+publisher:"Vanderbilt University" +contributor:("George E. Cook")

Vanderbilt University

1. Matthews, Jacob Russell. A study of the critical viscosity model of friction stir welding in relation to tool features.

Degree: MS, Mechanical Engineering, 2018, Vanderbilt University

URL: http://hdl.handle.net/1803/14086

► Modeling Friction Stir Welding (FSW) has proven elusive over the past two decades since being patented by The Welding Institute in 1991. One promising model… (more)

Subjects/Keywords: friction stir weld tools; friction stir welding database; friction stir welding tool study; friction stir welding tool features; friction stir welding; friction stir welding critical viscosity model; welding; solid state joining; friction stir welding tools; critical viscosity

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APA (6^th Edition):

Matthews, J. R. (2018). A study of the critical viscosity model of friction stir welding in relation to tool features. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14086

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Matthews, Jacob Russell. “A study of the critical viscosity model of friction stir welding in relation to tool features.” 2018. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14086.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Matthews, Jacob Russell. “A study of the critical viscosity model of friction stir welding in relation to tool features.” 2018. Web. 16 Jan 2021.

Vancouver:

Matthews JR. A study of the critical viscosity model of friction stir welding in relation to tool features. [Internet] [Thesis]. Vanderbilt University; 2018. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14086.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Matthews JR. A study of the critical viscosity model of friction stir welding in relation to tool features. [Thesis]. Vanderbilt University; 2018. Available from: http://hdl.handle.net/1803/14086

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

2. Sweitzer, Devany Autumn. Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application.

Degree: MS, Mechanical Engineering, 2019, Vanderbilt University

URL: http://hdl.handle.net/1803/11364

► Desire for efficiency and weight reduction in engines has propelled the search for lightweight alloys which retain high mechanical strength at extreme temperatures. A novel… (more)

Subjects/Keywords: friction stir welding; cerium; aluminum; novel; intermetallics; alloy

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APA (6^th Edition):

Sweitzer, D. A. (2019). Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11364

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sweitzer, Devany Autumn. “Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application.” 2019. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/11364.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sweitzer, Devany Autumn. “Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application.” 2019. Web. 16 Jan 2021.

Vancouver:

Sweitzer DA. Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application. [Internet] [Thesis]. Vanderbilt University; 2019. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/11364.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sweitzer DA. Analysis of Friction Stir Welding Behavior of Aluminum Cerium Alloy and Viability for Industrial Application. [Thesis]. Vanderbilt University; 2019. Available from: http://hdl.handle.net/1803/11364

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

3. Jarrell, Adam Wesley. The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment.

Degree: MS, Mechanical Engineering, 2017, Vanderbilt University

URL: http://hdl.handle.net/1803/14587

► The Eclipse Ballooning Project was a National Space Grant initiative to send as many balloon to the stratosphere during the August 2017 Eclipse. A Vanderbilt… (more)

Subjects/Keywords: High Altitude Ballooning; APRS; Amateur Radio

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APA (6^th Edition):

Jarrell, A. W. (2017). The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14587

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Jarrell, Adam Wesley. “The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment.” 2017. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14587.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Jarrell, Adam Wesley. “The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment.” 2017. Web. 16 Jan 2021.

Vancouver:

Jarrell AW. The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment. [Internet] [Thesis]. Vanderbilt University; 2017. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14587.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Jarrell AW. The Eclipse Ballooning Project at Vanderbilt University and the construction of custom equipment. [Thesis]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/14587

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

4. Reynolds, Jay Thomas. Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process.

Degree: MS, Mechanical Engineering, 2017, Vanderbilt University

URL: http://hdl.handle.net/1803/14586

► Friction Stir Welding (FSW) is a solid state joining process that uses a reusable rotating tool to plasticize, mix, and join materials. For this thesis… (more)

Subjects/Keywords: Tracking; Friction Stir Extrusion; Friction Stir Welding; Control

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APA (6^th Edition):

Reynolds, J. T. (2017). Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14586

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Reynolds, Jay Thomas. “Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process.” 2017. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14586.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Reynolds, Jay Thomas. “Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process.” 2017. Web. 16 Jan 2021.

Vancouver:

Reynolds JT. Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process. [Internet] [Thesis]. Vanderbilt University; 2017. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14586.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Reynolds JT. Improvements in Friction Stir Welding Control System and an Extremum Controller for Tracking Friction Stir Extrusion Process. [Thesis]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/14586

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

5. Neely, Kelsay Elizabeth. Formulation of a Reactive Material Paste for Additive Manufacturing.

Degree: MS, Mechanical Engineering, 2017, Vanderbilt University

URL: http://hdl.handle.net/1803/11249

► The reaction generated by the ignition of energetic materials is usually solely tuned by chemical composition. With advances in 3D printing technology, the reaction can… (more)

Subjects/Keywords: reactive materials; thermite; additive manufacturing

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APA (6^th Edition):

Neely, K. E. (2017). Formulation of a Reactive Material Paste for Additive Manufacturing. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11249

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Neely, Kelsay Elizabeth. “Formulation of a Reactive Material Paste for Additive Manufacturing.” 2017. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/11249.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Neely, Kelsay Elizabeth. “Formulation of a Reactive Material Paste for Additive Manufacturing.” 2017. Web. 16 Jan 2021.

Vancouver:

Neely KE. Formulation of a Reactive Material Paste for Additive Manufacturing. [Internet] [Thesis]. Vanderbilt University; 2017. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/11249.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Neely KE. Formulation of a Reactive Material Paste for Additive Manufacturing. [Thesis]. Vanderbilt University; 2017. Available from: http://hdl.handle.net/1803/11249

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

6. Gibson, Brian Travis. Custom Low-Cost Force Measurement Methods In Friction Stir Welding.

Degree: MS, Mechanical Engineering, 2011, Vanderbilt University

URL: http://hdl.handle.net/1803/10806

► Friction Stir Welding (FSW) is a solid-state joining technique that is rapidly expanding to a wide range of industries. In this thesis, custom low-cost force… (more)

Subjects/Keywords: transducer; force; friction stir welding; low cost; torque; wireless; xbee

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APA (6^th Edition):

Gibson, B. T. (2011). Custom Low-Cost Force Measurement Methods In Friction Stir Welding. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10806

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Gibson, Brian Travis. “Custom Low-Cost Force Measurement Methods In Friction Stir Welding.” 2011. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/10806.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Gibson, Brian Travis. “Custom Low-Cost Force Measurement Methods In Friction Stir Welding.” 2011. Web. 16 Jan 2021.

Vancouver:

Gibson BT. Custom Low-Cost Force Measurement Methods In Friction Stir Welding. [Internet] [Thesis]. Vanderbilt University; 2011. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/10806.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Gibson BT. Custom Low-Cost Force Measurement Methods In Friction Stir Welding. [Thesis]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/10806

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

7. Wang, Furui. Design and control of robotic systems for upper extremity rehabilitation following stroke.

Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University

URL: http://hdl.handle.net/1803/14982

► Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting… (more)

▼ Stroke is the leading cause of serious, long-term disability in the United States. Each year, about 795,000 Americans experience a new or recurrent stroke, resulting in an estimated stroke population of 7 million in the USA. Upper extremity impairment is a prevalent outcome of stroke. Loss of arm and hand function due to neuromuscular disorders frequently prevents effective self-care and limits employment opportunities. In recent years, robot-assisted rehabilitation has been an active area of research. Various robotic systems and strategies have been developed to make robot an effective tool in stroke rehabilitation. This dissertation presents the research work to improve robot-assisted rehabilitation of the upper extremity. First, a high-level supervisory controller is designed to incorporate voice recognition to a robotic system for arm rehabilitation. The high-level controller monitors task execution and makes task adjustment according to the user¡¯s verbal feedback to impart effective rehabilitation therapies. The enhanced robotic system is able to improve the efficiency of arm rehabilitation therapy and reduce the workload of the therapist. Next, an integrated rehabilitation strategy of assist-as-needed and visual error augmentation is proposed and implemented on a robotic system. This strategy is evaluated in a crossover study with 20 subjects. The experimental results demonstrate that the proposed strategy has significantly improved the task performance of healthy subjects and has the potential to improve the efficiency of stroke rehabilitation. Last, an actuated hand exoskeleton is developed for hand rehabilitation study. The hand exoskeleton consists of an actuated finger exoskeleton (AFX) and an actuated thumb exoskeleton (ATX). It allows individual control of each joint of the index finger and the thumb with substantial joint torque and speed capacities that are necessary for stroke rehabilitation. The kinematic and kinetic performances of the AFX and the ATX have been tested and met all design requirements. This device will provide a platform that permits comprehensive research of different rehabilitation therapies and motor control studies of the hand. Contributions and future directions of the research work are discussed at the end of the dissertation. Advisors/Committee Members: George E. Cook (committee member), Michael Goldfarb (committee member), Robert Webster (committee member), Nilanjan Sarkar (Committee Chair), Derek Kamper (Committee Chair).

Subjects/Keywords: mechanical design; control; Rehabilitation Robotics

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APA (6^th Edition):

Wang, F. (2011). Design and control of robotic systems for upper extremity rehabilitation following stroke. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14982

Chicago Manual of Style (16^th Edition):

Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14982.

MLA Handbook (7^th Edition):

Wang, Furui. “Design and control of robotic systems for upper extremity rehabilitation following stroke.” 2011. Web. 16 Jan 2021.

Vancouver:

Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14982.

Council of Science Editors:

Wang F. Design and control of robotic systems for upper extremity rehabilitation following stroke. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/14982

Vanderbilt University

8. Yong, Chao. A virtual-cam based control methodology for free-piston engines.

Degree: PhD, Mechanical Engineering, 2011, Vanderbilt University

URL: http://hdl.handle.net/1803/13688

► In conventional internal combustion engines, valves are opened and closed using a cam surface. The cam is kinematically related to the piston positions through the… (more)

Subjects/Keywords: free-piston engines; Control

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APA (6^th Edition):

Yong, C. (2011). A virtual-cam based control methodology for free-piston engines. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13688

Chicago Manual of Style (16^th Edition):

Yong, Chao. “A virtual-cam based control methodology for free-piston engines.” 2011. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13688.

MLA Handbook (7^th Edition):

Yong, Chao. “A virtual-cam based control methodology for free-piston engines.” 2011. Web. 16 Jan 2021.

Vancouver:

Yong C. A virtual-cam based control methodology for free-piston engines. [Internet] [Doctoral dissertation]. Vanderbilt University; 2011. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13688.

Council of Science Editors:

Yong C. A virtual-cam based control methodology for free-piston engines. [Doctoral Dissertation]. Vanderbilt University; 2011. Available from: http://hdl.handle.net/1803/13688

Vanderbilt University

9. Mohammed Shahdan, Mohd Adeeb. Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.

Degree: MS, Mechanical Engineering, 2012, Vanderbilt University

URL: http://hdl.handle.net/1803/12206

► Temperature measurements of the weld during friction stir welding (FSW) have previously been carried out using various methods including infra-red imaging/ thermometers, embedded thermocouples in… (more)

Subjects/Keywords: Ultrasonic; Friction Stir Welding; Temperature

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APA (6^th Edition):

Mohammed Shahdan, M. A. (2012). Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12206

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Mohammed Shahdan, Mohd Adeeb. “Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.” 2012. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/12206.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Mohammed Shahdan, Mohd Adeeb. “Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight.” 2012. Web. 16 Jan 2021.

Vancouver:

Mohammed Shahdan MA. Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. [Internet] [Thesis]. Vanderbilt University; 2012. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/12206.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Mohammed Shahdan MA. Temperature Measurement Method of Friction Stir Welding Using Ultrasonic Time of Flight. [Thesis]. Vanderbilt University; 2012. Available from: http://hdl.handle.net/1803/12206

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

10. Lawson, Brian Edward. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.

Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University

URL: http://hdl.handle.net/1803/12271

► This dissertation describes the development and testing of control systems for powered transfemoral prostheses. The work is divided into seven chapters, with five distinct contributions.… (more)

Subjects/Keywords: Transfemoral; Robotics; Powered Prosthesis; Mechatronics; Amputation; Rehabilitation Robotics

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APA (6^th Edition):

Lawson, B. E. (2014). Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12271

Chicago Manual of Style (16^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/12271.

MLA Handbook (7^th Edition):

Lawson, Brian Edward. “Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees.” 2014. Web. 16 Jan 2021.

Vancouver:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/12271.

Council of Science Editors:

Lawson BE. Control Methodologies for Powered Prosthetic Interventions in Unilateral and Bilateral Transfemoral Amputees. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/12271

Vanderbilt University

11. Gibson, Brian Travis. The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding.

Degree: PhD, Mechanical Engineering, 2015, Vanderbilt University

URL: http://hdl.handle.net/1803/10814

► Research presented in this dissertation focuses on the utilization of Friction Stir Welding (FSW) as a primary joining technology for the manufacture of lightweight structures… (more)

Subjects/Keywords: friction stir welding; aerospace; automation; robotics; sealant

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APA (6^th Edition):

Gibson, B. T. (2015). The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10814

Chicago Manual of Style (16^th Edition):

Gibson, Brian Travis. “The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding.” 2015. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/10814.

MLA Handbook (7^th Edition):

Gibson, Brian Travis. “The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding.” 2015. Web. 16 Jan 2021.

Vancouver:

Gibson BT. The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding. [Internet] [Doctoral dissertation]. Vanderbilt University; 2015. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/10814.

Council of Science Editors:

Gibson BT. The Development of In-Process Monitoring and Control Techniques for Aerospace Applications of Friction Stir Welding. [Doctoral Dissertation]. Vanderbilt University; 2015. Available from: http://hdl.handle.net/1803/10814

Vanderbilt University

12. Cox, Chase Davison. Friction Stir Spot Welding: Engineering Analysis and Design.

Degree: PhD, Mechanical Engineering, 2014, Vanderbilt University

URL: http://hdl.handle.net/1803/10668

► Friction stir spot welding (FSSW) presents automotive manufacturers with a process that is capable of joining light-weight aluminum alloys. The desire to eliminate the keyhole,… (more)

Subjects/Keywords: friction stir spot welding; friction stir welding; FSSW; FSW; aluminum; spot; welding

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APA (6^th Edition):

Cox, C. D. (2014). Friction Stir Spot Welding: Engineering Analysis and Design. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10668

Chicago Manual of Style (16^th Edition):

Cox, Chase Davison. “Friction Stir Spot Welding: Engineering Analysis and Design.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/10668.

MLA Handbook (7^th Edition):

Cox, Chase Davison. “Friction Stir Spot Welding: Engineering Analysis and Design.” 2014. Web. 16 Jan 2021.

Vancouver:

Cox CD. Friction Stir Spot Welding: Engineering Analysis and Design. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/10668.

Council of Science Editors:

Cox CD. Friction Stir Spot Welding: Engineering Analysis and Design. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/10668

Vanderbilt University

13. Clifton, Charles Ali. Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles.

Degree: MS, Electrical Engineering, 2005, Vanderbilt University

URL: http://hdl.handle.net/1803/13708

► Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles Charles A. Clifton Thesis under the direction of Professor Takkuen John Koo… (more)

▼ Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles Charles A. Clifton Thesis under the direction of Professor Takkuen John Koo In recent years, the use of unmanned aerial vehicles (UAVs) has gained considerable attention for applications where manned operation is considered dangerous or infeasible. As the number of UAVs in operation rises, it will become necessary to coordinate these vehicles. It can be shown that a real-time system can be modeled using a hybrid automaton provided that certain guarantees can be made about the temporal properties. By using the hybrid automata to model the system composed of a multi-modal dispatcher and waypoint/motion controller in addition to a real-time UAV controller, we show that the hybrid system can bisimulate a timed automata model created using a tool called UppAal, which can verify specifications about a given system. We thereby coordinate multi-robot movement while ensuring that certain constraints have not been violated. In this thesis, we present a methodology for developing autonomous vehicle controllers using a model-based approach and a hybrid automata to represent the control system, which features both linear state feedback control and nonlinear control. We derive a linear model of the physical system by performing system identification and employ a Kalman Filter to obtain state estimates for feedback purposes. Furthermore, we explain how this can be constructed from a system containing both discrete-time linear and continuous-time nonlinear subsystems. In addition, we present the Vanderbilt Embedded Computing Platform for Autonomous Vehicles (VECPAV), an end-to-end design platform for the rapid development and deployment of control and motion planning solutions for autonomous vehicles. The automated development platform greatly speeds the controller and system development and deployment phases by reducing the programming and compilation burden on the lab researchers, and eliminating the risks associated with translating code manually. Advisors/Committee Members: T. John Koo (Committee Chair), George E. Cook (Committee Chair).

Subjects/Keywords: hybrid system model-based

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APA (6^th Edition):

Clifton, C. A. (2005). Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13708

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Clifton, Charles Ali. “Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles.” 2005. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13708.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Clifton, Charles Ali. “Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles.” 2005. Web. 16 Jan 2021.

Vancouver:

Clifton CA. Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles. [Internet] [Thesis]. Vanderbilt University; 2005. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13708.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Clifton CA. Hybrid System Based Design for the Coordination and Control of Multiple Autonomous Vehicles. [Thesis]. Vanderbilt University; 2005. Available from: http://hdl.handle.net/1803/13708

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

14. Albrecht, Anna Katherine. System development for analysis of gas tungsten arc welding.

Degree: MS, Electrical Engineering, 2006, Vanderbilt University

URL: http://hdl.handle.net/1803/12254

► The focus of this work was the development of equipment and image processing techniques to observe the melting characteristics at the leading edge of a… (more)

Subjects/Keywords: ARC WELDING; SYSTEM DEVELOPMENT; GAS TUNGSTEN; Imaging systems

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APA (6^th Edition):

Albrecht, A. K. (2006). System development for analysis of gas tungsten arc welding. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/12254

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Albrecht, Anna Katherine. “System development for analysis of gas tungsten arc welding.” 2006. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/12254.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Albrecht, Anna Katherine. “System development for analysis of gas tungsten arc welding.” 2006. Web. 16 Jan 2021.

Vancouver:

Albrecht AK. System development for analysis of gas tungsten arc welding. [Internet] [Thesis]. Vanderbilt University; 2006. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/12254.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Albrecht AK. System development for analysis of gas tungsten arc welding. [Thesis]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/12254

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

15. Prater, Tracie Joy. An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings.

Degree: MS, Mechanical Engineering, 2008, Vanderbilt University

URL: http://hdl.handle.net/1803/13732

► Friction Stir Welding (FSW) is a solid-state joining process developed by The Welding Institute (TWI) in 1991. The large axial forces associated with this process… (more)

Subjects/Keywords: Diamond thin films – Industrial applications; Metallic composites – Fatigue – Testing; diamond coatings; Friction stir welding; Metal Matrix Composites; Aluminum – Fatigue – Testing

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APA (6^th Edition):

Prater, T. J. (2008). An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13732

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Prater, Tracie Joy. “An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings.” 2008. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13732.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Prater, Tracie Joy. “An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings.” 2008. Web. 16 Jan 2021.

Vancouver:

Prater TJ. An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings. [Internet] [Thesis]. Vanderbilt University; 2008. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13732.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Prater TJ. An Investigation into the Friction Stir Welding of Al 6061 and Al 6061/SiC/17.5p using Diamond Coatings. [Thesis]. Vanderbilt University; 2008. Available from: http://hdl.handle.net/1803/13732

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

16. Longhurst, William Russell. Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover.

Degree: MS, Mechanical Engineering, 2007, Vanderbilt University

URL: http://hdl.handle.net/1803/14282

► To aid in the development of a lunar rover, a series of robotic simulations was created using ROBOSIM and MATLAB Simulink. The first of these… (more)

Subjects/Keywords: Position Determination; Robot; Lunar Rover; Simulation

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APA (6^th Edition):

Longhurst, W. R. (2007). Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14282

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Longhurst, William Russell. “Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover.” 2007. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14282.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Longhurst, William Russell. “Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover.” 2007. Web. 16 Jan 2021.

Vancouver:

Longhurst WR. Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover. [Internet] [Thesis]. Vanderbilt University; 2007. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14282.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Longhurst WR. Simulation and analysis of terrain sensing, position determination and navigation by a robotic lunar rover. [Thesis]. Vanderbilt University; 2007. Available from: http://hdl.handle.net/1803/14282

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

17. Varol, Huseyin Atakan. Progress towards the intelligent control of a powered transfemoral prosthesis.

Degree: MS, Electrical Engineering, 2007, Vanderbilt University

URL: http://hdl.handle.net/1803/13605

► In this thesis, firstly a real-time gait intent recognition approach for use in controlling a fully powered transfemoral prosthesis is described. Rather than utilize an… (more)

Subjects/Keywords: decomposition based control; powered transfemoral prosthesis; gait intent recognition; nearest neighbor algorithms; Artificial legs – Design and construction; Intelligent control systems

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APA (6^th Edition):

Varol, H. A. (2007). Progress towards the intelligent control of a powered transfemoral prosthesis. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Varol, Huseyin Atakan. “Progress towards the intelligent control of a powered transfemoral prosthesis.” 2007. Web. 16 Jan 2021.

Vancouver:

Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Internet] [Thesis]. Vanderbilt University; 2007. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13605.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Varol HA. Progress towards the intelligent control of a powered transfemoral prosthesis. [Thesis]. Vanderbilt University; 2007. Available from: http://hdl.handle.net/1803/13605

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

18. Hendricks, Christopher Edward. The mechanical effects of weavetrack on friction stir welds in a lap configuration.

Degree: MS, Mechanical Engineering, 2009, Vanderbilt University

URL: http://hdl.handle.net/1803/13106

► MECHANICAL ENGINEERING The Mechanical Effects of WeaveTrack on Friction Stir Welds in a Lap configuration Christopher Edward Hendricks Thesis under the direction of Professor A.M.… (more)

Subjects/Keywords: FSW

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APA (6^th Edition):

Hendricks, C. E. (2009). The mechanical effects of weavetrack on friction stir welds in a lap configuration. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13106

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Hendricks, Christopher Edward. “The mechanical effects of weavetrack on friction stir welds in a lap configuration.” 2009. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13106.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Hendricks, Christopher Edward. “The mechanical effects of weavetrack on friction stir welds in a lap configuration.” 2009. Web. 16 Jan 2021.

Vancouver:

Hendricks CE. The mechanical effects of weavetrack on friction stir welds in a lap configuration. [Internet] [Thesis]. Vanderbilt University; 2009. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13106.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Hendricks CE. The mechanical effects of weavetrack on friction stir welds in a lap configuration. [Thesis]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/13106

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

19. Sinclair, Paul Charles. Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces.

Degree: MS, Mechanical Engineering, 2009, Vanderbilt University

URL: http://hdl.handle.net/1803/11746

► Friction Stir Welding (FSW) is a recently-developed solid-state joining process in which a rotating cylindrical tool is passed through the work piece, heating the material… (more)

Subjects/Keywords: trivex; preheating; assisted fsw; friction stir welding

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APA (6^th Edition):

Sinclair, P. C. (2009). Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces. (Thesis). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11746

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sinclair, Paul Charles. “Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces.” 2009. Thesis, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/11746.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sinclair, Paul Charles. “Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces.” 2009. Web. 16 Jan 2021.

Vancouver:

Sinclair PC. Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces. [Internet] [Thesis]. Vanderbilt University; 2009. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/11746.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sinclair PC. Heated Friction Stir Welding: An Investigation into how Preheating Aluminum 6061 Affects Process Forces. [Thesis]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/11746

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Vanderbilt University

20. Braun, David J. A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems.

Degree: PhD, Mechanical Engineering, 2009, Vanderbilt University

URL: http://hdl.handle.net/1803/15064

► There has been considerable research devoted to control and experimental realization of bipedal locomotion with the aim to develop a fully functional humanoid robot. Similar… (more)

▼ There has been considerable research devoted to control and experimental realization of bipedal locomotion with the aim to develop a fully functional humanoid robot. Similar to humans, such a robot should be able to walk on a rough terrain, perform complex multitask operations, and also walk efficiently on level ground. Motivated with this future goal, this dissertation offers a control approach, a design solution, and an experimental demonstration of human-like actuated dynamic walking in biped robots. During the conducted research, two preconditions to energy-efficient actuated dynamic walking have been identified. The first precondition, which is related to the control approach, precludes enforcing a predefined reference trajectory or other motion attributes of the walking cycle, such as stride length, stepping frequency or average forward speed, with high gain control. This has motivated the development of a control framework directly on the force level, that provides coordination without pre-specifying the motion of the system. The second precondition related to the robot design requires joint actuation which should not suppress passive joint motion (i.e., joints should be back-drivable like human joints). Utilization of back-drivable joint design allows the inertial motion to be exploited through walking rather than being suppressed by the actuation units. This has motivated the design of a 7-link biped robot with highly back-drivable joints, which is used in the experimental verification of the control framework. The overall control philosophy is analytically developed, numerically investigated and experimentally realized. Instead of the usual robot walking characterized with stiff motion, bent-knee stance support, and no foot rotation, human-like dynamic walking is demonstrated here with (partially) ballistic swing, extended knee stance support and foot rotation during the (preemptive) ankle push-off phase. Advisors/Committee Members: Dr. Alvin M. Strauss (committee member), Dr. George E. Cook (committee member), Dr. Nilanjan Sarkar (committee member), Dr. Eric J. Barth (committee member), Dr. Michael Goldfarb (Committee Chair).

Subjects/Keywords: biped robots; human-like locomotion; dynamic walking; constrained dynamics; control

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APA (6^th Edition):

Braun, D. J. (2009). A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15064

Chicago Manual of Style (16^th Edition):

Braun, David J. “A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems.” 2009. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/15064.

MLA Handbook (7^th Edition):

Braun, David J. “A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems.” 2009. Web. 16 Jan 2021.

Vancouver:

Braun DJ. A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems. [Internet] [Doctoral dissertation]. Vanderbilt University; 2009. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/15064.

Council of Science Editors:

Braun DJ. A control approach to human-like locomotion in biped robots. with An approach for numerical simulation of constrained mechanical systems. [Doctoral Dissertation]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/15064

Vanderbilt University

21. Sirithanapipat, Taweedej. Haptic Interface Control Design for Performance and Stability Robustness.

Degree: PhD, Mechanical Engineering, 2002, Vanderbilt University

URL: http://hdl.handle.net/1803/11664

► A method to enhance the performance and stability of haptic interfaces is addressed. This research approaches the control of haptic interfaces using classical control techniques,… (more)

Subjects/Keywords: Haptic control design; haptic performance and stability robustness

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APA (6^th Edition):

Sirithanapipat, T. (2002). Haptic Interface Control Design for Performance and Stability Robustness. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/11664

Chicago Manual of Style (16^th Edition):

Sirithanapipat, Taweedej. “Haptic Interface Control Design for Performance and Stability Robustness.” 2002. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/11664.

MLA Handbook (7^th Edition):

Sirithanapipat, Taweedej. “Haptic Interface Control Design for Performance and Stability Robustness.” 2002. Web. 16 Jan 2021.

Vancouver:

Sirithanapipat T. Haptic Interface Control Design for Performance and Stability Robustness. [Internet] [Doctoral dissertation]. Vanderbilt University; 2002. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/11664.

Council of Science Editors:

Sirithanapipat T. Haptic Interface Control Design for Performance and Stability Robustness. [Doctoral Dissertation]. Vanderbilt University; 2002. Available from: http://hdl.handle.net/1803/11664

Vanderbilt University

22. Tao, Tao. Distributed active vibration control with embedded sensor network techniques.

Degree: PhD, Electrical Engineering, 2006, Vanderbilt University

URL: http://hdl.handle.net/1803/13358

► In this dissertation, distributed control with sensor networks is used to suppress beam vibrations. The distributed active vibration control strategy has the advantages of being… (more)

▼ In this dissertation, distributed control with sensor networks is used to suppress beam vibrations. The distributed active vibration control strategy has the advantages of being scalable and fault-tolerant for use in large-scale systems. A distributed control system normally consists of numerous localized controllers called nodes. Each localized controller has a sensor, an actuator and a means of communicating with other nodes in the system. The goal of distributed control is to achieve global performance by sharing sensor information among the localized controllers. This is in contrast to decentralized control whose localized controllers work independently to achieve a global performance, and centralized control which utilize one central processor. A simply supported beam with six pairs of piezoelectric transducers acting as sensors and actuators is the active structure investigated. The disturbance on the beam is band-limited white noise (0 - 600 Hz). The dynamics of the beam are obtained using experimental system identification, and a 36 state model is selected for control design use after exploring various model sizes. Since existing distributed control design approaches are not applicable to structural vibration systems due to the strongly connected nature of vibration system dynamics, new distributed controllers are designed based on traditional H2 optimal control theory. Such H2 optimal control has been proven effective and robust at attenuating structural vibration in centralized strategy, and it is extended here to a distributed architecture. Two types of sensor grouping strategies in the distributed control system are considered: groups based on physical proximity and groups based on modal sensitivity. Distributed middleware services such as clock synchronization and network communications routing are also investigated and implemented experimentally for vibration control. This work is the first experiment implemented in the distributed vibration control field, and control performance results demonstrate the effectiveness of the two distributed grouping approaches. A fault-tolerant active vibration control system is applied to a simply supported beam with high order. System failures are detected and isolated by Beard-Jones (BJ) filters, and then a controller specifically designed for the faulty system is switched on, in order to maintain optimal control performance and stability under failure conditions. Advisors/Committee Members: D. Mitchell Wilkes (committee member), Nilanjan Sarkar (committee member), Gautam Biswas (committee member), George E. Cook (committee member), Kenneth D. Frampton (Committee Chair).

Subjects/Keywords: Girders – Vibration; Vibration – Research; distributed; active vibration control; Sensor networks; Smart structures.

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APA (6^th Edition):

Tao, T. (2006). Distributed active vibration control with embedded sensor network techniques. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/13358

Chicago Manual of Style (16^th Edition):

Tao, Tao. “Distributed active vibration control with embedded sensor network techniques.” 2006. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/13358.

MLA Handbook (7^th Edition):

Tao, Tao. “Distributed active vibration control with embedded sensor network techniques.” 2006. Web. 16 Jan 2021.

Vancouver:

Tao T. Distributed active vibration control with embedded sensor network techniques. [Internet] [Doctoral dissertation]. Vanderbilt University; 2006. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/13358.

Council of Science Editors:

Tao T. Distributed active vibration control with embedded sensor network techniques. [Doctoral Dissertation]. Vanderbilt University; 2006. Available from: http://hdl.handle.net/1803/13358

Vanderbilt University

23. Das, Jadav. Robotic control of deformable continua and objects therein.

Degree: PhD, Mechanical Engineering, 2010, Vanderbilt University

URL: http://hdl.handle.net/1803/14482

► This dissertation describes design, modeling, planning and control of robot-assisted manipulation tasks dealing with deformable objects, which have many important applications in surgery, food handling,… (more)

▼ This dissertation describes design, modeling, planning and control of robot-assisted manipulation tasks dealing with deformable objects, which have many important applications in surgery, food handling, automobile manufacturing, aerospace, leather, and packaging. Most of the tasks involving the handling of deformable objects are done by skillful human operators. However, robot-assisted manipulation of deformable objects is a difficult and challenging task primarily due to the low stiffness of the deformable object. Therefore, this dissertation investigates three robotic manipulation tasks dealing with deformable objects, which have many practical applications: (i) autonomous shape control of a deformable object by multiple manipulators, (ii) robot-assisted internal target point manipulation of a deformable object, and (iii) robot-assisted flexible bevel-tip needle insertion into a deformable tissue/organ. Shape control of a deformable object by a robotic system is challenging problem because of the difficulty of imposing shape change by a finite number actuation points to an infinite dimensional object. In this dissertation, a new approach to shape changing task of deformable objects by a system of manipulators is presented. An integrated dynamic equation of motion for a system of multiple manipulators handling a deformable object is developed. We model the deformable object using mass-spring-damper system. The initial and the final shapes of the deformable object are specified by curves that represent the boundary of the object. We discuss two different approaches to find the contact locations on the desired shapes of the object given the initial contact locations to perform the task. First, we design an optimization-based planner that minimizes an energy-like criterion to determine the locations of the contact points on the desired curve representing the final shape of the object. Second, a shape correspondence between the initial contact points of the multiple manipulators on a deformable object and a two dimensional curve that represents the final desired shape is determined. A shape Jacobian that contains the local shape information of the desired shape of the object is formulated and is introduced into the control law. We develop a shape estimator with second-order dynamics that is used to estimate the curve parameters corresponding to the end-effectors position in each time-step as the initial object is deformed to its desired final shape. The motion of each manipulator is controlled independently without any communication between them. Finally we design a robust controller for a shape changing task that can work in the presence of modeling uncertainty. The simulation results demonstrate the efficacy of the proposed method. Manipulative operation of internal target points of a deformable object by a robotic system is another challenging problem because of the difficulty of imposing the motion of the internal target points by a finite number actuation points located at the boundary of the deformable… Advisors/Committee Members: Prof. George E. Cook (committee member), Prof. Carol Rubin (committee member), Prof. Mitch Wilkes (committee member), Prof. Robert J. Webster III (Committee Chair), Prof. Nilanjan Sarkar (Committee Chair).

Subjects/Keywords: internal point manipulation; shape control; deformable object; manipulation; needle steering; medical robotics

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APA (6^th Edition):

Das, J. (2010). Robotic control of deformable continua and objects therein. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14482

Chicago Manual of Style (16^th Edition):

Das, Jadav. “Robotic control of deformable continua and objects therein.” 2010. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14482.

MLA Handbook (7^th Edition):

Das, Jadav. “Robotic control of deformable continua and objects therein.” 2010. Web. 16 Jan 2021.

Vancouver:

Das J. Robotic control of deformable continua and objects therein. [Internet] [Doctoral dissertation]. Vanderbilt University; 2010. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14482.

Council of Science Editors:

Das J. Robotic control of deformable continua and objects therein. [Doctoral Dissertation]. Vanderbilt University; 2010. Available from: http://hdl.handle.net/1803/14482

Vanderbilt University

24. 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 · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th 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 (16^th 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 (7^th 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

25. Willhite, Joel Andrew. Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor.

Degree: PhD, Mechanical Engineering, 2010, Vanderbilt University

URL: http://hdl.handle.net/1803/15240

► Pneumatically actuated robotic systems are attractive alternatives to traditional electromechanical systems (i.e., batteries and DC motors) due to the inherent power density advantage of pneumatic… (more)

Subjects/Keywords: compressor; inertance; free piston; engine; pneumatics; dynamic modeling; power supply

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Willhite, J. A. (2010). Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/15240

Chicago Manual of Style (16^th Edition):

Willhite, Joel Andrew. “Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor.” 2010. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/15240.

MLA Handbook (7^th Edition):

Willhite, Joel Andrew. “Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor.” 2010. Web. 16 Jan 2021.

Vancouver:

Willhite JA. Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor. [Internet] [Doctoral dissertation]. Vanderbilt University; 2010. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/15240.

Council of Science Editors:

Willhite JA. Dynamic Model-Based Design, Validation, and Characterization of a Compact, High-Inertance Free Liquid Piston Engine Compressor. [Doctoral Dissertation]. Vanderbilt University; 2010. Available from: http://hdl.handle.net/1803/15240

Vanderbilt University

26. 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 · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th 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 (16^th 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 (7^th 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

27. Riofrío, José Antonio. Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber.

Degree: PhD, Mechanical Engineering, 2008, Vanderbilt University

URL: http://hdl.handle.net/1803/14068

► This dissertation presents the design, modeling, simulation, fabrication, and experimental characterization and model validation of a free liquid-piston engine compressor (FLPC). The FLPC is a… (more)

Subjects/Keywords: air compressor; combustion chamber; human-scale fluid power; pneumatic humanoids; portable pneumatic power supply; Free piston engines – Design and construction; Air compressors – Design and construction; Robots – Power supply; Androids – Design and construction

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Riofrío, J. A. (2008). Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14068

Chicago Manual of Style (16^th Edition):

Riofrío, José Antonio. “Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber.” 2008. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14068.

MLA Handbook (7^th Edition):

Riofrío, José Antonio. “Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber.” 2008. Web. 16 Jan 2021.

Vancouver:

Riofrío JA. Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber. [Internet] [Doctoral dissertation]. Vanderbilt University; 2008. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14068.

Council of Science Editors:

Riofrío JA. Design, Modeling and Experimental Characterization of a Free Liquid-Piston Engine Compressor with Separated Combustion Chamber. [Doctoral Dissertation]. Vanderbilt University; 2008. Available from: http://hdl.handle.net/1803/14068

Vanderbilt University

28. Sidek, Shahrul Naim. Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip.

Degree: PhD, Electrical Engineering, 2008, Vanderbilt University

URL: http://hdl.handle.net/1803/14450

► DYNAMIC MODELING AND CONTROL OF NONHOLONOMIC WHEELED MOBILE ROBOT SUBJECTED TO WHEEL SLIP SHAHRUL NAIM SIDEK Improving navigation performance of autonomous wheeled mobile robot (WMR)… (more)

Subjects/Keywords: Mobile robots – Skidding; Robots – Motion – Computer simulation; wheel slip; nonholonomic constraint; wheeled mobile robot; path following; Mobile robots – Traction; Nonholonomic dynamical systems

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sidek, S. N. (2008). Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14450

Chicago Manual of Style (16^th Edition):

Sidek, Shahrul Naim. “Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip.” 2008. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/14450.

MLA Handbook (7^th Edition):

Sidek, Shahrul Naim. “Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip.” 2008. Web. 16 Jan 2021.

Vancouver:

Sidek SN. Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip. [Internet] [Doctoral dissertation]. Vanderbilt University; 2008. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/14450.

Council of Science Editors:

Sidek SN. Dynamic Modeling and Control of Nonholonomic Wheeled Mobile Robot subjected to Wheel Slip. [Doctoral Dissertation]. Vanderbilt University; 2008. Available from: http://hdl.handle.net/1803/14450

Vanderbilt University

29. 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

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th 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 (16^th 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 (7^th 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

Vanderbilt University

30. Liu, Changchun. Physiology-based affect recognition and adaptation in human-machine interaction.

Degree: PhD, Electrical Engineering, 2009, Vanderbilt University

URL: http://hdl.handle.net/1803/10458

► Recent advances in robotics and intelligent systems are expected to usher in a new era where the need for machines to “understand” humans becomes increasingly… (more)

Subjects/Keywords: Human machine interaction; physiology; emotion; Autism in children – Treatment; Affect (Psychology); Emotions – Physiological aspects; Human-computer interaction; human robot interaction; affect computing; Robotics – Human factors

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Liu, C. (2009). Physiology-based affect recognition and adaptation in human-machine interaction. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/10458

Chicago Manual of Style (16^th Edition):

Liu, Changchun. “Physiology-based affect recognition and adaptation in human-machine interaction.” 2009. Doctoral Dissertation, Vanderbilt University. Accessed January 16, 2021. http://hdl.handle.net/1803/10458.

MLA Handbook (7^th Edition):

Liu, Changchun. “Physiology-based affect recognition and adaptation in human-machine interaction.” 2009. Web. 16 Jan 2021.

Vancouver:

Liu C. Physiology-based affect recognition and adaptation in human-machine interaction. [Internet] [Doctoral dissertation]. Vanderbilt University; 2009. [cited 2021 Jan 16]. Available from: http://hdl.handle.net/1803/10458.

Council of Science Editors:

Liu C. Physiology-based affect recognition and adaptation in human-machine interaction. [Doctoral Dissertation]. Vanderbilt University; 2009. Available from: http://hdl.handle.net/1803/10458

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Open Access Theses and Dissertations