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Robotic rehabilitation and assessment of the human upper-limb following stroke is currently limited in part by the inability of robots to replicate natural motion. In particular, motion of the shoulder girdle is usually neglected, despite the fact that the shoulder girdle is necessary to stabilize and orient the upper-limb during activities of daily living. Without direct control of the shoulder girdle, it is not possible to monitor or prevent a patient from making compensatory movements, which inhibits functional recovery, nor is there a means to properly regain strength and coordination. The more the robot is able to realistically mimic upper-limb motion, the more able the robot will be to assist with true functional movement training, which gives the patient the best chance of motor recovery. To address this issue, a new adjustable robotic exoskeleton called MEDARM is proposed for rehabilitation and assessment of the shoulder complex. MEDARM provides independent control of six degrees of freedom of the upper-limb: two at the sternoclavicular joint, three at the glenohumeral joint and one at the elbow. A key design feature of the new robot is an innovative curved track mechanism actuated by a cable-drive transmission system. To facilitate a performance evaluation of this new mechanism, a planar version of MEDARM was designed. A full prototype of this planar robot was constructed and several fundamental metrics, including friction, inertia, and compliance, were used to test its mechanical performance. Additionally, the functionality of the robot was examined using preliminary data recorded during a standard reaching task, and by implementing some basic rehabilitation algorithms. This thesis describes the design of MEDARM and its planar counterpart in detail and the performance evaluation of the prototype is presented. / Thesis (Ph.D, Electrical & Computer Engineering) -- Queen's University, 2008-08-13 21:19:14.335

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Though lots of numerical methods have been proposed in the literature to optimize me-chanical structures at the final stage of the design process, few designers use these tools since the first stage. However, a minor modification at the first step can bring significant change to the global performances of the structure. Usually, during the initial stage, models are based on theoretical and empirical equations, which are often characterized by mixed variables: continuous (e.g. geometrical dimensions), discrete (e.g. the cross section of a beam available in a catalogue) and/or integer (e.g. the number of layers in a composite material). Furthermore, the functions involved may be non differentiable, or even discontinuous. Therefore, classical algorithms based on the computation of sensi-tivities are no more applicable. Consequently, to solve these problems, the most wide-spread meta-heuristic methods are evolutionary algorithms (EAs), which work as follows: the best individuals among an initial population of randomly generated potential solutions are favoured and com-bined (by specific operators like crossover and mutation) in order to create potentially better individuals at the next generation. The creation of new generations is repeated till the convergence is reached. The ability of EAs to explore widely the design space is useful to solve single-objective unconstrained optimization problems, because it gener-ally prevents from getting trapped into a local optimum, but it is also well known that they do not perform very efficiently in the presence of constraints. Furthermore, in many industrial applications, multiple objectives are pursued together. Therefore, to take into account the constrained and multicriteria aspects of optimization problems in EAs, a new method called PAMUC (Preferences Applied to MUltiobjectiv-ity and Constraints) has been proposed in this dissertation. First the user has to assign weights to the m objectives. Then, an additional objective function is built by linearly aggregating the normalized constraints. Finally, a multicriteria decision aid method, PROMETHEE II, is used in order to rank the individuals of the population following the m+1 objectives. PAMUC has been validated on standard multiobjective test cases, as well as on the pa-rametrical optimization of the purge valve and the feed valve of the Vinci engine, both designed by Techspace Aero for launcher Ariane 5. The second step of the thesis consists in incorporating an inference engine within the optimization scheme in order to take expert rules into account. First, information about conception and design is collected among engineers expert in a specific domain. In the case of the valves designed by Techspace Aero, the expert rules are rules of thumb based upon experience, and related to the leakages, the choice of the materials for the different parts of the structure, etc. Then, each potential design generated by the EA is tested and repaired (with a given probability) according to the user-defined rules. This approach seems very efficient in reducing the size of the search space and guiding the EA towards the global feasible optimum.

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This dissertation presents the innovative design and development of PANDORA, a full-sized humanoid robot that stands 1.9 meters tall and weighs 45 kilograms. Its highly configurable structure was created primarily using Additive Manufacturing(AM) techniques. PANDORA is designed to address the limitations of existing humanoid robots, particularly regarding accessibility, cost, and customization for research purposes. The robot features 32 degrees of freedom, enabling it to perform a wide range of human-like motions, such as walking, reaching, and manipulating objects. The development of PANDORA focuses on leveraging the flexibility of AM to create a lightweight, cost-effective, and easily modifiable robotic platform. The dissertation details the iterative design process, which includes the structural components for weight reduction while maintaining the necessary strength and durability for dynamic movements. The lower body of PANDORA incorporates advanced joint configurations and custom-designed linear actuators, initially developed for previous Terrestrial Robotics and Engineering Controls (TREC) Lab robots, such as THOR and ESCHER. The upper body features a cable-driven arm system, which is both lightweight and highly functional, offering eight degrees of freedom per arm. A significant contribution of this work is the development of design heuristics for AM, tailored specifically for the construction of large-scale robotic components. These heuristics were validated through extensive finite element analysis (FEA) and physical testing, ensuring the AM parts could withstand the loads and stresses encountered during operation. The open-source nature of the PANDORA platform, including all design files and documentation, further enhances its value to the research community, providing a robust foundation for future developments in humanoid robotics. / Doctor of Philosophy / This dissertation explores the creation of PANDORA, a life-sized robot designed to move and function similarly to a human. PANDORA is nearly 6 feet tall and weighs about 100 pounds, making it comparable in size to an average adult. What sets PANDORA apart from other robots is how it was made—using 3D printing technology, which allowed for a strong and lightweight structure. The main goal of this project was to develop a robot that researchers and hobbyists could easily build and modify. To achieve this, PANDORA was designed with affordability and accessibility in mind. By using 3D printing, the number of parts needed to build the robot was significantly reduced, making it easier to assemble and less expensive to produce. The robot's design is also open-source, meaning all the plans and details are freely available online, allowing others to build and improve upon this work. PANDORA has joints that mimic many human movements, such as walking and lifting objects. The arms, for instance, are designed to be both lightweight and highly flexible, making the robot capable of performing tasks that require precision and strength. This research demonstrates how advanced 3D printing can be used to create complex, functional robots and aims to push the boundaries of what is possible in robotics by making these technologies more accessible to everyone.

This report presents a thesis work on advanced level in the course PPU502 – Product development. The thesis work has investigated the outcome of applying the Product Development Process in the development of a production system, through a case study at Munters Europe AB. The case study aimed to examine, map, analyze and develop a manufacturing process that currently consists of manual and time consuming operations. The purpose of this thesis was to investigate the versatility of the knowledge obtained during the MSc program Innovation and Product Design, as a result of the markets expectations of engineering graduates to be generalists with good ability to apply their skills in more than one area. The methodological approach in this thesis is based on the research process that Kothari (2004) presents and are modified in to 4 phases. Phase 1 defines the project and establishes research questions that are used as guidelines for the work. Phase 2 includes the case study, where the Product Development Process was implemented in the development a manufacturing process. Phase 3 consists of data collection, where quality assuring and general methods for developing production systems were identified. Phase 4 compares the empirical results from the case study with the collected data, describes differences of the methods and analyzes the outcome. / Denna rapport presenterar ett examensarbete på avancerad i kursen PPU502 – Produktutveckling. Examensarbetet har undersökt utfallet av att tillämpa produktutvecklingsmetoder vid utveckling av ett produktionssystem, genom en fallstudie vid Munters Europe AB. Fallstudien syftade till att granska, kartlägga, analysera och utveckla en tillverkningsprocess som, i dagsläget, består av en del manuella operationer. Syftet med examensarbetet var att undersöka mångsidigheten av den erhållna kunskap från civilingenjörsutbildningen Innovation och Produktdesign då marknaden förväntar sig att civilingenjörer ska vara generalister med god förmåga att tillämpa sin kompetens på fler än ett område. Metodiken i detta arbete grundar sig i forskningsprocessen som Kothari (2004) presenterar och är modifierad till 4 faser. Fas 1 definierar projektet och upprättar frågeställningar som sedan styr arbetet. Fas 2 innehåller fallstudien, där produktutvecklingsprocessen har följts för att utveckla en tillverkningsprocess. Fas 3 består av datainsamling där kvalitetssäkra, allmänna metoder för utveckling av produktionssystem har identifierats. Fas 4 jämför empirin från fallstudien med de insamlade data och redogör skillnader samt analyserar utfallet.

By enhancing a real scene with computer generated objects, Augmented Reality (AR), has proven itself as a valuable Human-Computer Interface (HCI) in numerous application areas such as medical, military, entertainment and manufacturing. It enables higher performance of on-site tasks with seamless presentation of up-to-date, task-related information to the users during the operation. AR has potentials in design because the current interface provided by Computer-aided Design (CAD) packages is less intuitive and reports show that the presence of physical objects help design thinking and communication. This research explores the use of AR to improve the efficiency of a design process, specifically in mechanical design. / Singapore-MIT Alliance (SMA)