Browsing by Advisor "Ghosal, Ashitava"
Now showing items 1-20 of 22
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Analysis And Design Of Spatial Manipulators : An Exact Algebraic Approach Using Dual Numbers And Symbolic Computation
(2008-11-03)This thesis presents a unified framework for the analysis of instantaneous kinematics and statics of spatial manipulators. The proposed formulation covers the entire range of kinematic behavior, with kinematic singularity ... -
Design And Analysis Of Flexible Beam Platform As Vibration Isolator For Space Applications
(2016-10-20)Spacecrafts are generally equipped with high precision optical and other sensor payloads. The structures of most of the spacecrafts are light-weight, flexible and have low damping. Vibrations are often induced in the ... -
Design and Development of a Three-degree-of-freedom Parallel Manipulator to Track the Sun for Concentrated Solar Power Towers
(2018-05-21)In concentrated solar power (CSP) stations, large arrays of mirrors which are capable of changing its orientation are used to reflect the incident solar energy to a stationary receiver kept at a distance. Such mirrors are ... -
Design, Analysis, Simulation and Experimentation of a Flexible Spine Quadruped
Quadrupeds robots can move on uneven and rough terrain where mobile robots cannot venture. Al-though bipeds have more capabilities, they are inherently unstable and difficult to control. Most quadrupeds today are built ... -
Development of a Flexible Actuator and Motion Planning for Endoscopic Robots
Endoscopy is a procedure by which a long flexible device called the `endoscope' is inserted into a patient's gastro-intestinal(GI) tract primarily for diagnosis. An endoscope is typically equipped with a camera, ... -
Dynamically isotropic Gough-Stewart platform for micro-vibration isolation in spacecraft
Rotating components such as reaction wheels and momentum wheels on spacecraft generate micro-vibrations up to 250 Hz during on-orbit operations. While the use of Gough-Stewart Platforms (GSPs) for six degrees of freedom ... -
Kinematic And Dynamic Modeling Of Human Walking
(2014-08-07)Walking comes naturally to us and appears to be simple. However, this is not so and it is known that walking requires high level neural control and muscle coordination. There is no single, unifying theory of bipedal walking. ... -
Kinematic And Static Analysis Of Over-Constrained Mechanisms And Deployable Pantograph Masts
(2011-01-19)Foldable and deployable space structures refer to a broad category of pre-fabricated structures that can be transformed from a compact folded configuration to a predetermined expanded configuration. Such deployable structures ... -
Kinematic Design and Optimal Synthesis of Parallel Manipulators Using Monte Carlo Method
Parallel manipulators are widely used for a variety of tasks where increased accuracy and large load carrying capacities are required. In this work, we propose a Monte Carlo based method to represent and quantify the ... -
Model Reference Learning Control Using ANFIS
(2012-05-25) -
Motion Planning of Flexible One-dimensional Object and Hyper-redundant Robots
This thesis deals with motion planning of flexible one-dimensional objects and hyper-redundant serial robots moving in a plane or in three dimensional space. The flexible one-dimensional object is modeled as a continuous ... -
A New Insight Into Recursive Forward Dynamics Algorithm And Simulation Studies Of Closed Loop Systems
(2009-04-02)Rigid multibody systems have been studied extensivley due to its direct application in design and analysis of various mechanical systems such as robots and spacecraft structures. The dynamics of multibody system is governed ... -
A Novel Hybrid Vehicle Architecture : Modeling, Simulation and Experiments
(2018-05-22)Electric and hybrid vehicles are particularly suited for use in urban areas since city transportation is mainly characterized by relatively short driving distances, low continuous power requirements, long idling times and ... -
Novel Suspension Mechanisms For A Three Wheeled Mobile Robot Traversing Uneven Terrains Without Slip
(2014-08-12)A wheeled mobile robot (WMR) will move on uneven terrain without slip if the length of the axle connecting two wheels can change or for a fixed length axle the wheels are allowed to tilt in a lateral direction. In this ... -
Optimal Synthesis of Adjustable Four-Link Planar and Spherical Crank-Rocker Type Mechanisms for Approximate Multi-Path Generation
(2018-04-02)The well known synthesis problem of obtaining dimensions of a four-link mechanism such that a point on the coupler link traces a desired path has been extensively studied. There are two types of path generation–path specified ... -
Possible Chaos In Robot Control Equations
(2012-05-16) -
The Role of Basal Ganglia and Redundancy in Supervised Motor Learning
Human sensorimotor control can achieve highly reliable movements under circumstances of noise, redundancy, uncertainty, and sensory delays. Our ability to achieve reliable and accurate movements is in the fact we have a ... -
Studies On The Viability Of The Boundary Element Method For The Real-Time Simulation Of Biological Organs
(2016-09-02)Realistic and real-time computational simulation of biological organs (e.g., human kidneys, human liver) is a necessity when one tries to build a quality surgical simulator that can simulate surgical procedures involving ...