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Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system
(Massachusetts Institute of Technology, 2008)
The design of a multifunctional foot for application to a mobile robotic system for heavy duty manufacturing is presented. The requirements for a target manufacturing task are presented and translated into requirements for ...
Analysis of system wide distortion in an integrated power system utilizing a high voltage DC bus and silicon carbide power devices
(Massachusetts Institute of Technology, 2007)
This research investigates the distortion on the electrical distribution system for a high voltage DC Integrated Power System (IPS). The analysis was concentrated on the power supplied to a propulsion motor driven by an ...
Particle displacement measurement using optical diffraction
(Massachusetts Institute of Technology, 2002)
Optimal control with structure constraints and its application to the design of passive mechanical systems
(Massachusetts Institute of Technology, 2002)
Structured control (static output feedback, reduced-order control, and decentralized feedback) is one of the most important open problems in control theory and practice. In this thesis, various techniques for synthesis of ...
Robotic compensation of cerebellar ataxia
(Massachusetts Institute of Technology, 2007)
The cerebellum is believed to play a role in dynamic compensation in the human motor control system. When it is damaged, subjects make clumsy movements with reduced acceleration, increased overshoot, and swerving in ...
Design and signal processing of finger photo plethysmograph ring sensors for reduced motion artifact and circulation interference
(Massachusetts Institute of Technology, 2002)
Multi-channel blind system identification using the Laguerre expansion for characterization of circulatory hemodynamics
(Massachusetts Institute of Technology, 2004)
A new tool for real-time characterization of both systemic and local circulatory hemodynamics has been developed. Given two peripheral circulatory waveform measurements this new signal-processing algorithm generates two ...
DC powerline communication system using a transmission line transformer for high degree of freedom applications
(Massachusetts Institute of Technology, 2004)
A new type of powerline communication is developed to reduce cable requirements for robotic, electromechanical, and vehicular systems. A DC power bus line connecting a DC power supply to motor drives and sensor units is ...
Modeling for ship power system emulation
(Massachusetts Institute of Technology, 2009)
With the U.S. Navy's continued focus on Integrated Fight Thru Power (IFTP) there has been an ever increasing effort to ensure an electrical distribution system that maintains maximum capabilities in the event of system ...
A pseudo-polynomial time O(log² n)-approximation algorithm for art gallery problems
(Massachusetts Institute of Technology, 2006)
In this thesis, we give a pseudo-polynomial time O(log² n)-approximation algorithm for a variant of the art gallery problem the point-guard problem. The point-guard problem involves finding the minimum number of points and ...