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Mathematical Modeling Of A Two Wheeled Robotic Base, Kathryn Remell 2021 University of Arkansas, Fayetteville

Mathematical Modeling Of A Two Wheeled Robotic Base, Kathryn Remell

Mechanical Engineering Undergraduate Honors Theses

This thesis presents the concept of using a two wheeled robot on the moon and briefly explores the requirements for successful long term operation in a lunar environment. The mathematical model for the motion of a robot with two fixed wheels on a differential drive with in a global reference frame. The robot is assumed to be balancing a platform so the mathematical model to balance the platform with wheel motors is also developed and briefly evaluated.


Motor Control-Based Assessment Of Therapy Effects In Individuals Post-Stroke: Implications For Prediction Of Response And Subject-Specific Modifications, Ashley Rice 2021 University of Tennessee, Knoxville

Motor Control-Based Assessment Of Therapy Effects In Individuals Post-Stroke: Implications For Prediction Of Response And Subject-Specific Modifications, Ashley Rice

Doctoral Dissertations

Producing a coordinated motion such as walking is, at its root, the result of healthy communication pathways between the central nervous system and the musculoskeletal system. The central nervous system produces an electrical signal responsible for the excitation of a muscle, and the musculoskeletal system contains the necessary equipment for producing a movement-driving force to achieve a desired motion. Motor control refers to the ability an individual has to produce a desired motion, and the complexity of motor control is a mathematical concept stemming from how the electrical signals from the central nervous system translate to muscle activations. Exercising a …


Correlating Fracture Toughness And Surface Roughness For A Ductile Epoxy Adhered To Aluminum Substrates, Kurt Ryan Smith 2021 University of Tennessee, Knoxville

Correlating Fracture Toughness And Surface Roughness For A Ductile Epoxy Adhered To Aluminum Substrates, Kurt Ryan Smith

Masters Theses

Adhesively bonded joints are used across multiple disciplines as an efficient and cost effective method for reinforcing, repairing, or creating new structures. Sufficient understanding of the bond line characteristics of the adhesive is necessary to properly design a reliable bonded joint and ensure a long service life. It is well understood that surface preparation has a significant impact on these interface characteristics as a given level of surface roughness achieves mechanical interlocking between the resin and metal and is important to prevent premature interfacial failure [1]. The goal of this study is to characterize the fracture toughness values for an …


Project Blipper, Peter Jacobs, Preston Delaware, Ryan Foster 2021 Kennesaw State University

Project Blipper, Peter Jacobs, Preston Delaware, Ryan Foster

Senior Design Project For Engineers

This project was sponsored by Clorox to design and create an automatic bottle-unscrambling system for possible implementation at their bottling plant in Chile. The objective was to use a robotic arm to unscramble bottles from an incoming conveyor belt and place them upright on an outbound conveyor belt. Throughout the research, design, and testing of solutions for this project, several design alternatives were found for each discipline, and will be presented to Clorox so that they can make an informed decision for how and if they want to move forward with implementation of this project.

The project was split into …


Kennesaw State University And United Alloy Corporation Robotic Pick And Place Project, Kathryn Bharadwaj, Logan Spencer, Tharkun Hudlow 2021 Kennesaw State University

Kennesaw State University And United Alloy Corporation Robotic Pick And Place Project, Kathryn Bharadwaj, Logan Spencer, Tharkun Hudlow

Senior Design Project For Engineers

United Alloy Corporation (UAC), a company specializing in unique aluminum parts for aeronautics, needed a fix to their error prone, labor-intensive billet press operation. The process has a problem of adding the wrong size or wrong alloy billet to the induction oven, which results in a waste of raw materials. The billets range from ten to thirty-seven inches in length and weigh up to three hundred pounds. Currently, an operator uses a gantry crane to check and lift the billets from a rack onto the magazine of an induction oven. The magazine can hold up to three billets safely and …


Free Vibration Analysis Of Rotating Beams Based On The Modified Couple Stress Theory And Coupled Displacement Field, Alireza Babaei, Masoud Arabghahestani 2021 University of Kentucky

Free Vibration Analysis Of Rotating Beams Based On The Modified Couple Stress Theory And Coupled Displacement Field, Alireza Babaei, Masoud Arabghahestani

Mechanical Engineering Graduate Research

In this paper, transverse vibration analysis of rotating micro-beam is investigated based on the modified couple stress theory. The simply-supported micro-beam is modeled utilizing Euler-Bernoulli and Timoshenko beam theories. The system is rotating around a fixed axis perpendicular to the axial direction of the beam. For the first time, displacement filed is introduced as a coupled field to the translational field. In other words, the mentioned rotational displacement field is expressed as a proportional function of translational displacement field using first (axial), second (lateral), and third (angular or rotational) velocity factors. Utilizing Hamilton’s approach as a variational method, dynamic-vibration equations …


Design Of Smart Trashcan, Haoran Song 2021 Linfield University

Design Of Smart Trashcan, Haoran Song

Senior Theses

A smart trashcan has been designed which can bring convenience to people for throwing their garbage away during the COVID-19 pandemic. A prototype is made from cardboard to demonstrate its function. This trashcan can sense people who are coming and leaving, and it can open and close automatically. The trashcan is powered by solar energy. A solar panel is mounted on top of the trashcan supporter. This design is specifically for use in China.


Push-On Push-Off: A Compliant Bistable Gripper With Mechanical Sensing And Actuation, Jessica McWilliams, Yifan Yuan, Jason Friedman, Cynthia Sung 2021 University of Pennsylvania

Push-On Push-Off: A Compliant Bistable Gripper With Mechanical Sensing And Actuation, Jessica Mcwilliams, Yifan Yuan, Jason Friedman, Cynthia Sung

Departmental Papers (MEAM)

Grasping is an essential task in robotic applications and is an open challenge due to the complexity and uncertainty of contact interactions. In order to achieve robust grasping, systems typically rely on precise actuators and reliable sensing in order to control the contact state. We propose an alternative design paradigm that leverages contact and a compliant bistable mechanism in order to achieve "sensing" and "actuation" purely mechanically. To grasp an object, the manipulator holding our end effector presses the bistable mechanism into the object until snap-through causes the gripper to enclose it. To release the object, the tips of the …


Fabrication And Characterization Of I-Cord Knitted Sma Actuators, Christopher Y. Kim, Athena Chien, Megha Tippur, Cynthia Sung 2021 University of Pennsylvania

Fabrication And Characterization Of I-Cord Knitted Sma Actuators, Christopher Y. Kim, Athena Chien, Megha Tippur, Cynthia Sung

Departmental Papers (MEAM)

Knitted SMA actuators provide greater actuation stroke than single-strand SMA wire actuators by leveraging its knitted structure. However, due to short-circuiting through interlacing knit loops, existing knitted SMA sheet actuators are unsuitable for joule-heating actuation when uniform contractile actuation is desired. We explore an axially symmetric tubular i-cord knitted actuator as a possible solution. The fabrication process of an i-cord knitted SMA actuator and its electrical, thermal, and mechanics models are presented. After modifying existing models for single-strand SMA wire and adjusting their parameters, the proposed electrical, thermal, and mechanics models were verified with experimental results.

Acknowledgements

Support for this …


Half-Barrel Planter Mover, Mihir Shah, Natalie Lewis, Mason James Hughes 2021 California Polytechnic State University, San Luis Obispo

Half-Barrel Planter Mover, Mihir Shah, Natalie Lewis, Mason James Hughes

Mechanical Engineering

A device for transporting heavy barrel planters is needed. Barrel planters are wooden wine barrels that have been cut in half along the circumference. They are used to store and grow a variety of plants. As such, they can contain more than 300 pounds of soil. The products currently on the market are not designed for such heavy planters, are cost prohibitive, and do not take advantage of the tapered design of a wine barrel half. A solution is needed that is durable, easy to use, and low cost. This final design report will show the steps used to find …


Accelerated Controller Tuning For Wind Turbines Under Multiple Hazards, Aly Mousaad Aly, Milad Rezaee 2021 Louisiana State University

Accelerated Controller Tuning For Wind Turbines Under Multiple Hazards, Aly Mousaad Aly, Milad Rezaee

Faculty Publications

During their lifecycle, wind turbines can be subjected to multiple hazard loads, such as high-intensity wind, earthquake, wave, and mechanical unbalance. Excessive vibrations, due to these loads, can have detrimental effects on energy production, structural lifecycle, and the initial cost of wind turbines. Vibration control by various means, such as passive, active, and semi-active control systems provide crucial solutions to these issues. We developed a novel control theory that enables semi-active controller tuning under the complex structural behavior and inherent system nonlinearity. The proposed theory enables the evaluation of semi-active controllers’ performance of multi-degrees-of-freedom systems, without the need for time-consuming …


Enduro Campers, Ryan J. Shomsky, Alexander W. Horst, Kevin S. Pickering, Jackson L. Aplanalp, Luke Arana, Will Firestone 2021 California Polytechnic State University, San Luis Obispo

Enduro Campers, Ryan J. Shomsky, Alexander W. Horst, Kevin S. Pickering, Jackson L. Aplanalp, Luke Arana, Will Firestone

Mechanical Engineering

The Enduro Campers senior project team (Formerly known as Lobo Campers senior project team) was recruited by Mr. Leif Stein to assist in the design, manufacturing, and testing of the materials and components of his company’s expedition box camper. The two main focuses of the project, divided into two sub-teams, were on the testing and manufacturing process of the materials used in the camper, and on the design and analysis of the camper’s access door, step box, and other subsystems.

The focus of the materials analysis and manufacturing team was based around the design parameter to use composite sandwich panels …


A Single-Stage Passive Vibration Isolation System For Scanning Tunneling Microscopy, Toan T. Le 2021 California Polytechnic State University, San Luis Obispo

A Single-Stage Passive Vibration Isolation System For Scanning Tunneling Microscopy, Toan T. Le

Master's Theses

Scanning Tunneling Microscopy (STM) uses quantum tunneling effect to study the surfaces of materials on an atomic scale. Since the probe of the microscope is on the order of nanometers away from the surface, the device is prone to noises due to vibrations from the surroundings. To minimize the random noises and floor vibrations, passive vibration isolation is a commonly used technique due to its low cost and simpler design compared to active vibration isolation, especially when the entire vibration isolation system (VIS) stays inside an Ultra High Vacuum (UHV) environment. This research aims to analyze and build a single-stage …


Dual Motor Drive System For Formula Sae Electric Race Car, Bryan D. Neill, Jackson T. McFaul, Cole T. Andrews, Isaiah D. Penzell 2021 California Polytechnic State University, San Luis Obispo

Dual Motor Drive System For Formula Sae Electric Race Car, Bryan D. Neill, Jackson T. Mcfaul, Cole T. Andrews, Isaiah D. Penzell

Mechanical Engineering

This paper serves as the Final Design Report (FDR) for the senior project developed by our team. This FDR builds on our CDR, in which the main deliverable was the detailed design of a planetary gearbox delivering a 5:1 reduction to be mated to an Emrax 188 motor. This planetary gearbox would allow for the possibility of implementing a dual-motor torque-vectoring rear-wheel-drive system in Cal Poly Racing’s electric FSAE car, which has demonstrated in simulation to yield significant performance gain over the current single motor/mechanical LSD system. As this project’s scope is purely mechanical, the intent is for the Cal …


Mini Rc Baja Car, Jason Schindler 2021 Central Washington University

Mini Rc Baja Car, Jason Schindler

All Undergraduate Projects

Incorporating each aspect of engineering incorporated into a senior project is difficult. That is why an RC Baja car is a great senior project for Mechanical Engineering students. The approach that students must take to design, construct, and test the car is to set parameters, and to make overall goals that can be easily measured. These goals include, but not limited to things like a $700 budget and the ability to withstand a 1-foot drop to a flat surface on all four wheels simultaneously. First, the design must meet the specifications and rules that are set previously. This ensures that …


Asme Rc Baja Car Drivetrain, Gizan G. Gando 2021 Central Washington University

Asme Rc Baja Car Drivetrain, Gizan G. Gando

All Undergraduate Projects

The purpose of the RC Baja Car is to compete in the American Society of Mechanical Engineers (ASME) competition, a series of events to prove the functionality of the vehicle. This series of events includes the Slalom, Drag, and Baja race. The Slalom is a test in the steering capability of the car. The Drag is a test in the acceleration of the car in a straight line. Lastly, the Baja puts all factors together in a race to test every component of the car. This project is about building an RC car that can function under these conditions and …


Hydraulic Balsa Wood Rising Bridge, Kaitlyn Greenfield 2021 Central Washington University

Hydraulic Balsa Wood Rising Bridge, Kaitlyn Greenfield

All Undergraduate Projects

What is the solution to allowing tall vessels to navigate past a vehicle bridge that is less than 10 [ft] above the water? To answer this question, a balsa wood bridge was designed, constructed, and tested. The bridge needed to articulate by mechanical means, allow for travel through the bridge, and be able to withstand ample force while the main structure only being constructed of balsa wood and glue. The project was analyzed in sections. These sections include: the bridge structure and its members, the hydraulic lift, and the pins needed for the bridge and hydraulic lift to operate. The …


Jcati Base Plate, Jacob Atamian 2021 Central Washington University

Jcati Base Plate, Jacob Atamian

All Undergraduate Projects

Students of the Mechanical Engineering Technology (MET) program at Central Washington University have contributed to an ongoing Carbon Fiber Recycler project funded by the Joint Center for Aerospace Technology Innovation (JCATI). The goal of this project was to modify the existing recycling system to produce a higher success rate of recycled carbon composite material. This report focuses on increasing the rigidity of the crushing gears so that the deflection occurring among the components during operation was below 0.005 inches to ensure proper operating conditions. The operating speed of the crushing gears was 2.5 rpm with a crushing load of 10,500 …


Balsa Wood Bridge, Andrew Harris 2021 Central Washington University

Balsa Wood Bridge, Andrew Harris

All Undergraduate Projects

Faculty at Central Washington University proposed a challenge to mechanical engineering students that could be accomplished in an in-home setting. The goal was to create a balsa wood bridge, weighing no more than 85 grams, that can support a load over an open span and raise above its resting position by means of a mechanical system. To produce a successful solution to the problem, a vertical lift bridge was created consisting of two lifting towers and a load bearing bridge. Using equations of static equilibrium and strength of materials, the required width for each member was determined. Project requirements were …


Thermomechanical Mechanisms That Cause Adhesion Of Aluminum High Pressure Die Castings To The Die, Alex Monroe 2021 Michigan Technological University

Thermomechanical Mechanisms That Cause Adhesion Of Aluminum High Pressure Die Castings To The Die, Alex Monroe

Dissertations, Master's Theses and Master's Reports

In high pressure die casting (HPDC) of aluminum, cast material adhering to die is a significant defect. Adhesion occurs in two primary ways. The casting may stick preventing its removal from the die. Aluminum can also adhere to the die and buildup in local areas on the die surface with additional casting cycles. This second form of adhesion is called soldering. Lubricant is the best technology to control all forms of adhesion, but it comes at the cost of casting porosity, blisters, reduced die life, and increased die casting machine wear. New strategies to prevent adhesion are desired to eliminate …


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