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Cascadable Elastomer-Based Fluidic Circuits for Controlling Soft Robots- [electronic resource]
Cascadable Elastomer-Based Fluidic Circuits for Controlling Soft Robots- [electronic resource]
상세정보
- 자료유형
- 학위논문파일 국외
- 최종처리일시
- 20240214100457
- ISBN
- 9798379605629
- DDC
- 621
- 서명/저자
- Cascadable Elastomer-Based Fluidic Circuits for Controlling Soft Robots - [electronic resource]
- 발행사항
- [S.l.]: : Harvard University., 2023
- 발행사항
- Ann Arbor : : ProQuest Dissertations & Theses,, 2023
- 형태사항
- 1 online resource(198 p.)
- 주기사항
- Source: Dissertations Abstracts International, Volume: 84-12, Section: B.
- 주기사항
- Advisor: Wood, Rob.
- 학위논문주기
- Thesis (Ph.D.)--Harvard University, 2023.
- 사용제한주기
- This item must not be sold to any third party vendors.
- 초록/해제
- 요약This dissertation explores the development of cascadable fluidic circuit elements that can be used to create highly functional controllers for soft robotics. The first chapter provides an overview of basic fluidic circuits and characterizes their behavior. In particular, it examines the necessary fluidic requirements of each circuit to provide insights for integration and tune-ability. The second chapter presents a novel fluidic power amplifier that can augment the low pressures and flows of the circuits from the first chapter. This amplifier is designed to provide the necessary power to operate larger fluidic devices and systems, thereby expanding the capabilities of the fluidic circuits.The third chapter focuses on the integration of all the circuit elements presented in the previous chapters to create highly functional controllers. Concepts regrading user modulation , buffering, autonomous controllers, and programmability in fluidic controllers for soft robotics are discussed. The chapter discusses various design considerations, such as input and output impedance and venting resistor impedances. The chapter also discusses the performance of the integrated circuits in terms of response times and actuation efficacy. Overall, this dissertation provides the first steps towards the design and implementation of cascadable fluidic circuit elements for soft robotic control. The proposed fluidic power amplifier and the highly functional controllers have the potential to expand the current capabilities of soft controllers for soft robotics. The findings of this research can serve as a foundation for future research in the field of fluidic circuits and their control.
- 일반주제명
- Mechanical engineering.
- 일반주제명
- Electrical engineering.
- 일반주제명
- Robotics.
- 키워드
- Fluidic logic
- 키워드
- Microfluidics
- 키워드
- Soft controllers
- 키워드
- Soft robotics
- 기타저자
- Harvard University Engineering and Applied Sciences - Engineering Sciences
- 기본자료저록
- Dissertations Abstracts International. 84-12B.
- 기본자료저록
- Dissertation Abstract International
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520240214100457
■006m o d
■007cr#unu||||||||
■020 ▼a9798379605629
■035 ▼a(MiAaPQ)AAI30492539
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a621
■1001 ▼aGallardo Hevia, Elizabeth.▼0(orcid)0000-0003-4630-7908
■24510▼aCascadable Elastomer-Based Fluidic Circuits for Controlling Soft Robots▼h[electronic resource]
■260 ▼a[S.l.]:▼bHarvard University. ▼c2023
■260 1▼aAnn Arbor :▼bProQuest Dissertations & Theses, ▼c2023
■300 ▼a1 online resource(198 p.)
■500 ▼aSource: Dissertations Abstracts International, Volume: 84-12, Section: B.
■500 ▼aAdvisor: Wood, Rob.
■5021 ▼aThesis (Ph.D.)--Harvard University, 2023.
■506 ▼aThis item must not be sold to any third party vendors.
■520 ▼aThis dissertation explores the development of cascadable fluidic circuit elements that can be used to create highly functional controllers for soft robotics. The first chapter provides an overview of basic fluidic circuits and characterizes their behavior. In particular, it examines the necessary fluidic requirements of each circuit to provide insights for integration and tune-ability. The second chapter presents a novel fluidic power amplifier that can augment the low pressures and flows of the circuits from the first chapter. This amplifier is designed to provide the necessary power to operate larger fluidic devices and systems, thereby expanding the capabilities of the fluidic circuits.The third chapter focuses on the integration of all the circuit elements presented in the previous chapters to create highly functional controllers. Concepts regrading user modulation , buffering, autonomous controllers, and programmability in fluidic controllers for soft robotics are discussed. The chapter discusses various design considerations, such as input and output impedance and venting resistor impedances. The chapter also discusses the performance of the integrated circuits in terms of response times and actuation efficacy. Overall, this dissertation provides the first steps towards the design and implementation of cascadable fluidic circuit elements for soft robotic control. The proposed fluidic power amplifier and the highly functional controllers have the potential to expand the current capabilities of soft controllers for soft robotics. The findings of this research can serve as a foundation for future research in the field of fluidic circuits and their control.
■590 ▼aSchool code: 0084.
■650 4▼aMechanical engineering.
■650 4▼aElectrical engineering.
■650 4▼aRobotics.
■653 ▼aFluidic logic
■653 ▼aFluidic power amplification
■653 ▼aMicrofluidics
■653 ▼aSoft controllers
■653 ▼aSoft robotics
■690 ▼a0548
■690 ▼a0544
■690 ▼a0771
■71020▼aHarvard University▼bEngineering and Applied Sciences - Engineering Sciences.
■7730 ▼tDissertations Abstracts International▼g84-12B.
■773 ▼tDissertation Abstract International
■790 ▼a0084
■791 ▼aPh.D.
■792 ▼a2023
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T16932434▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
■980 ▼a202402▼f2024
