The scope of this thesis is to analyze the feasibility of having different wireless mesh network architectures transfer data to a wired network via a joint (universal) access point (UAP). Additionally this thesis analyzes the feasibility of using similar joint (universal) access point technology to allow heterogeneous wireless mesh network devices in close proximally to the UAP transmit data to/from each other via the UAP. This research also includes evaluating COTS tools for possible implementation of a joint access point as well as seeking partnership with private industry to assist in research efforts and/or the development or joint (universal) access point solution(s). The thesis concludes with a recommendation on application of universal joint point technology, to include recommendations for implementation of such technology in the Tactical Network Topology (TNT) environment.

Each year, falls from elevated structures, like scaffolding, kill or seriously injure over a thousand construction workers (Bureau of Labor Statistics, 2007). To prevent such falls, the development of a robotic system is proposed that can climb and navigate on the complex structures, performing hazardous inspection and maintenance in place of humans. In this work, a serpentine robotic system is developed that will be able to climb pole-like structures, such as scaffolding and trusses, commonly found on work sites. Serpentine robots have been proven to be effective at traversing unstructured terrains and manipulating complex objects. The work presented in this thesis adds a new method of mobility for serpentine robots, specifically those with actuated universal joint structures. Movement is produced by inducing a wobbling motion between adjacent modules through oscillatory motions in the actuated axis of the universal joint. Through the frictional interactions between the modules of the serpentine and the surface of the pole, the wobbling motion lets the serpentine effectively roll up the pole's surface. This work investigates theoretical and experimental results for a serpentine robot climbing a pole structure. It discusses the structure and design parameters of the robot and develops relationships between them. These geometric and performance-based relationships are then used to create a design space that provides a guide for choosing a combination of module dimensions for a desired set of performance parameters. From this, case studies are shown which give examples of how the design space can be used for several different applications. Based on the design space procedure, a serpentine robot, HyDRAS (Hyper-Redundant Discrete Robotic Articulated Serpentine) was designed and built. The robot was used to prove the validity of the design space procedure and to validate the climbing motion algorithms. Several tests were performed with HyDRAS that showed the practicality of the helical rolling motion, as well as the feasibility of serpentine pole climbing. Observations and discussion based on the experiments are given, along with the plans for future work involving pole-climbing serpentine robots. / Master of Science

The aim of this master thesis is the construction of a steering system for Formula Student monopost. The main part of the thesis is the design and analysis of steering column using universal joints. The thesis also contains design and analysis of steering rack together with experimental measurement of steering column torsional stiffness. An important part of the thesis is also a calculation of steering forces.