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Vanderbilt University
1.
Lawson, Brian Edward.
A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.
Degree: MS, Mechanical Engineering, 2011, Vanderbilt University
URL: http://hdl.handle.net/1803/15319 
► This thesis presents the design and testing of a standing controller for a powered transfemoral prosthesis that is capable of real-time ground slope adaptation and…
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▼ This thesis presents the design and testing of a standing controller for a powered transfemoral prosthesis that is capable of real-time ground slope adaptation and sit-to-stand and stand-to-sit transitions. The controller is implemented as a finite state machine that performs state transitions based upon mechanical signals measured in the prosthesis. The ground slope adaptation is enabled by an inertial measurement algorithm that utilizes accelerometers and gyroscopes. The performance of the controller is compared to a commercially-available passive prosthesis through testing on an amputee subject. The prosthesis is shown to provide biomechanically normal ankle impedances while standing on a range of ground slopes. Additionally, the test subject’s weight bearing distribution while using the powered prosthesis is improved on all tested slopes relative to the passive prosthesis.
Advisors/Committee Members: Eric Barth (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: prosthesis; transfemoral; amputee; standing; ground adaptation
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APA (6th Edition):
Lawson, B. E. (2011). A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15319
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Lawson, Brian Edward. “A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.” 2011. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/15319.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Lawson, Brian Edward. “A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis.” 2011. Web. 16 Jan 2021.
Vancouver:
Lawson BE. A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2011. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/15319.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Lawson BE. A Multi-Purpose Finite State-Based Standing Controller for a Powered Transfemoral Prosthesis. [Thesis]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/15319
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
2.
Chen, Yue.
MR-conditional Concentric Tube Robots
in Neurosurgical Applications.
Degree: PhD, Mechanical Engineering, 2018, Vanderbilt University
URL: http://hdl.handle.net/1803/15415
► This dissertation presents the design, manufacturing, control, and validation of actuation systems and robotic platforms to deploy the concentric tube robot under magnetic resonance image…
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▼ This dissertation presents the design, manufacturing, control, and validation of actuation systems and robotic platforms to deploy the concentric tube robot under magnetic resonance image (MRI) guidance for neurosurgical applications. The motivation for MR-guided concentric tube robot based neurosurgical interventions comes from (1) the high-resolution image quality of soft tissue, no radiation exposure, and accurate thermal does monitoring capability provided by MRI, (2) the large number of patient who could benefit from the proposed robotic platforms ( intracerebral hemorrhage accounts for 10% to 15% of all the strokes with the 30-day mortality rate of about 43%; epilepsy is a prevalent neurological disorder which affects 65 million people in the world), and (3) limited treatment outcome and the invasive characteristics of the existing approaches to treat the neurosurgical disorders. However, the challenges in developing an MR-conditional robot are clear: the confined in-bore space of MRI scanners induces spatial constraints and strong magnetic field precludes the use of conventional medical devices made of ferromagnetic or paramagnetic materials. Therefore, the goal of this work presented here is to (1) develop an MR-conditional pneumatic actuation unit and (2) apply it to construct the concentric tube robot for the intracerebral hemorrhage and epilepsy applications. The design, fabrication, working principle, encoding, control, and validation of the actuation unit are described. This motor has the advantages of 1) simple continuous actuation, 2) compact optical encoding, 3) low-cost additive manufacturability, and 4) ability to integrate with off-the-shelf modular gearboxes to meet various requirements. Having this robust MR-conditional actuation unit, two different types of MR-guided concentric tube robots are developed to treat the intracerebral hemorrhage and epilepsy respectively. Real-time MR imaging is integrated into the intracerebral hemorrhage evacuation robot control loop to provide the accurate manipulation of the concentric tube and intraoperative monitoring the treatment outcome. In the epilepsy treatment, a novel helical shape concentric tube robot with RF ablation capability is presented to enable minimally invasive, transforamen ovale approach under MR image guidance. Both robots are tested in phantom models and ex vivo tissue within a 3T MRI scanner to validate their performances, i.e. MR-conditionality, in-scanner targeting performance, image-guided hemorrhage evacuation, and MR-guided ablation respectively. This dissertation herein addresses the design, modeling, control, and experimental validation of MR-conditional concentric tube robots with particular interest to neurosurgical applications. The hardware components and control methods could potentially pave the way for the MR-guided minimally-invasive approach to treat the neurological disorders in the future.
Advisors/Committee Members: Hong Yu (committee member), William Grissom (committee member), Karl Zelik (committee member), Eric Barth (Committee Chair), Robert Webster (Committee Chair).
Subjects/Keywords: MRI; Concentric Tube Robots; Neurosurgical
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APA (6th Edition):
Chen, Y. (2018). MR-conditional Concentric Tube Robots
in Neurosurgical Applications. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15415
Chicago Manual of Style (16th Edition):
Chen, Yue. “MR-conditional Concentric Tube Robots
in Neurosurgical Applications.” 2018. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/15415.
MLA Handbook (7th Edition):
Chen, Yue. “MR-conditional Concentric Tube Robots
in Neurosurgical Applications.” 2018. Web. 16 Jan 2021.
Vancouver:
Chen Y. MR-conditional Concentric Tube Robots
in Neurosurgical Applications. [Internet] [Doctoral dissertation]. Vanderbilt University; 2018. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/15415.
Council of Science Editors:
Chen Y. MR-conditional Concentric Tube Robots
in Neurosurgical Applications. [Doctoral Dissertation]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/15415
Vanderbilt University
3.
Hofacker, Mark Elliot.
Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/15308
► This dissertation presents the unique design and control of three energy conversion devices. A prototype bridge vibration energy harvester, a free-piston engine compressor, and a…
(more)
▼ This dissertation presents the unique design and control of three energy conversion devices. A prototype bridge vibration energy harvester, a free-piston engine compressor, and a Stirling thermocompressor were modeled, designed and constructed. Although these projects differ in many important ways, this dissertation describes how to cast widely different energy conversion devices, such as these, into a common impedance matching framework.
This framework is first used to describe the design and control of a bridge vibration energy harvester meant to power bridge health monitoring electronics. Impedance matching considerations were applied to the mechanical design of a low friction 1-DOF mechanism and to a control law derived using the maximum power transfer theorem. The harvester’s dynamics were cast as a Thevenin equivalent circuit and an unstable, canonical controller that harvests the maximum power from every frequency was derived by taking the complex conjugate of the circuit’s multi-domain impedance. An implementable, stable controller was found through constrained optimization and is shown in simulation to improve performance over an equivalent, passively controlled device.
The second application of this framework is a free piston engine compressor intended to serve as an untethered pneumatic power supply for a compact rescue crawler robot. A prototype device is presented that makes improvements over previous iterations including a self-balancing, figure-8 liquid piston configuration, onboard electronics and control, a finite state control scheme, and an improved compressor head. The advantages of the check valve’s dynamics and the figure-8 piston configuration are proven mathematically. These improvements result in a low-vibration, stand-alone device that experimentally demonstrated a 60% increase in pumping pressure over previous iterations.
The third application of this framework is a Stirling thermocompressor intended to serve as a quiet, untethered, pneumatic power supply for an ankle foot orthosis. The goal of high efficiency at the target power density is pursued through the use of novel heat exchangers in combination with high operating temperature and frequency. The motion of the displacer piston is controlled utilizing a brushless DC motor which drives a continuous linear reciprocating screw. A dynamic model of the heat transfer and pressure dynamics portions of the thermocompressor are developed and experimentally validated.
Although the bridge vibration energy harvester, free piston engine compressors, and Stirling thermocompressor are quite dissimilar, this dissertation describes how to cast widely different energy conversion devices into a common impedance matching framework. Each of the devices presented in this document emphasize different aspects of the three major conceptual components: the energetic source, the source impedance and the load impedance. By considering the relevant conceptual components for each device, insights were gained into the fundamental mechanisms needed to transfer…
Advisors/Committee Members: Kenneth Pence (committee member), Pietro Valdastri (committee member), Michael Goldfarb (committee member), Robert Webster (committee member), Eric Barth (Committee Chair).
Subjects/Keywords: free piston engine compressor; Stirling thermocompressor; bridge vibration energy harvester; dynamic energy conversion
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APA (6th Edition):
Hofacker, M. E. (2013). Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15308
Chicago Manual of Style (16th Edition):
Hofacker, Mark Elliot. “Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/15308.
MLA Handbook (7th Edition):
Hofacker, Mark Elliot. “Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices.” 2013. Web. 16 Jan 2021.
Vancouver:
Hofacker ME. Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/15308.
Council of Science Editors:
Hofacker ME. Model-Based Design and Experimental Validation of Multi-Domain Dynamic Energy Conversion Devices. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/15308
Vanderbilt University
4.
Mitchell, Jason Edward.
Design of modular self contained knee and ankle prostheses.
Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University
URL: http://hdl.handle.net/1803/14523
► Losing a lower limb and specifically the power that it generates, has a major impact on ambulation including having to expend more metabolic energy and…
(more)
▼ Losing a lower limb and specifically the power that it generates, has a major impact on ambulation including having to expend more metabolic energy and exert more hip power and torque on the affected side. There are currently a small number of commercially available powered prostheses but they are not capable of providing the full range of motion and power of the lost limb. Additionally there are no prostheses which have both a powered knee and ankle joint. It is the hypothesis of this work that lower limb prosthetic devices can be designed which provide biomechanically normal levels of torque, speed, and range of motion in self-contained, reliable, quiet, and anatomical packages. Described herein is the mechanical design, development and testing of several such devices. Initial work focused on the development of several key components including a ground contact sensing load cell, a biasing spring foot, and a robust and compact transmission design. Subsequent work incorporated these components into a transfemoral prosthesis with powered knee and ankle joints. In addition, a transtibial version was fabricated with a powered ankle joint. Both of these designs conform closely to the anatomical envelope of an average sized male limb. Experiments with amputee subjects validate the design through the demonstration of kinematics and kinetics that closely match those of the lost limb.
Advisors/Committee Members: Robert Webster (committee member), Eric Barth (committee member), Paul King (committee member), George Cook (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: powered prosthetic
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APA (6th Edition):
Mitchell, J. E. (2014). Design of modular self contained knee and ankle prostheses. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14523
Chicago Manual of Style (16th Edition):
Mitchell, Jason Edward. “Design of modular self contained knee and ankle prostheses.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14523.
MLA Handbook (7th Edition):
Mitchell, Jason Edward. “Design of modular self contained knee and ankle prostheses.” 2014. Web. 16 Jan 2021.
Vancouver:
Mitchell JE. Design of modular self contained knee and ankle prostheses. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14523.
Council of Science Editors:
Mitchell JE. Design of modular self contained knee and ankle prostheses. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/14523
Vanderbilt University
5.
Michaels, Timothy Joseph.
Node Generation on Surfaces and Bounds on Minimal Riesz Energy.
Degree: PhD, Mathematics, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/14461
► Discretizing a manifold is a far reaching subject throughout the mathematical and physical sciences. This thesis has two principal foci. We present and analyze a…
(more)
▼ Discretizing a manifold is a far reaching subject throughout the mathematical and physical sciences. This thesis has two principal foci. We present and analyze a variety of algorithms for generating point configurations on d-dimensional sphere and the torus, as well introduce a generic strategy for generating locally quasi-uniform points of variable density on any full dimensional subset of Euclidean space. The methods and algorithms are concentrated on construction and computation, though we also prove some properties of distribution and mesh ratio. For the variable density nodes, we consider the particular application to atmospheric modeling with radial basis functions. We implement a parallelizable algorithm to initialize good starting configurations for efficient modeling.
Secondly, we prove a lower bound on the asymptotic Riesz minimal energy in the hypersingular case based off of the linear programming method. This general framework for obtaining lower bounds for minimal energy configurations on the d-dimensional sphere was developed by Yudin and based on the Delsart-Goethals-Seidel bounds on spherical designs. Combining these methods with Levenshtein's work on maximal spherical codes, explicit universal lower bounds are established depending only on the potential function for any monotone potential. We extend this to the asymptotic case as N approaches infinity. In addition, we apply this method to infinite Gaussian potentials on Euclidean space.
Advisors/Committee Members: Alex Powell (committee member), Akram Aldroubi (committee member), Eric Barth (committee member), Ed Saff (Committee Chair), Doug Hardin (Committee Chair).
Subjects/Keywords: spherical configurations; atmospheric modeling; minimal energy
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APA (6th Edition):
Michaels, T. J. (2017). Node Generation on Surfaces and Bounds on Minimal Riesz Energy. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14461
Chicago Manual of Style (16th Edition):
Michaels, Timothy Joseph. “Node Generation on Surfaces and Bounds on Minimal Riesz Energy.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14461.
MLA Handbook (7th Edition):
Michaels, Timothy Joseph. “Node Generation on Surfaces and Bounds on Minimal Riesz Energy.” 2017. Web. 16 Jan 2021.
Vancouver:
Michaels TJ. Node Generation on Surfaces and Bounds on Minimal Riesz Energy. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14461.
Council of Science Editors:
Michaels TJ. Node Generation on Surfaces and Bounds on Minimal Riesz Energy. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/14461
Vanderbilt University
6.
Martinez Guerra, Andres.
Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/13051
► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused…
(more)
▼ Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused on leg kinematics rather than examining both the kinematics and interactions between the user and the device. This dissertation describes the development and validation of control strategies for powered lower-limb orthoses that improve leg kinematics while providing smoother interactions between the user and orthosis. This work details the first adaptation of a passive, position-based spring-damper controller for overground walking. Afterwards, the development of an active velocity-based controller for overground walking aimed at reducing the disturbance torques to the user is explained. The last chapter of this work details the adaptation of the velocity-based controller to a single degree of freedom knee-ankle-foot orthosis with a powered knee.
Advisors/Committee Members: Kevin Galloway (committee member), Eric Barth (committee member), Ryan Farris (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Rehabilitation Robotics; Controls; Lower-Limb Exoskeleton
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APA (6th Edition):
Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13051
Chicago Manual of Style (16th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/13051.
MLA Handbook (7th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 16 Jan 2021.
Vancouver:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/13051.
Council of Science Editors:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/13051
Vanderbilt University
7.
Martinez Guerra, Andres.
Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.
Degree: PhD, Mechanical Engineering, 2019, Vanderbilt University
URL: http://hdl.handle.net/1803/12867
► Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused…
(more)
▼ Wearable, powered lower-limb orthoses have begun to emerge as viable assistive devices for individuals with mobility impairments. Control approaches for powered lower-limb orthoses have focused on leg kinematics rather than examining both the kinematics and interactions between the user and the device. This dissertation describes the development and validation of control strategies for powered lower-limb orthoses that improve leg kinematics while providing smoother interactions between the user and orthosis. This work details the first adaptation of a passive, position-based spring-damper controller for overground walking. Afterwards, the development of an active velocity-based controller for overground walking aimed at reducing the disturbance torques to the user is explained. The last chapter of this work details the adaptation of the velocity-based controller to a single degree of freedom knee-ankle-foot orthosis with a powered knee.
Advisors/Committee Members: Eric Barth (committee member), Ryan Farris (committee member), Kevin Galloway (committee member), Karl Zelik (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: lower-limb exoskeletons; controls; rehabilitation robotics
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APA (6th Edition):
Martinez Guerra, A. (2019). Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12867
Chicago Manual of Style (16th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/12867.
MLA Handbook (7th Edition):
Martinez Guerra, Andres. “Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities.” 2019. Web. 16 Jan 2021.
Vancouver:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Internet] [Doctoral dissertation]. Vanderbilt University; 2019. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/12867.
Council of Science Editors:
Martinez Guerra A. Control Methodologies for Powered Orthoses for People with Ambulatory Disabilities. [Doctoral Dissertation]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/12867
Vanderbilt University
8.
Bennett, Daniel Alvin.
Design and Assessment of an Upper Extremity Prosthetic System.
Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University
URL: http://hdl.handle.net/1803/15287
► This dissertation presents the design, development, characterization, and assessment of a transhumeral prosthesis which includes a 9 degree of freedom (DOF) multigrasp hand, a single…
(more)
▼ This dissertation presents the design, development, characterization, and assessment of a transhumeral prosthesis which includes a 9 degree of freedom (DOF) multigrasp hand, a single DOF wrist rotator, and a single DOF elbow joint. Through characterization of the achievable joint torques and speeds, the prosthesis was proven capable of performing the majority of activities of daily living (ADLs) that a typical amputee would find necessary. The purpose of the prosthesis was to serve as a testbed for novel control methodologies, and so for the practical assessments and simulated ADLs it was used to test several different controllers. The controllers implemented on the prosthesis were the Multigrasp Myoelectric Controller (MMC) for the control of the multigrasp hand, and an inertial measurement unit (IMU) based coordinated controller for the control of a wrist. The MMC was developed prior to the work presented in this dissertation, and allowed full access to multigrasp hand functionality with a standard 2-site myoelectric interface. The development of the IMU based coordinated controller was a major piece of this dissertation, and used an IMU to take advantage of motion synergies between wrist pronation/supination and shoulder abduction. In this controller, shoulder abduction directly controlled the rotational velocity of the wrist, which can be coupled with a myoelectric hand control interface to enable simultaneous control and coordination of multiple sound and prosthetic joints. In a study where 5 able-bodied subjects using the hand and wrist prostheses with an adapter to perform simulated ADLs, the coordinated controller was shown to complete the tasks approximately 35% faster without any significant increase in compensatory motion when compared with a traditional sequential myoelectric controller.
Advisors/Committee Members: Robert Webster, III (committee member), Eric Barth (committee member), Nilanjan Sarkar (committee member), Gerasimos Bastas (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Robotics; Prosthetics; Prosthesis Control; Transhumeral
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APA (6th Edition):
Bennett, D. A. (2015). Design and Assessment of an Upper Extremity Prosthetic System. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15287
Chicago Manual of Style (16th Edition):
Bennett, Daniel Alvin. “Design and Assessment of an Upper Extremity Prosthetic System.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/15287.
MLA Handbook (7th Edition):
Bennett, Daniel Alvin. “Design and Assessment of an Upper Extremity Prosthetic System.” 2015. Web. 16 Jan 2021.
Vancouver:
Bennett DA. Design and Assessment of an Upper Extremity Prosthetic System. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/15287.
Council of Science Editors:
Bennett DA. Design and Assessment of an Upper Extremity Prosthetic System. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/15287
Vanderbilt University
9.
Farris, Ryan James.
Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.
Degree: PhD, Mechanical Engineering, 2012, Vanderbilt University
URL: http://hdl.handle.net/1803/10607
► This work describes the design and implementation of a powered lower limb exoskeleton for providing legged mobility to the spinal cord injury (SCI) population. The…
(more)
▼ This work describes the design and implementation of a powered lower limb exoskeleton for providing legged mobility to the spinal cord injury (SCI) population. The exoskeleton has a mass of 12.5 kg and provides sagital plane joint torques of up to 65 Nm at the hips and knees to enable walking, sit-to-stand transitions, stand-to-sit transitions, stair ascent, and stair descent. A custom distributed embedded system controls the exoskeleton with power being provided by a lithium polymer battery. The control structure provides an intuitive interface between the user and the exoskeleton for ease of use with a minimal learning curve. In order to demonstrate the ability of the exoskeleton to assist walking and stair ascent/descent, the exoskeleton was experimentally implemented on a paraplegic subject with a T10 complete injury. Data collected during walking indicates a high degree of step-to-step repeatability of hip and knee trajectories (as enforced by the exoskeleton). Experimental data is presented characterizing the joint torque and power required to provide stair ascent and descent functionality to a person with paraplegia. Also described is a functional assessment protocol for assessing the mobility and exertion associated with systems that provide legged mobility assistance for persons with SCI.
Advisors/Committee Members: Robert J. Webster III (committee member), Eric Barth (committee member), Nilanjan Sarkar (committee member), Peter Konrad (committee member), Chris Byrne (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: rehabilitation robotics; paraplegia; powered orthosis; SCI; Lower limb exoskeleton; assitive technology
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APA (6th Edition):
Farris, R. J. (2012). Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10607
Chicago Manual of Style (16th Edition):
Farris, Ryan James. “Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.” 2012. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/10607.
MLA Handbook (7th Edition):
Farris, Ryan James. “Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics.” 2012. Web. 16 Jan 2021.
Vancouver:
Farris RJ. Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. [Internet] [Doctoral dissertation]. Vanderbilt University; 2012. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/10607.
Council of Science Editors:
Farris RJ. Design of a Powered Lower-Limb Exoskeleton and Control for Gait Assistance in Paraplegics. [Doctoral Dissertation]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/10607
Vanderbilt University
10.
Dalley, Skyler Ashton.
Development and Control of a Multigrasp Myoelectric Hand Prosthesis.
Degree: PhD, Mechanical Engineering, 2013, Vanderbilt University
URL: http://hdl.handle.net/1803/13857
► Externally powered transradial prostheses have traditionally been limited to devices that are broad abstractions of the natural hand, possessing a single degree of freedom and…
(more)
▼ Externally powered transradial prostheses have traditionally been limited to devices that are broad abstractions of the natural hand, possessing a single degree of freedom and having limited grasping capability. Enabled by recent technological advances, multigrasp prosthetic hands with greater anthropomorphic fidelity have now begun to emerge, although the ability to communicate with and control such devices is limited. In light of these facts, the goal of the work described herein was to develop a control interface to provide full access to the capability of a multigrasp hand, and thereby enhance the ability of an amputee to perform the activities of daily living. To achieve this, a multigrasp hand prosthesis was constructed along with a state-based multigrasp myoelectric controller (MMC). Initial tests were performed by non-amputee participants in a virtual environment so that the performance of a virtual prosthesis, as controlled by the multigrasp myoelectric controller, could be compared to the performance of the native hand. Functional assessments were then performed in a laboratory setting by an amputee participant to investigate the effectiveness of the physical system, in addition to a wide variety of commercial devices, in performing the activities of daily living. This dissertation presents the results of the above work, and demonstrates that the prosthetic system provides functional utility comparable to its commercial counterparts, while allowing rapid access the full range of grasps and postures provided by a multigrasp myoelectric hand.
Advisors/Committee Members: Pietro Valdastri (committee member), Nilanjan Sarkar (committee member), Peter Konrad (committee member), Eric Barth (committee member), Robert Webster (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Assessment; Multigrasp; Myoelectric; Prosthesis; Hand; Control
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APA (6th Edition):
Dalley, S. A. (2013). Development and Control of a Multigrasp Myoelectric Hand Prosthesis. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13857
Chicago Manual of Style (16th Edition):
Dalley, Skyler Ashton. “Development and Control of a Multigrasp Myoelectric Hand Prosthesis.” 2013. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/13857.
MLA Handbook (7th Edition):
Dalley, Skyler Ashton. “Development and Control of a Multigrasp Myoelectric Hand Prosthesis.” 2013. Web. 16 Jan 2021.
Vancouver:
Dalley SA. Development and Control of a Multigrasp Myoelectric Hand Prosthesis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2013. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/13857.
Council of Science Editors:
Dalley SA. Development and Control of a Multigrasp Myoelectric Hand Prosthesis. [Doctoral Dissertation]. Vanderbilt University; 2013. Available from: http://hdl.handle.net/1803/13857
Vanderbilt University
11.
Ekelem, Andrew.
Control Methods for Improving Mobility for Persons with Lower Limb Paralysis.
Degree: PhD, Mechanical Engineering, 2018, Vanderbilt University
URL: http://hdl.handle.net/1803/14225
► Described herein are rehabilitative intervention methods that: 1) enable paraplegics to ascend and descend stairs with a lower limb exoskeleton; 2) enhance exoskeleton assisted walking…
(more)
▼ Described herein are rehabilitative intervention methods that: 1) enable paraplegics to ascend and descend stairs with a lower limb exoskeleton; 2) enhance exoskeleton assisted walking with supplemental FES to overcome moderate to severe spasticity; and 3) suppress clonus using FES during seated mobility. The stair controller combines predefined trajectory tracking with an emulated passive state that enables gravity to extend the leg until it meets the next stair tread so that individuals can traverse stairs independent of step height. Regarding the second intervention, subjects with moderate to severe spasticity are typically ineligible for exoskeleton assisted gait due to pathological muscle activation that opposes exoskeleton mediated motion. The supplemental stimulation controller was implemented with a lower limb exoskeleton and integrated stimulator to expand the inclusion criteria of exoskeletons whereby FES enhances the synergy between muscles and motors and allowed paraplegic individuals with moderate to severe spasticity to achieve normal gait kinematics. Lastly, the clonus intervention has provided a robust noninvasive treatment for clonus, that may provide an economical alternative to invasive and commonplace pharmacological interventions.
Advisors/Committee Members: Eric Barth (committee member), Karl Zelik (committee member), Gerasimos Bastas (committee member), William Emfinger (committee member), Kevin Galloway (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: spinal cord injury; rehabilitation; robotics; exoskeleton; functional electrical stimulation
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APA (6th Edition):
Ekelem, A. (2018). Control Methods for Improving Mobility for Persons with Lower Limb Paralysis. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14225
Chicago Manual of Style (16th Edition):
Ekelem, Andrew. “Control Methods for Improving Mobility for Persons with Lower Limb Paralysis.” 2018. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14225.
MLA Handbook (7th Edition):
Ekelem, Andrew. “Control Methods for Improving Mobility for Persons with Lower Limb Paralysis.” 2018. Web. 16 Jan 2021.
Vancouver:
Ekelem A. Control Methods for Improving Mobility for Persons with Lower Limb Paralysis. [Internet] [Doctoral dissertation]. Vanderbilt University; 2018. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14225.
Council of Science Editors:
Ekelem A. Control Methods for Improving Mobility for Persons with Lower Limb Paralysis. [Doctoral Dissertation]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/14225
Vanderbilt University
12.
Diggins, Zachary John.
System Health Awareness in Total-Ionizing Dose Environments.
Degree: PhD, Electrical Engineering, 2016, Vanderbilt University
URL: http://hdl.handle.net/1803/14697
► There is increasing interest in using commercial-off-the-shelf (COTS) electronics in radiation environments, such as robotic systems for remediation after the nuclear accident at Fukushima or…
(more)
▼ There is increasing interest in using commercial-off-the-shelf (COTS) electronics in radiation environments, such as robotic systems for remediation after the nuclear accident at Fukushima or in low-cost CubeSats. Commercial electronics have varying levels or robustness to radiation environments, and without extensive testing and redesign, the survivability of COTS systems in radiation environments is unknown and potentially insufficient. This work identifies characteristics of robotic commercial-off-the-shelf component degradation, primarily part-to part variability and the interactions between the degradation of multiple components. Insight into the health of a class of components, micro-controllers, was developed using timing characteristics. A framework using either continuous or discrete Bayesian networks was developed to model the degradation observed in sensors and other electronic components. The Bayesian network can be incorporated with deterministic models to produce a robust and scalable analysis methodology, granting awareness of how the system will behave in the radiation environment and providing insight into areas for improvement in the system hardware and software.
Advisors/Committee Members: Eric Barth, Ph.D. (committee member), Gabor Karsai, Ph.D. (committee member), Robert Reed, Ph.D. (committee member), Ron Schrimpf, Ph.D. (committee member), Arthur Witulski (Committee Chair).
Subjects/Keywords: bayesian network; commercial-off-the-shelf; robotics; total-ionizing dose; radiation hardness assurance; radiation effects
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APA (6th Edition):
Diggins, Z. J. (2016). System Health Awareness in Total-Ionizing Dose Environments. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14697
Chicago Manual of Style (16th Edition):
Diggins, Zachary John. “System Health Awareness in Total-Ionizing Dose Environments.” 2016. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14697.
MLA Handbook (7th Edition):
Diggins, Zachary John. “System Health Awareness in Total-Ionizing Dose Environments.” 2016. Web. 16 Jan 2021.
Vancouver:
Diggins ZJ. System Health Awareness in Total-Ionizing Dose Environments. [Internet] [Doctoral dissertation]. Vanderbilt University; 2016. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14697.
Council of Science Editors:
Diggins ZJ. System Health Awareness in Total-Ionizing Dose Environments. [Doctoral Dissertation]. Vanderbilt University; 2016. Available from: http://hdl.handle.net/1803/14697
Vanderbilt University
13.
Alshammary, Nasser Abdullahi.
Control and assessment of transhumeral prosthetic system.
Degree: PhD, Electrical Engineering, 2017, Vanderbilt University
URL: http://hdl.handle.net/1803/12287
► Traditional upper extremity prostheses are comprised of an elbow joint and a terminal device (often either a split-hook or a hand) and have typically been…
(more)
▼ Traditional upper extremity prostheses are comprised of an elbow joint and a terminal device (often either a split-hook or a hand) and have typically been limited to a single control input. In the case of a myoelectric prosthesis, a single pair of electromyograms (EMG) inputs from the biceps and triceps muscles, respectively, is typically used to control both the elbow and terminal device. Dependence on a single input forces the prosthesis to be controlled in a sequential manner, where either the hand or elbow is controlled at any given time. With fewer inputs to control more joints, new control strategies are required to provide a transhumeral amputee with control of a limb that feels intuitive and natural. The objective of this work is the development of highly functional and intuitive coordinated controller for an arm prosthesis that exhibits improved functionality relative to existing prostheses. This work leverages recent advances in MEMS in order develop a controller that enables the simultaneous movement of the anatomical shoulder joint and prosthetic elbow joint, and also enables switching between control of a hand and elbow, and is used in conjunction with EMG input to provide enhanced whole arm (hand and elbow) control, relative to the traditional conventional control approach. This work involves implementing the control methods on a prosthesis prototype and conducting studies on amputee subject to assess the effectiveness of the coordinated controller in performing different reaching tasks relative to traditional sequential control devices.
Advisors/Committee Members: Professor Xenofon Koutsoukos (committee member), Professor Eric Barth (committee member), Professor Richard Alan Peters (committee member), Professor Gerasmos Bastas (committee member), Professor Michael Goldfarb (Committee Chair).
Subjects/Keywords: myoelectric control; transhumeral prosthesis; upper extremity prosthesis; Myoelectric prosthesis; coordinated control; joint synergy; EMG control
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APA (6th Edition):
Alshammary, N. A. (2017). Control and assessment of transhumeral prosthetic system. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12287
Chicago Manual of Style (16th Edition):
Alshammary, Nasser Abdullahi. “Control and assessment of transhumeral prosthetic system.” 2017. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/12287.
MLA Handbook (7th Edition):
Alshammary, Nasser Abdullahi. “Control and assessment of transhumeral prosthetic system.” 2017. Web. 16 Jan 2021.
Vancouver:
Alshammary NA. Control and assessment of transhumeral prosthetic system. [Internet] [Doctoral dissertation]. Vanderbilt University; 2017. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/12287.
Council of Science Editors:
Alshammary NA. Control and assessment of transhumeral prosthetic system. [Doctoral Dissertation]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/12287
Vanderbilt University
14.
Bohara, Amit.
Design and Control of Transfemoral Powered Prosthesis.
Degree: MS, Mechanical Engineering, 2006, Vanderbilt University
URL: http://hdl.handle.net/1803/14953
► An impedance-based control strategy to enable a user to walk at a pre-defined speed on the treadmill using a two degree of freedom transfemoral prosthesis…
(more)
▼ An impedance-based control strategy to enable a user to walk at a pre-defined speed on the treadmill using a two degree of freedom transfemoral prosthesis with powered knee and ankle joints is presented. The strategy is based on segmenting level walking gait into four distinct modes or finite states and assigning appropriate dynamic behavior to the joints in each of these states. The form of impedance functions are developed from population biomechanical data provided by Winter [1]. Appropriate parameters for impedance functions for a particular user are obtained by experimental tuning through user feedback and recorded gait variables. The final results from a treadmill walk with a user fitted with an able-bodied adapter at 1.8mph are presented, and compares well to normal walking pattern.
Advisors/Committee Members: Michael Goldfarb (committee member), Eric Barth (committee member), Nilanjan Sarkar (committee member).
Subjects/Keywords: powered transfemoral prosthesis. finite state cont; Artificial legs – Design and control; impedance control; Gait in humans
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APA (6th Edition):
Bohara, A. (2006). Design and Control of Transfemoral Powered Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14953
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Bohara, Amit. “Design and Control of Transfemoral Powered Prosthesis.” 2006. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14953.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Bohara, Amit. “Design and Control of Transfemoral Powered Prosthesis.” 2006. Web. 16 Jan 2021.
Vancouver:
Bohara A. Design and Control of Transfemoral Powered Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2006. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14953.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Bohara A. Design and Control of Transfemoral Powered Prosthesis. [Thesis]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/14953
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
15.
Farris, Ryan James.
Design of a Multi-Disc Electromechanical Brake.
Degree: MS, Mechanical Engineering, 2009, Vanderbilt University
URL: http://hdl.handle.net/1803/14619
► This thesis presents the design of an electrically-actuated, proportional brake that provides a significantly greater torque-to-weight ratio than a magnetic particle brake (considered a benchmark…
(more)
▼ This thesis presents the design of an electrically-actuated, proportional brake that provides a significantly greater torque-to-weight ratio than a magnetic particle brake (considered a benchmark of the state-of-the-art) without sacrificing other characteristics such as dynamic range, bandwidth, or electrical power consumption. The multi-disc brake provides resistive torque through a stack of friction discs which are compressed by a dc-motor-driven ball screw. Unlike nearly all other proportional brakes, which operate in a normally unlocked mode, the brake presented here is designed such that it may be configured in either a normally unlocked or normally locked mode. The latter enables lower electrical energy consumption and added safety in the event of electrical power failure in certain applications. Following the device description, experimental data is presented to characterize the performance of the brake. The performance characteristics are subsequently compared to those of a commercially available magnetic particle brake of comparable size.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Eric Barth (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: clutches; robotics; mechatronics; actuators; brakes; friction
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APA (6th Edition):
Farris, R. J. (2009). Design of a Multi-Disc Electromechanical Brake. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14619
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Farris, Ryan James. “Design of a Multi-Disc Electromechanical Brake.” 2009. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14619.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Farris, Ryan James. “Design of a Multi-Disc Electromechanical Brake.” 2009. Web. 16 Jan 2021.
Vancouver:
Farris RJ. Design of a Multi-Disc Electromechanical Brake. [Internet] [Thesis]. Vanderbilt University; 2009. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14619.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Farris RJ. Design of a Multi-Disc Electromechanical Brake. [Thesis]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/14619
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
16.
Williams, Stephen Michael.
A fully distributed method for acoustic localization with sensor networks.
Degree: MS, Mechanical Engineering, 2005, Vanderbilt University
URL: http://hdl.handle.net/1803/12392
► The purpose of this work is to present a scalable distributed sensor network capable of localizing acoustic sources in the near-field. Traditional sensor networks employ…
(more)
▼ The purpose of this work is to present a scalable distributed sensor network capable of localizing acoustic sources in the near-field. Traditional sensor networks employ a central controller, however; centralized data processing in large-scale sensor networks is not always desirable because of the excessive communication and computational complexity it requires. Therefore, a fully distributed localization algorithm is developed in which nodes form groups and collaborate to locate sources. Source locations are determined from time of arrival (TOA) information of the acoustic wave front using Tikhonov regularized inversion (RI). Experimental results validate the use of a distributed localization algorithm, and compare the effectiveness of the RI method to that of traditional matrix solution methods. Additionally, important parameters of the distributed localization algorithm are considered.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Eric Barth (committee member), Kenneth Frampton (Committee Chair).
Subjects/Keywords: sensor networks; self-localization; source localization; acoustic localization; distributed algorithms
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APA (6th Edition):
Williams, S. M. (2005). A fully distributed method for acoustic localization with sensor networks. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12392
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Williams, Stephen Michael. “A fully distributed method for acoustic localization with sensor networks.” 2005. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/12392.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Williams, Stephen Michael. “A fully distributed method for acoustic localization with sensor networks.” 2005. Web. 16 Jan 2021.
Vancouver:
Williams SM. A fully distributed method for acoustic localization with sensor networks. [Internet] [Thesis]. Vanderbilt University; 2005. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/12392.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Williams SM. A fully distributed method for acoustic localization with sensor networks. [Thesis]. Vanderbilt University; 2005. Available from: http://hdl.handle.net/1803/12392
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
17.
Sup IV, Frank Charles.
Design and Control of a Powered Transfemoral Prosthesis.
Degree: MS, Mechanical Engineering, 2006, Vanderbilt University
URL: http://hdl.handle.net/1803/14823
► This thesis describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically-actuated powered-tethered device,…
(more)
▼ This thesis describes the design and control of a transfemoral prosthesis with powered knee and ankle joints. The initial prototype is a pneumatically-actuated powered-tethered device, which is intended to serve as a laboratory test bed for a subsequent self-powered version. The prototype prosthesis provides the full range of motion for both the knee and ankle joints while providing 100% of the knee torque required for fast cadence walking and stair climbing and 76% and 100%, respectively, of the ankle torque required for fast cadence walking and for stair climbing, based on the torques required by a healthy 75 kg subject. The device includes sensors to measure knee and ankle torque and position, in addition to a load cell that measures the interaction force and (sagittal and frontal planes) moments between the user and device. A gait controller is proposed based on the use of passive impedance functions that coordinates the motion of the prosthesis and user during level walking. The control approach is implemented on the prosthesis prototype, and experimental results are shown that demonstrate the effectiveness of the active prosthesis and control approach in restoring fully powered level walking to the user.
Advisors/Committee Members: Dr. Nilanjan Sarkar (committee member), Dr. Eric Barth (committee member), Dr. Michael Goldfarb (Committee Chair).
Subjects/Keywords: transfemoral prosthesis; powered prosthesis; active prosthesis; impedance control; Artificial legs – Design and construction
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Export
to Zotero / EndNote / Reference
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APA (6th Edition):
Sup IV, F. C. (2006). Design and Control of a Powered Transfemoral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14823
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Sup IV, Frank Charles. “Design and Control of a Powered Transfemoral Prosthesis.” 2006. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14823.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Sup IV, Frank Charles. “Design and Control of a Powered Transfemoral Prosthesis.” 2006. Web. 16 Jan 2021.
Vancouver:
Sup IV FC. Design and Control of a Powered Transfemoral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2006. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14823.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Sup IV FC. Design and Control of a Powered Transfemoral Prosthesis. [Thesis]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/14823
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
18.
Wait, Keith Wesley.
Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis.
Degree: MS, Mechanical Engineering, 2007, Vanderbilt University
URL: http://hdl.handle.net/1803/11730
► Design of a device for intuitively commanding an in-development prosthetic arm for transhumeral amputees is described in this thesis. The goal of the device is…
(more)
▼ Design of a device for intuitively commanding an in-development prosthetic arm for transhumeral amputees is described in this thesis. The goal of the device is to allow complex tasks and behaviors to be easily demonstrated without time consuming repeated iterations of robot trajectory programming and testing. Structural design of the device and sensor choice for optimal interaction with the device and its peculiarities are treated as well as the development of a software package for evaluation of the input device without need for the actual prosthetic arm to be present. Feedback control of individual prosthetic fingers is also discussed. Finally, some demonstrations of the capabilities that were able to be achieved through the use of the paired input device / prosthetic arm system are enumerated.
Advisors/Committee Members: Eric Barth (committee member), Nilanjan Sarkar (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: Artificial arms – Design and construction; control; master; slave; prosthesis; Goniometers
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APA (6th Edition):
Wait, K. W. (2007). Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11730
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Chicago Manual of Style (16th Edition):
Wait, Keith Wesley. “Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis.” 2007. Thesis, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/11730.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
MLA Handbook (7th Edition):
Wait, Keith Wesley. “Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis.” 2007. Web. 16 Jan 2021.
Vancouver:
Wait KW. Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis. [Internet] [Thesis]. Vanderbilt University; 2007. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/11730.
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Council of Science Editors:
Wait KW. Design of a Goniometric Input Device for Master/Slave Control of a Transhumeral Prosthesis. [Thesis]. Vanderbilt University; 2007. Available from: http://hdl.handle.net/1803/11730
Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation
Vanderbilt University
19.
Li, Bo Tyler.
Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation.
Degree: PhD, Mechanical Engineering, 2008, Vanderbilt University
URL: http://hdl.handle.net/1803/14199
► This dissertation describes the design, modeling, control and efficiency of a variable displacement vane pump based hydraulic actuation system, which is motivated by the need…
(more)
▼ This dissertation describes the design, modeling, control and efficiency of a variable displacement vane pump based hydraulic actuation system, which is motivated by the need for enhanced efficiency and compactness in mobile hydraulic actuation systems. The dissertation describes the design of a variable vane pump, and characterizes the pressure/flow characteristics of the fabricated pump. A dynamic model of the variable vane pump based hydraulic actuation system is developed. A linear controller and a model-based nonlinear controller are formulated respectively for displacement tracking control of the pump-driven hydraulic actuation system and their performances are compared. Experimental results of the displacement controlled pump/actuator system indicate the effectiveness of the controller. The efficiency of the proposed system is characterized and measured through experiments, which results show efficiencies of 19 to 48%, depending on different tracking frequencies.
Advisors/Committee Members: Nilanjan Sarkar (committee member), Robert Webster (committee member), Eric Barth (committee member), George Cook (committee member), Michael Goldfarb (Committee Chair).
Subjects/Keywords: valveless hydraulic actuation; designe and control; variable pump; Pumping machinery – Design and construction; Actuators – Design and construction; Robots – Power supply
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APA (6th Edition):
Li, B. T. (2008). Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14199
Chicago Manual of Style (16th Edition):
Li, Bo Tyler. “Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation.” 2008. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14199.
MLA Handbook (7th Edition):
Li, Bo Tyler. “Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation.” 2008. Web. 16 Jan 2021.
Vancouver:
Li BT. Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation. [Internet] [Doctoral dissertation]. Vanderbilt University; 2008. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14199.
Council of Science Editors:
Li BT. Design and Control of a Variable Displacement Vane Pump for Valveless Hydraulic Actuation. [Doctoral Dissertation]. Vanderbilt University; 2008. Available from: http://hdl.handle.net/1803/14199
Vanderbilt University
20.
Halder, Bibhrajit.
Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems.
Degree: PhD, Mechanical Engineering, 2006, Vanderbilt University
URL: http://hdl.handle.net/1803/14338
► The demand for automation in modern society has significantly increased during the last few decades. Robotic systems play an important role in automation industries that…
(more)
▼ The demand for automation in modern society has significantly increased during the last few decades. Robotic systems play an important role in automation industries that include manufacturing, assembly, and biotechnology among others. In addition, there is a growing need for unmanned operation in different services and research sectors such as search and rescue operation, nuclear waste clean-up, and planetary exploration. Robots can perform repetitive tasks efficiently and can function in a harsh and unsafe environment. However, robots are susceptible to system faults. Faults may result in mission failures that are costly in mission critical enterprises. Therefore fault detection and isolation (FDI) is important for reliable and safe robot operations.
In this dissertation, we present a new approach, called the robust nonlinear analytic redundancy (RNLAR) technique, to sensor and actuator FDI for input-affine nonlinear multivariable dynamic systems in the presence of model-plant-mismatch and process disturbances. Robust FDI is important because of the universal existence of model uncertainties and process disturbances in most systems. The new approach is based on analytic redundancy relation, which has primarily been used in the linear domain. The proposed RNLAR technique extends the current state-of-the-art in analytic redundancy relation-based FDI into the nonlinear domain. The RNLAR technique is used to design primary residual vectors (PRV) to detect actuator and sensor faults. Primary residual vectors are designed in such a manner that they are highly sensitive to the faults and less sensitive to model-plant-mismatch and process disturbances. The proposed methodology is applied to the actuator and sensor fault detection of a wheeled mobile robot as well as a robotic manipulator.
The order of redundancy relation is used to characterize the robustness of the RNLAR technique. It is proved that an increase in the order of redundancy relation increases the robustness of the RNLAR technique. This result extends the existing relationship between the order of redundancy relation and robustness from the linear domain to the nonlinear domain.
Finally, a robust fault isolation technique is presented in this work. The PRVs are transformed into a set of structured residual vectors (SRV) for fault isolation. Experimental results on a Pioneer 3-DX mobile robot and a PUMA 560 robotic manipulator are presented to justify the effectiveness of the RNLAR technique.
Advisors/Committee Members: Eric Barth (committee member), Michael Goldfarb (committee member), George E. Cook (committee member), Akram Aldroubi (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: Fault location (Engineering); mobile robots; nonlinear systems; PUMA; order of redundancy; Fault detection; analytical redundancy; robustness; Robots – Error detection and recovery
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APA (6th Edition):
Halder, B. (2006). Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14338
Chicago Manual of Style (16th Edition):
Halder, Bibhrajit. “Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems.” 2006. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14338.
MLA Handbook (7th Edition):
Halder, Bibhrajit. “Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems.” 2006. Web. 16 Jan 2021.
Vancouver:
Halder B. Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems. [Internet] [Doctoral dissertation]. Vanderbilt University; 2006. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14338.
Council of Science Editors:
Halder B. Robust nonlinear analytic redundancy for fault detection and isolation of robotic systems. [Doctoral Dissertation]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/14338
Vanderbilt University
21.
Mallapragada, Vishnu Goutham.
Towards A Robot Assisted Breast Biopsy System.
Degree: PhD, Mechanical Engineering, 2008, Vanderbilt University
URL: http://hdl.handle.net/1803/14541
► Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate suspicious masses within the breast. Current procedure allows the clinician to…
(more)
▼ Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate suspicious masses within the breast. Current procedure allows the clinician to determine the location and extent of a tumor in the breast before inserting the needle. However, there are several problems with this procedure: complex interaction dynamics between needle and the breast tissue will likely displace the tumor from its original position necessitating multiple insertions, causing clinicians’ fatigue, patient’s discomfort, and compromising integrity of the tissue specimen. In this work, a novel robotic breast biopsy system is developed to address these problems. The robotic system consists of three major components: 1) A set of robotic fingers that manipulate the position of a tumor (by applying external force on the breast) based on ultrasound image feedback to improve targeting accuracy; 2) An autonomous ultrasound image acquisition device that can track the 3D coordinates of the tumor; 3) A hybrid supervisory controller that coordinates tumor manipulation (with robotic fingers), image acquisition and needle insertion. The robotic system can provide comprehensive assistance during breast biopsy so that the clinician can solely focus on the detection, decision making, and collection of the tissue sample without being encumbered by the difficulty of the procedure. Several safety features such as passivity based control for tumor manipulation, sensor signal monitoring and emergency deactivation are incorporated in the system to minimize hazards. Experiments on phantoms indicate an average targeting accuracy of 0.17 mm for thirteen trials. This system has the potential to reduce the number of attempts a surgeon makes to capture the desired tissue specimen, minimize tissue damage, improve speed of biopsy, reduce patient discomfort and enhance diagnostic outcome by reducing false negative rate.
Advisors/Committee Members: Michael Goldfarb (committee member), George E. Cook (committee member), Tarun K. Podder (committee member), Eric Barth (committee member), Nilanjan Sarkar (Committee Chair).
Subjects/Keywords: hybrid supervisory control; passivity based control; target manipulation; US image acquisition; robot assisted breast biopsy
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APA ·
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APA (6th Edition):
Mallapragada, V. G. (2008). Towards A Robot Assisted Breast Biopsy System. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14541
Chicago Manual of Style (16th Edition):
Mallapragada, Vishnu Goutham. “Towards A Robot Assisted Breast Biopsy System.” 2008. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14541.
MLA Handbook (7th Edition):
Mallapragada, Vishnu Goutham. “Towards A Robot Assisted Breast Biopsy System.” 2008. Web. 16 Jan 2021.
Vancouver:
Mallapragada VG. Towards A Robot Assisted Breast Biopsy System. [Internet] [Doctoral dissertation]. Vanderbilt University; 2008. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14541.
Council of Science Editors:
Mallapragada VG. Towards A Robot Assisted Breast Biopsy System. [Doctoral Dissertation]. Vanderbilt University; 2008. Available from: http://hdl.handle.net/1803/14541
Vanderbilt University
22.
Longhurst, William Russell.
Force control of friction stir welding.
Degree: PhD, Mechanical Engineering, 2009, Vanderbilt University
URL: http://hdl.handle.net/1803/14425
► As an emerging technology in the field of material joining, friction stir welding (FSW) has the potential to be automated through robotics. Due to the…
(more)
▼ As an emerging technology in the field of material joining, friction stir welding (FSW) has the potential to be automated through robotics. Due to the relatively large forces associated with FSW, force control is needed for robotic applications in order to compensate for robot linkage deflection. Prior research has determined the axial force associated with FSW is a function of the tool plunge depth, traverse speed and rotation speed. The research presented in this dissertation examines the how each of these parameters affects the force.
A closed-loop force control architecture was implemented on an FSW system. The controller was tuned using a Ziegler-Nichols tuning method and experiments were conducted by butt welding ¼ inch by 1 ½ inch by 8 inch long samples of aluminum 6061.
The results indicate that force control via plunge depth adjustment can be achieved with an error of less than 3%. However this mode of force control is vulnerable to stability issues. For successful implementation of force control via plunge depth, four key enablers are identified.
The results indicate for force control via traverse speed a much smaller error of less than ½ % results. An energy model predicts the weld power to be constant but due to the changing traverse speed the energy deposited along the weld seam varies. It is hypothesized that the feedback of axial force provides a measure of relative temperature. Thus heat distribution control along the weld seam is achieved as a byproduct of force control via traverse speed. Force control via rotation speed has similar results but with greater error.
It was discovered that torque control provides an attractive alternative to force control. Results show that torque provides a better indication of plunge depth. This is supported by an equation that shows plunge depth to be directly proportional to the torque.
It is concluded that using torque as a feedback signal to control robotic FSW is viable. Controlling torque has great potential for the advancement of FSW in manufacturing and automation because the feedback signal could be obtained from the spindle motor current.
Advisors/Committee Members: George E. Cook (committee member), Mitchell Wilkes (committee member), Michael Goldfarb (committee member), Eric Barth (committee member), Alvin M. Strauss (Committee Chair).
Subjects/Keywords: Robotics; Force Control; Friction Stir Welding; Manufacturing; Automation
Record Details
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Record Details
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❌
APA ·
Chicago ·
MLA ·
Vancouver ·
CSE |
Export
to Zotero / EndNote / Reference
Manager
APA (6th Edition):
Longhurst, W. R. (2009). Force control of friction stir welding. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14425
Chicago Manual of Style (16th Edition):
Longhurst, William Russell. “Force control of friction stir welding.” 2009. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021.
http://hdl.handle.net/1803/14425.
MLA Handbook (7th Edition):
Longhurst, William Russell. “Force control of friction stir welding.” 2009. Web. 16 Jan 2021.
Vancouver:
Longhurst WR. Force control of friction stir welding. [Internet] [Doctoral dissertation]. Vanderbilt University; 2009. [cited 2021 Jan 16].
Available from: http://hdl.handle.net/1803/14425.
Council of Science Editors:
Longhurst WR. Force control of friction stir welding. [Doctoral Dissertation]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/14425
. 
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