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- All Subjects: robotics
- Creators: Marvi, Hamidreza
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
This dissertation proposes two real-time human activity recognition algorithms intelligent fuzzy inference (IFI) algorithm and Amplitude omega ($A \omega$) algorithm to identify the human activities, i.e., stationary and locomotion activities. The IFI algorithm uses knee angle and ground contact forces (GCFs) measurements from four inertial measurement units (IMUs) and a pair of smart shoes. Whereas, the $A \omega$ algorithm is based on thigh angle measurements from a single IMU.
This dissertation also attempts to address the problem of online tuning of virtual impedance for an assistive robot based on real-time gait and activity measurement data to personalize the assistance for different users. An automatic impedance tuning (AIT) approach is presented for a knee assistive device (KAD) in which the IFI algorithm is used for real-time activity measurements. This dissertation also proposes an adaptive oscillator method known as amplitude omega adaptive oscillator ($A\omega AO$) method for HeSA (hip exoskeleton for superior augmentation) to provide bilateral hip assistance during human locomotion activities. The $A \omega$ algorithm is integrated into the adaptive oscillator method to make the approach robust for different locomotion activities. Experiments are performed on healthy subjects to validate the efficacy of the human activities recognition algorithms and control strategies proposed in this dissertation. Both the activity recognition algorithms exhibited higher classification accuracy with less update time. The results of AIT demonstrated that the KAD assistive torque was smoother and EMG signal of Vastus Medialis is reduced, compared to constant impedance and finite state machine approaches. The $A\omega AO$ method showed real-time learning of the locomotion activities signals for three healthy subjects while wearing HeSA. To understand the influence of the assistive devices on the inherent dynamic gait stability of the human, stability analysis is performed. For this, the stability metrics derived from dynamical systems theory are used to evaluate unilateral knee assistance applied to the healthy participants.
ano fibrils found on the feet that rely on Van Der Waals forces to adhere. A few experimental and theoretical approaches have been taken to understand the adhesion mechanism of gecko feet. This work explains the building procedure of custom experimental setup to test the adhesion force over a temperature range and extends its application in space environment, potentially unsafe working condition.
This study demonstrates that these adhesive capable of switching adhesive properties not only at room environment but also over a temperature range of -160 degC to 120 degC in vacuum conditions. These conditions are similar to the condition experienced by a satellite in a space orbiting around the earth. Also, this study demonstrated various detachment and specimen patch preparation methods. The custom-made experimental setup for adhesion test can measure adhesion force in temperature and pressure controlled environment over specimen size of 1 sq. inch. A cryogenic cooling system with liquid nitrogen is used to achieve -160 degC and an electric resistive heating system are used to achieve 120 degC in controlled volume. Thermal electrodes, infrared thermopile detectors are used to record temperature at sample and pressure indicator to record vacuum condition in controlled volume. Reversibility of the switching behaviour of the specimen in controlled environment confirms its application in space and very high or very low-temperature conditions.
The experimental setup was developed using SolidWorks as a design tool, Ansys as simulation tool and the data acquisition utilizes LabVIEW available in the market today.
Lossy compression is a form of compression that slightly degrades a signal in ways that are ideally not detectable to the human ear. This is opposite to lossless compression, in which the sample is not degraded at all. While lossless compression may seem like the best option, lossy compression, which is used in most audio and video, reduces transmission time and results in much smaller file sizes. However, this compression can affect quality if it goes too far. The more compression there is on a waveform, the more degradation there is, and once a file is lossy compressed, this process is not reversible. This project will observe the degradation of an audio signal after the application of Singular Value Decomposition compression, a lossy compression that eliminates singular values from a signal’s matrix.
A description of the robotics principles, actuators, materials, and programming used to test the durability of dendritic identifiers to be used in the produce supply chain. This includes the application of linear and rotational servo motors, PWM control of a DC motor, and hall effect sensors to create an encoder.