UMD Theses and Dissertations

Permanent URI for this collectionhttp://hdl.handle.net/1903/3

New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a given thesis/dissertation in DRUM.

More information is available at Theses and Dissertations at University of Maryland Libraries.

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2010 - 20182

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    Utilization of Data and Models for Commercial off-the Shelf (COTS) Electronic Component Selection and Reliability Assessment
    (2018) Elburn, Edmond; Pecht, Michael; Das, Diganta; Mechanical Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    The continued growth of commercial off-the-shelf (COTS) parts in electronic systems and hesitance of use in some applications necessitates the development of methods to evaluate part reliability. An information-based reliability evaluation method has been developed based on failure mechanism models incorporating application conditions and part parameters. The sources of the information necessary for COTS parts were identified along with the information these sources provide. The sources were contrasted with the information required for military, space, or automotive grade parts. Multiple methods of approximating the application conditions and part parameters were developed and incorporated into the reliability methodology along with the impacts of uncertainty levels on the reliability prediction. An evaluation of information availability was completed, and metrics were developed to quantify the thermal and material information provided for parts. An analysis of 22 COTS parts evaluated the metrics’ effectiveness, and reliability estimations compared the changes in part parameters and conditions.
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    DEVELOPMENT AND EVALUATION OF A FLEXIBLE DISTRIBUTED ROBOT CONTROL ARCHITECTURE
    (2010) Ellsberry, Andrew John; Akin, David; Aerospace Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)
    The communications and electronic systems that comprise a distributed control architecture for a robotic manipulator tie the high level control and motion planning to the electromechanical components. Custom solutions to this problem can be expensive in terms of time, cost, and maintenance. The integration of commercial off the shelf (COTS) motion controllers, combined with a robust communication standard, offers the potential to reduce the costs and development times for new robots. This thesis demonstrates an implementation of this architecture using commercial controllers and the CANopen communications bus on two existing dexterous robots. Testing is conducted to quantify the single joint performance of these modules. Additionally, the implementation of the system on a second robot arm was conducted in order to test the flexibility of the system for use with different actuators and feedback.