Master's Theses Directories


Book Description

"Education, arts and social sciences, natural and technical sciences in the United States and Canada".




A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration


Book Description

In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.




DHM and Posturography


Book Description

DHM and Posturography explores the body of knowledge and state-of-the-art in digital human modeling, along with its application in ergonomics and posturography. The book provides an industry first introductory and practitioner focused overview of human simulation tools, with detailed chapters describing elements of posture, postural interactions, and fields of application. Thus, DHM tools and a specific scientific/practical problem – the study of posture – are linked in a coherent framework. In addition, sections show how DHM interfaces with the most common physical devices for posture analysis. Case studies provide the applied knowledge necessary for practitioners to make informed decisions. Digital Human Modelling is the science of representing humans with their physical properties, characteristics and behaviors in computerized, virtual models. These models can be used standalone, or integrated with other computerized object design systems, to design or study designs, workplaces or products in their relationship with humans. - Presents an introductory, up-to-date overview and introduction to all industrially relevant DHM systems that will enable users on trialing, procurement decisions and initial applications - Includes user-level examples and case studies of DHM application in various industrial fields - Provides a structured and posturography focused compendium that is easy to access, read and understand




Body Sensor Networks


Book Description

The last decade has witnessed a rapid surge of interest in new sensing and monitoring devices for wellbeing and healthcare. One key development in this area is wireless, wearable and implantable in vivo monitoring and intervention. A myriad of platforms are now available from both academic institutions and commercial organisations. They permit the management of patients with both acute and chronic symptoms, including diabetes, cardiovascular diseases, treatment of epilepsy and other debilitating neurological disorders. Despite extensive developments in sensing technologies, there are significant research issues related to system integration, sensor miniaturisation, low-power sensor interface, wireless telemetry and signal processing. In the 2nd edition of this popular and authoritative reference on Body Sensor Networks (BSN), major topics related to the latest technological developments and potential clinical applications are discussed, with contents covering. Biosensor Design, Interfacing and Nanotechnology Wireless Communication and Network Topologies Communication Protocols and Standards Energy Harvesting and Power Delivery Ultra-low Power Bio-inspired Processing Multi-sensor Fusion and Context Aware Sensing Autonomic Sensing Wearable, Ingestible Sensor Integration and Exemplar Applications System Integration and Wireless Sensor Microsystems The book also provides a comprehensive review of the current wireless sensor development platforms and a step-by-step guide to developing your own BSN applications through the use of the BSN development kit.




Neumann's Kinesiology of the Musculoskeletal System - E-Book


Book Description

**Selected for Doody's Core Titles® 2024 in Physical Therapy** With a focus on the normal and abnormal mechanical interactions between the muscles and joints of the body, Neumann's Kinesiology of the Musculoskeletal System, 4th Edition provides a foundation for the practice of physical rehabilitation. This comprehensive, research-based core text explores kinesiology as it relates to physical rehabilitation in a clinically relevant and accessible manner. It presents the language of human movement — and acts as a bridge between basic science and clinical management. It helps clinicians effectively address the mechanical-based changes in movement across a person's lifespan, whether in the context of rehabilitation, recreation, or promotion of health and wellness. Full-color anatomic and kinesiologic illustrations clearly demonstrate the anatomy, functional movement, and biomechanical principles underlying movement and posture. An eBook version, included with print purchase, provides access to all the text, figures, and references, with the ability to search, customize content, make notes and highlights, and have content read aloud. The eBook included with print purchase also features multiple excellent videos of anatomic and kinesiologic principles, answers to study questions from the print book, and additional tables and figures. - Evidence-based approach emphasizes the importance of research in PT decision-making. - More than 900 high-quality illustrations provide visual accompaniments to clarify the material. - Clinical Connections boxes at the end of each chapter highlight or expand upon a particular clinical concept associated with the kinesiology covered in the chapter. - Special Focus boxes throughout the text provide numerous clinical examples to demonstrate why kinesiologic information is needed. - Critical thinking questions for selected chapters reinforce the main concepts. - UPDATED! Current, evidence-based content closes the gap in kinesiology and anatomy science with clinical practice. - NEW! Additional Special Focus boxes and Clinical Connections boxes present kinesiology in a clinical context. - UPDATED! Modified artwork and new figures visually reinforce key concepts. - NEW! An eBook version, included with print purchase, provides access to all the text, figures, and references, with the ability to search, customize content, make notes and highlights, and have content read aloud. It also features videos, answers to study questions from the print book, and additional tables and figures.




Robot Dynamics And Control


Book Description

This self-contained introduction to practical robot kinematics and dynamics includes a comprehensive treatment of robot control. It provides background material on terminology and linear transformations, followed by coverage of kinematics and inverse kinematics, dynamics, manipulator control, robust control, force control, use of feedback in nonlinear systems, and adaptive control. Each topic is supported by examples of specific applications. Derivations and proofs are included in many cases. The book includes many worked examples, examples illustrating all aspects of the theory, and problems.




Modern Robotics


Book Description

A modern and unified treatment of the mechanics, planning, and control of robots, suitable for a first course in robotics.




Rigid Body Dynamics Algorithms


Book Description

Rigid Body Dynamics Algorithms presents the subject of computational rigid-body dynamics through the medium of spatial 6D vector notation. It explains how to model a rigid-body system and how to analyze it, and it presents the most comprehensive collection of the best rigid-body dynamics algorithms to be found in a single source. The use of spatial vector notation greatly reduces the volume of algebra which allows systems to be described using fewer equations and fewer quantities. It also allows problems to be solved in fewer steps, and solutions to be expressed more succinctly. In addition algorithms are explained simply and clearly, and are expressed in a compact form. The use of spatial vector notation facilitates the implementation of dynamics algorithms on a computer: shorter, simpler code that is easier to write, understand and debug, with no loss of efficiency.




Kinesiology of the Musculoskeletal System - E-Book


Book Description

Brilliantly and abundantly illustrated, this dynamic resource is the most comprehensive, research-based, reader-friendly text on kinesiology. An engaging approach explores the fundamental principles in vivid detail and clarifies the link between the structure and function of the musculoskeletal system to help you ensure a clear, confident understanding. UNIQUE! Clinical Connections boxes in each chapter enhance your understanding and promote practical application. Special Focus boxes and clinical examples throughout the text bridge classroom content with real-world application to help you succeed in practice. Logically organized content establishes an understanding of fundamental concepts before moving on to more complex material to make learning easier. Chapter outlines provide a framework for learning and enable you to reference specific topics at a glance. UNIQUE! A companion Evolve Resources website reinforces your understanding through kinesiology video clips and answers to study questions. UNIQUE! More than 500 high-quality, full-color illustrations clarify musculoskeletal anatomy and reinforce anatomic concepts. Study questions in each chapter test your comprehension and strengthen your critical-thinking capabilities.




Statistical Sensor Fusion


Book Description