment of the requirements of the degree of Masters of Engineering in Mechatronics." 2010. http://hdl.handle.net/10179/1681.
Повний текст джерелаA competitive edge is one of the requirements of a successful business. Tools, which increase an engineer s productivity and minimize cost, can be considered as a competitive edge. The objective of this thesis was to design, create, and implement Automatic PLC Code Generator (APCG) software. A secondary objective was to demonstrate that the use of the APCG software will lead to improved project efficiency and enhanced profit margin. To create the APCG software, the MS Excel and Visual Basic for Applications (VBA) programs were used as the platform. MS Excel sheets were used as a user interface, while VBA creates the PLC code from the information entered by the engineer. The PLC code, created by the APCG software, follows the PLC structure of the Realcold Milmech Pty. Ltd, as well as the research Automatic generation of PLC code beyond the nominal sequence written by Guttel et al [1]. The APCG software was used to design and create a PLC code for one of the projects undertaken by Realcold Milmech Pty. Ltd. By using APCG software, time to design, create, and test the PLC code was improved when compared to the budgeted time. In addition, the project's profit margin was increased. Based on the results of this thesis it is expected that the APCG software will be useful for programmers that tend to handle a variety of projects on a regular basis, where programming in a modular way is not appropriate.
(8647860), Aniket Pal. "Design and Fabrication of Soft Biosensors and Actuators." Thesis, 2020.
Знайти повний текст джерелаOne of the largest application of soft materials has been in the field of flexible electronics, especially in wearable sensors. While wearable sensors for physical attributes such as strain, temperature, etc. have been popular, they lack applications and significance from a healthcare perspective. Point-of-care (POC) devices, on the other hand, provide exceptional healthcare value, bringing useful diagnostic tests to the bedside of the patient. POC devices, however, have been developed for only a limited number of health attributes. In this dissertation I propose and demonstrate wireless, wearable POC devices to measure and communicate the level of various analytes in and the properties of multiple biofluids: blood, urine, wound exudate, and sweat.
Along with sensors, another prominent area of soft materials application has been in actuators and robots which mimic biological systems not only in their action but also in their soft structure and actuation mechanisms. In this dissertation I develop design strategies to improve upon current soft robots by programming the storage of elastic strain energy. This strategy enables us to fabricate soft actuators capable of programmable and low energy consuming, yet high speed motion. Collectively, this dissertation demonstrates the use of soft compliant materials as the foundation for developing new sensors and actuators for human use and interaction.
(7023038), Thomas E. Craddock. "Ensuring Large-Displacement Stability in ac Microgrids." Thesis, 2019.
Знайти повний текст джерела(8728027), Venkatanaga Amrusha Aryasomyajula. "RELOCALIZATION AND LOOP CLOSING IN VISION SIMULTANEOUS LOCALIZATION AND MAPPING (VSLAM) OF A MOBILE ROBOT USING ORB METHOD." Thesis, 2020.
Знайти повний текст джерелаIn order to check the performance of the algorithm, the monocular and stereo and RGB-D cameras are used. The aim of this thesis is to show the accuracy of relocalization and loop closing process using ORB SLAM algorithm in a variety of environmental settings. The performance of relocalization and loop closing in different challenging indoor scenarios are demonstrated by conducting various experiments. Experimental results show the applicability of the approach in real time application like autonomous navigation.
(11192937), Mandira S. Marambe. "Optimization Approach for Multimodal Sensory Feedback in Robot-assisted Tasks." Thesis, 2021.
Знайти повний текст джерела(10756674), Doga Y. Ozgulbas. "AUTONOMOUS NAVIGATION AND ROOM CATEGORIZATION FOR AN ASSISTANT ROBOT." Thesis, 2021.
Знайти повний текст джерелаGlobally, there are more than 727 million people aged 65 years and older in the world, and the elderly population is expected to grow more than double in the next three decades. Families search for affordable and quality care for their senior loved ones will have an effect on the care-giving profession. A personal robot assistant could help with daily tasks such as carrying things for them and keeping track of their routines, relieving the burdens of human caregivers. Performing mentioned tasks usually requires the robot to autonomously navi- gate. An autonomous navigation robot should collect the knowledge of its surroundings by mapping the environment, find its position in the map and calculate trajectories by avoiding obstacles. Furthermore, to assign specific tasks which are in various locations, robot has to categorize the rooms in addition to memorizing the respective coordinates. In this research, methods have been developed to achieve autonomous navigation and room categorization of a mobile robot within indoor environments. A Simultaneously Localization and Map- ping (SLAM) algorithm has been used to build the map and localize the robot. Gmapping, a method of SLAM, was applied by utilizing an odometry and a 2D Light Detection and Ranging (LiDAR) sensor. The trajectory to achieve the goal position by an optimal path is provided by path planning algorithms, which is divided into two parts namely, global and local planners. Global path planning has been produced by DIJKSTRA and local path planning by Dynamic Window Approach (DWA). While exploring new environments with Gmapping and trajectory planning algorithms, rooms in the generated map were classified by a powerful deep learning algorithm called Convolutional Neural Network (CNN). Once the environment is explored, the robots localization in the 2D space is done by Adaptive Monte Carlo Localization (AMCL). To utilize and test the methods above, Gazebo software by The Robotic Operating System (ROS) was used and simulations were performed prior to real life experiments. After the trouble-shooting and feedback acquired from simulations, the robot was able to perform above tasks and later tested in various indoor environments. The environment was mapped successfully by Gmapping and the robot was located within the map by AMCL. Compared to the theoretical maximum efficient path, the robot was able to plan the trajectory with acceptable deviation. In addition, the room names were classified with minimum of 85% accuracy by CNN algorithm. Autonomous navigation results show that the robot can assist elderly people in their home environment by successfully exploring, categorizing and navigating between the rooms.
(5930165), Xinwu Qian. "Linking urban mobility with disease contagion in urban networks." Thesis, 2019.
Знайти повний текст джерела(8800964), Maria Nieves Brunet Avalos. "Stereo vision-based system for detection, track and capture of intruder flying drones." Thesis, 2020.
Знайти повний текст джерела(6259343), Xiaodong Hou. "Distributed Solutions for a Class of Multi-agent Optimization Problems." Thesis, 2019.
Знайти повний текст джерела(10734243), Attila Lendek. "TIME-VARYING FRACTIONAL-ORDER PID CONTROL FOR MITIGATION OF DERIVATIVE KICK." Thesis, 2021.
Знайти повний текст джерела(9708467), Siddhant Srinath Betrabet. "Data Acquisition and Processing Pipeline for E-Scooter Tracking Using 3D LIDAR and Multi-Camera Setup." Thesis, 2021.
Знайти повний текст джерелаAnalyzing behaviors of objects on the road is a complex task that requires data from various sensors and their fusion to recreate movement of objects with a high degree of accuracy. A data collection and processing system are thus needed to track the objects accurately in order to make an accurate and clear map of the trajectories of objects relative to various coordinate frame(s) of interest in the map. Detection and tracking moving objects (DATMO) and Simultaneous localization and mapping (SLAM) are the tasks that needs to be achieved in conjunction to create a clear map of the road comprising of the moving and static objects.
These computational problems are commonly solved and used to aid scenario reconstruction for the objects of interest. The tracking of objects can be done in various ways, utilizing sensors such as monocular or stereo cameras, Light Detection and Ranging (LIDAR) sensors as well as Inertial Navigation systems (INS) systems. One relatively common method for solving DATMO and SLAM involves utilizing a 3D LIDAR with multiple monocular cameras in conjunction with an inertial measurement unit (IMU) allows for redundancies to maintain object classification and tracking with the help of sensor fusion in cases when sensor specific traditional algorithms prove to be ineffectual when either sensor falls short due to their limitations. The usage of the IMU and sensor fusion methods relatively eliminates the need for having an expensive INS rig. Fusion of these sensors allows for more effectual tracking to utilize the maximum potential of each sensor while allowing for methods to increase perceptional accuracy.
The focus of this thesis will be the dock-less e-scooter and the primary goal will be to track its movements effectively and accurately with respect to cars on the road and the world. Since it is relatively more common to observe a car on the road than e-scooters, we propose a data collection system that can be built on top of an e-scooter and an offline processing pipeline that can be used to collect data in order to understand the behaviors of the e-scooters themselves. In this thesis, we plan to explore a data collection system involving a 3D LIDAR sensor and multiple monocular cameras and an IMU on an e-scooter as well as an offline method for processing the data to generate data to aid scenario reconstruction.
(10063480), Monil Vallabhbh Chheta. "DESIGN AND IMPLEMENTATION OF ENERGY USAGE MONITORING AND CONTROL SYSTEMS USING MODULAR IIOT FRAMEWORK." Thesis, 2021.
Знайти повний текст джерелаThis project aims to develop a cloud-based platform that integrates sensors with business intelligence for real-time energy management at the plant level. It provides facility managers, an energy management platform that allows them to monitor equipment and plant-level energy consumption remotely, receive a warning, identify energy loss due to malfunction, present options with quantifiable effects for decision-making, and take actions, and assess the outcomes. The objectives consist of:
Developing a generic platform for the monitoring energy consumption of industrial equipment using sensors
Control the connected equipment using an actuator
Integrating hardware, cloud, and application algorithms into the platform
Validating the system using an Energy Consumption Forecast scenario
A Demo station was created for testing the system. The demo station consists of equipment such as air compressor, motor and light bulb. The current usage of these equipment is measured using current sensors. Apart from current sensors, temperature sensor, pres- sure sensor and CO2 sensor were also used. Current consumption of these equipment was measured over a couple of days. The control system was tested randomly by turning on equipment at random times. Turning on the equipment resulted in current consumption which ensured that the system is running. Thus, the system worked as expected and user could monitor and control the connected equipment remotely.
(9006635), Debkalpa Goswami. "Design and Manufacturing of Flexible Optical and Mechanical Metamaterials." Thesis, 2020.
Знайти повний текст джерелаMetamaterials
are artificially structured materials which attain their unconventional macroscopic
properties from their cellular configuration rather than their constituent
chemical composition. The judicious design of this cellular structure opens the
possibility to program and control the optical, mechanical, acoustic,
or thermal responses of metamaterials. This Ph.D. dissertation focuses on
scalable design and manufacturing strategies for optical and
mechanical metamaterials.
The fabrication of optical metamaterials still relies heavily on low-throughput process such as electron beam lithography, which is a serial technique. Thus, there is a growing need for the development of high-throughput, parallel processes to make the fabrication of optical metamaterials more accessible and cost-effective. The first part of this dissertation presents a scalable manufacturing method, termed “roll-to-roll laser induced superplasticity” (R2RLIS), for the production of flexible optical metamaterials, specifically metallic near-perfect absorbers. R2RLIS enables the rapid and inexpensive fabrication of ultra-smooth metallic nanostructures over large areas using conventional CO2 engravers or inexpensive diode lasers. Using low-cost metal/epoxy nanomolds, the minimum feature size obtained by R2RLIS was <40 nm, facilitating the rapid fabrication of flexible near-perfect absorbers at visible frequencies with the capability to wrap around non-planar surfaces.
The existing approaches for designing mechanical metamaterials are mostly ad hoc, and rely heavily on intuition and trial-and-error. A rational and systematic approach to create functional and programmable mechanical metamaterials is therefore desirable to unlock the vast design space of mechanical properties. The second part of this dissertation introduces a systematic, algorithmic design strategy based on Voronoi tessellation to create architected soft machines (ASMs) and twisting mechanical metamaterials (TMMs) with programmable motion and properties. ASMs are a new class of soft machines that benefit from their 3D-architected structure to expand the range of mechanical properties and behaviors achievable by 3D printed soft robots. On tendon-based actuation, ASMs deform according to the topologically encoded buckling of their structure to produce a wide range of motions such as contraction, twisting, bending, and cyclic motion. TMMs are a new class of chiral mechanical metamaterials which exhibit compression-twist coupling, a property absent in isotropic materials. This property manifests macroscopically and is independent of the flexible material chosen to fabricate the TMM. The nature of this compression-twist coupling can be programmed by simply tuning two design parameters, giving access to distinct twisting regimes and tunable onset of auxetic (negative Poisson’s ratio) behavior. Taking a metamaterial approach toward the design of soft machines substantially increases their number of degrees of freedom in deformation, thus blurring the boundary between materials and machines.
(8072417), Braiden M. Frantz. "Active Shooter Mitigation for Open-Air Venues." Thesis, 2021.
Знайти повний текст джерелаThis dissertation examines the impact of active shooters upon patrons attending large outdoor events. There has been a spike in shooters targeting densely populated spaces in recent years, to include open-air venues. The 2019 Gilroy Garlic Festival was selected for modeling replication using AnyLogic software to test various experiments designed to reduce casualties in the event of an active shooter situation. Through achievement of validation to produce identical outcomes of the real-world Gilroy Garlic Festival shooting, the researcher established a reliable foundational model for experimental purposes. This active shooter research project identifies the need for rapid response efforts to neutralize the shooter(s) as quickly as possible to minimize casualties. Key findings include the importance of armed officers patrolling event grounds to reduce response time, the need for adequate exits during emergency evacuations, incorporation of modern technology to identify the shooter’s location, and applicability of a 1:548 police to patron ratio.