Scott B. Nokleby

Learn More
A detailed design of an autonomous amphibious vehicle (AAV) capable of traversing across aquatic and terrestrial environments is presented. The vehicle features a unique suspension system built into the two segment body, whereby a joint allows each segment to pitch and roll independently of one another while traveling across uneven terrain. Four driven(More)
Mobile-manipulator systems (MMS) are extremely useful tools in teleoperation tasks. However, the current command strategy is strenuous and difficult and requires extensive training. A new command strategy is presented where control of the entire MMS is done using a single joystick. Rather than modeling the system as a redundant manipulator, control of the(More)
—The force-moment capabilities of redundantly-actuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different ar-chitectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts , where the underline denotes(More)
This paper presents a method of using an improved version of the Max-Min Ant Colony Optimization (ACO) algorithm for use in dynamic global robot path planning. A modified Bug2 algorithm was used to determine the initial best path on a map. After running the Max-Min ACO algorithm to find the optimal path, the path was checked to see if it crossed any(More)