This thesis presents the design and development of a unique omni-directional platform known as the Omnibot which was built in the Mechatronic and Robotic Systems Laboratory at UOIT. The Omnibot's layout is novel because its drive axes do not intersect with the geometric center of the body, which is typical for omni-directional platforms using segmented omni-directional wheels. This design enables the center of mass to be lower in the design and increases the stability. A suspension system was designed for each of the four wheels to limit vibrations and to ensure contact between the wheels and operating surface. The Omnibot was built to modularly support many systems, including a robot arm, without altering the mechanical design of the frame. Two control modes were developed: local and global. Commands to drive the Omnibot can be received from either a joystick that can be directly interfaced with the controller or with commands that are sent from other systems that are either on or o of the Omnibot. Both control modes require encoder feedback to ensure commanded velocities are being executed as specified. Global control requires feedback from an indoor localization system to determine the Omnibot's pose. Early implementation of the localization system is discussed. An open source robotics software, known as Robot Operating System (ROS) was selected for implementation of the Omnibot systems. ROS serves as a middleware which allows components, such as the localization system and remote desktop, to communicate with each other through a decoupled messaging system. ROS is modular and exible, allowing for easy adaptation of future components. Test results of the Omnibot in operation are presented.

No description available.

Bicycle riding plays a central role in the social and physical lives of most children, however, many children with special needs do not acquire the skills to successfully ride a two-wheeled bicycle. This study explored barriers and facilitating factors associated with learning to ride a two-wheeled bicycle. Participants were children (n = 25; and their parents) enrolled in an adapted bike riding camp. The camp was organized by therapists from the Queen Alexandra Centre for Children’s Health (QACCH) and facilitated by Lose the Training Wheels staff. The program involved changing the dynamics of the bicycle and the demands of the environment to help children with special needs learn to ride a conventional two-wheeled bicycle. Riding progression, self-efficacy toward cycling, and perceptions of physical competence were assessed pre-camp, immediately post-camp and at a 3-6 month follow-up post-camp. Semi-structured interviews were also conducted with parents at follow-up. None of the children were riding independently at pre-test; however, 96% were riding independently in a controlled environment post-camp. Paired t-test revealed self-efficacy toward bike riding increased significantly from pre- to post-camp (Mpre = 16.3, SD=5.6; Mpost = 21.7, SD=4.9, p = .001), but perceptions of competence did not (Mpre = 22.9, SD = 4.5; Mpost = 23.5, SD = 4.7, p = .503). Semi-structured interviews with 10 parents at follow-up revealed that transfer to home was problematic. Five children were no longer riding and four required adult supervision in controlled environments. Common barriers included inaccessible environments, parents unable to help their children, and the re-emergence of children’s fear and hesitation. Changes in pre to post-camp skill and self-efficacy were not accompanied by an increase in perceptions of competence, likely due the very high pre-test scores (ceiling effect). At follow-up, most children were not riding in their home environment. Parents were pleased with the camp program overall, but felt that an extension of the program and supports for the transition to home were needed. / Graduate / 0523 / alishawitter@gmail.com

Thesis (Ph.D.) -- University of Montana, 2008. / Title from author supplied metadata. Description based on contents viewed on June 15, 2009. ETD number: etd-03262009-133921. Author supplied keywords: Native Americans ; Medicine Wheel ; Alcohol misuse ; Substance Misuse ; Transtheoretical Model of Change. Includes bibliographical references.

Thesis (Ph. D.)--University of Chicago, Department of English Language and Literature, December 2000. / Includes bibliographical references (p. 274-283). Also available on the Internet.

Thesis (Ph. D.)--University of Wisconsin--Madison, 1968. / Typescript. Vita. Description based on print version record. Includes bibliographical references (leaves 253-255).

Thesis (doctoral)--Københavns universitet, København, 1942. / Includes bibliographical references (p. 400-409) and index.

Thesis (D. Min. )--Catholic Theological Union at Chicago, 2005. / Includes abstract and vita "March 2005." Includes bibliographical references (leaves 311-334).

Thesis (D. Min. )--Catholic Theological Union at Chicago, 2005. / Includes abstract and vita "March 2005." Includes bibliographical references (leaves 311-334).

Made available in DSpace on 2014-06-11T19:28:34Z (GMT). No. of bitstreams: 0 Previous issue date: 2006-02Bitstream added on 2014-06-13T18:34:53Z : No. of bitstreams: 1 correard_gcc_me_guara.pdf: 1877382 bytes, checksum: f137894497df23a88143686cf4323f80 (MD5) / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES) / O objetivo desta pesquisa foi apresentar um método de análise para a solução de problemas de contato por elementos finitos e o cálculo dos componentes mecânicos que fazem parte do projeto de uma roda de aço. Foi demonstrado passo a passo à execução de um cálculo analítico da roda de uma Comporta Vagão, calculando as cargas radial e axial presentes, verificando a tensão de Hertz, as tensões localizadas no cubo da roda, as tensões atuantes no eixo e a seleção do rolamento. Após esta etapa retiraram-se os parâmetros iniciais que foram utilizados no cálculo analítico para buscar o cálculo por elementos finitos. Assim, foram definidas as superfícies de contato, a geometria dos componentes, a malha, as restrições, as condições de contorno e por fim a análise dos resultados encontrados antes e após o projeto. Dessa maneira, podê-se determinar com precisão os pontos de concentração de tensão para eliminação as falhas. Com a busca deste cálculo, usando a análise por Elementos Finitos, respaldado pelo cálculo analítico, foi possível reduzir o diâmetro da roda para obter ganhos em massa para este tipo de equipamento que usa uma quantidade alta de rodas (acima de 100 rodas), sem alteração da confiabilidade das peças durante seu funcionamento. / The objective of this research was to present an analysis method for the solution of contact problems for finite elements and the calculation of the mechanical components that are part of the project of a steel wheel. It was demonstrated step by step the execution of an analytic calculation of the wheel of a Fixed Wheel Gate, calculating the radial and axial loads present, verifying the Hertz pressure, the concentrated stresses in the hub of the wheel, the acting stresses in the shaft and hub, and the selection of the roller bearings. After this stage the initial parameters were used in the analytic calculation in order to obtain the calculation using finite elements. After this, it was defined the contact surfaces, the geometry of the components, the mesh, the restrictions, the real constraints and finally the analysis of the results found before and after the project. After this calculation, the other analysis was established in order to determine the points of concentration stress accurately for the elimination of fails. In order to obtain the calculation, using Finite Elements, by the analytic calculation it was possible to reduce the diameter of the wheel to obtain earn in mass for this type of equipment that uses a high amount of wheels (above 100 wheels), without alteration of the reliability of the parts during the operation.