Show simple item record

dc.contributor.authorWilliams, Adam Johnen_US
dc.date.accessioned2020-02-07T07:00:45Z
dc.date.available2020-02-07T07:00:45Z
dc.date.issued2018-08-15
dc.identifier.othervt_gsexam:16477en_US
dc.identifier.urihttp://hdl.handle.net/10919/96755
dc.description.abstractThe work presented in this thesis focuses on the design and testing of a casualty extraction robot intended to stabilize the head and neck of an unresponsive person. The employment of robots in dangerous locales such as combat zones or the site of a natural disaster has the potential to help keep first responders out of harm's way as well as to improve the efficiency of search and rescue teams. After a review of robotic search and rescue platforms the Semi-Autonomous Victim Extraction Robot(SAVER) is introduced. The necessity of a device intended to support the head and cervical spine during transport on a rescue robot is then discussed. The kinematic and dynamic analyses of various candidate differential mechanisms intended for the head stabilization device are described, and the chosen mechanism is demonstrated in a proof-of-concept device. Following testing with a simple PID controller, it was determined an advanced feedback controller with disturbance rejection capabilities was required. Linear Active Disturbance Rejection Control (LADRC) was chosen for its effectiveness in rejecting perturbations and handling modeling uncertainties. The performance the proposed LADRC control scheme was compared with PID in simulation and the results are presented. Finally, a prototype of the device was designed and built to validate the functionality of the subsystem, and the results of the corresponding experimentation are discussed.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectRescue Roboten_US
dc.subjectRobotic Systemsen_US
dc.subjectMechatronicsen_US
dc.subjectHead Stabilizationen_US
dc.titleA Robotic Head Stabilization Device for Post-Trauma Transporten_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineeringen_US
dc.description.degreeMSen_US
thesis.degree.nameMSen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineMechanical Engineeringen_US
dc.contributor.committeechairBen-Tzvi, Pinhasen_US
dc.contributor.committeememberWicks, Alfred Len_US
dc.contributor.committeememberSouthward, Steve Cen_US


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record