Scott B. Nokleby

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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)
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)
A distributed variant of multi-objective particle swarm optimization called multi-objective parallel asynchronous particle swarm optimization (MOPAPSO) was used to develop a new optimization-based synthesis routine for Grashof mechanisms. By using a formal multi-objective handling scheme based on Pareto dominance criteria, the need to pre-weight competing(More)
The force-moment capabilities of redundantlyactuated 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 architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts, where the underline denotes the(More)
The design and implementation of an indoor absolute localization system for a novel threedegree-of-freedom (DOF) omni-directional mobile platform is presented. This localization system is a modification of the Cricket indoor localization system developed at the Massachusetts Institute of Technology (MIT) and is similar to the Global Positioning System (GPS)(More)