A Multi-Aerial Vehicle Platform For Testing Collaborative Mobility Formation Controllers, 2023 Louisiana State University
A Multi-Aerial Vehicle Platform For Testing Collaborative Mobility Formation Controllers, Matthew Snellgrove
LSU Master's Theses
Multi-agent systems have potential applications in a multitude of fields due to their ability to perform complex tasks with a high degree of robustness. Decentralized systems are multi-agent systems where sensing, control, and communication responsibilities are distributed amongst the agents giving this scheme a particularly high potential for robustness, adaptability, and complexity; however, this comes with its own list of challenges. Formation control is a topic in multi-agent systems that aims to have the agents moving as a virtual rigid body through space. In the literature, there have been successful implementation of formation control algorithms on robot agents in both …
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, 2023 Western University
Evaluating Eeg–Emg Fusion-Based Classification As A Method For Improving Control Of Wearable Robotic Devices For Upper-Limb Rehabilitation, Jacob G. Tryon
Electronic Thesis and Dissertation Repository
Musculoskeletal disorders are the biggest cause of disability worldwide, and wearable mechatronic rehabilitation devices have been proposed for treatment. However, before widespread adoption, improvements in user control and system adaptability are required. User intention should be detected intuitively, and user-induced changes in system dynamics should be unobtrusively identified and corrected. Developments often focus on model-dependent nonlinear control theory, which is challenging to implement for wearable devices.
One alternative is to incorporate bioelectrical signal-based machine learning into the system, allowing for simpler controller designs to be augmented by supplemental brain (electroencephalography/EEG) and muscle (electromyography/EMG) information. To extract user intention better, sensor …
Miniature, Submersible Electromagnetic Pumps Of Molten Lead And Sodium For Gen-Iv Nuclear Reactors Development, 2023 University of New Mexico - Main Campus
Miniature, Submersible Electromagnetic Pumps Of Molten Lead And Sodium For Gen-Iv Nuclear Reactors Development, Ragai M. Altamimi
Nuclear Engineering ETDs
Heavy metals and alkali Liquid Metals are suitable coolants for Generation IV terrestrial nuclear reactors for operating at elevated temperatures for achieving plant thermal efficiency more than 40% and the thermochemical generation of hydrogen fuel. In addition, the low vapor pressure of these liquids eliminates the need for a pressure vessel and instead operates slightly below ambient pressure. A primary issue with the uses of these coolants is their compatibility with nuclear fuel, cladding and core structure materials at elevated temperatures more than 500oC. Therefore, in pile and out-of-pile test loops have been constructed or being considered for quantifying the …
Development Of A Soft Robotic Approach For An Intra-Abdominal Wireless Laparoscopic Camera, 2023 University of Tennessee, Knoxville
Development Of A Soft Robotic Approach For An Intra-Abdominal Wireless Laparoscopic Camera, Hui Liu
Doctoral Dissertations
In Single-Incision Laparoscopic Surgery (SILS), the Magnetic Anchoring and Guidance System (MAGS) arises as a promising technique to provide larger workspaces and field of vision for the laparoscopes, relief space for other instruments, and require fewer incisions. Inspired by MAGS, many concept designs related to fully insertable magnetically driven laparoscopes are developed and tested on the transabdominal operation. However, ignoring the tissue interaction and insertion procedure, most of the designs adopt rigid structures, which not only damage the patients' tissue with excess stress concentration and sliding motion but also require complicated operation for the insertion. Meanwhile, lacking state tracking of …
Northrop Grumman Collaboration Project, 2023 California Polytechnic State University, San Luis Obispo
Northrop Grumman Collaboration Project, Nikkia Psomas-Sheridan, Santiago Robles, Ben Elkayam, Benjamin Ulfhake
Mechanical Engineering
The Northrop Grumman Collaboration Project (NGCP) is a collaborative club project sponsored by Northrop Grumman for the students of Cal Poly San Luis Obispo (CPSLO) and Cal Poly Pomona (CPP) to create a fleet of vehicles to aid in the simulated rescue of stranded hiker. The CPSLO club is responsible for delivering an autonomous flight vehicle that can suppress a fire and retrieve a payload. Mechanical Design Team of the CPSLO team was responsible for the design of the frame, electronics housing, and payload and fire suppression systems.
Aeroponic System Optimization For Butterhead Lettuce Growth And Future Sustainability Using Flow Blurring Atomization, 2023 Embry-Riddle Aeronautical University
Aeroponic System Optimization For Butterhead Lettuce Growth And Future Sustainability Using Flow Blurring Atomization, Taylor J. Johnson
Doctoral Dissertations and Master's Theses
The global population has grown by 6 billion people over the last century and is trending toward 9.7 billion people by the year 2050. Agriculture accounts for 70% of global fresh water usage. Technology must be developed to accommodate the increase of food production demanded by the growing global population and the subsequent increase in water usage. Aeroponic technology is a water-efficient vertical farming technology that can reduce water usage by 90% by suspending plant roots in air within a controlled chamber and supplying atomized droplets of a water-nutrient solution directly to the roots.
This study simultaneously tests six droplet …
Sky Survey Radio Telescope, 2023 California Polytechnic State University, San Luis Obispo
Sky Survey Radio Telescope, Jack E. Mcguigan
Electrical Engineering
This document outlines the design of a radio telescope designed to perform hydrogen line sky surveys. The telescope produces radio images mapping the intensity and relative velocities of hydrogen concentrations to their sky coordinates. Over the course of a day, the telescope images the regions of space visible to it, allowing sky survey imagery to be updated daily. Sky survey images are comprised of an array of pixels corresponding to specific sky coordinates. Each 8-bit RGB pixel contains information on the concentrations of hydrogen in the brightness and relative velocity in the color. Radio images mapping the concentrations and velocities …
Rapid Composter, 2023 California Polytechnic State University, San Luis Obispo
Rapid Composter, Shannon Shinozaki, Avin Atencio, Jonathan Fraser, Lukas Kolbl, Russell Occhipinti
Mechanical Engineering
This project was created with the intent of automatically composting equine bio waste to be reused as plant fertilizer. The system consists of four subsystems: power generation and storage, automatic controls, aeration, and structure. Each subsystem may be manufactured independently, then put together. This system will not have access to power outlets, so it was designed to be solar-powered.
Weed Robot, 2023 California Polytechnic State University, San Luis Obispo
Weed Robot, Kaela Stern, Lewis Kanagy, Claire Franz, Carlos Rodriguez Orozco, Jackie Chen, Sachi Hiji, Ayush Kakkanat, William Ta
Mechanical Engineering
Team Weed Scouts has completed our work on a weed-cutting robot for the Girl Scouts of California’s Central Coast. The final robot build provides a solid foundation that can be built and improved upon by future teams. We have completed the robot base and structure, including the chassis, drivetrain, and robot shell. We also completed manufacturing a weed storage bin and canvas cover for the robot. Additionally, we have built a weed scooper, the mechanism that cuts weeds and transports them into a storage compartment. The electronics and programming for remote control of the robot are also implemented. After some …
Treadmill Platform For Quadrupedal Robots, 2023 California Polytechnic State University, San Luis Obispo
Treadmill Platform For Quadrupedal Robots, Baxter J. Bartlett, Jack F. Butler, Phillip A. Shafik, Tarun S. Ganamur
Mechanical Engineering
Cal Poly Legged Robots, led by Professor Refvem and Professor Xing, has been leading Cal Poly’s attempts to simulate, produce, and test their legged robots. The initial testing of the locomotion of these robots can be dangerous to the robot since any bugs in the code could cause the robot to fall over and harm itself. Our responsibility as a team was to deliver a portable platform for testing the locomotion capabilities containing a fall prevention mechanism. In short, we have designed a platform for this purpose that consists of a treadmill surrounded by a wheeled chassis with a system …
In-Situ Mechanical Tester, 2023 California Polytechnic State University, San Luis Obispo
In-Situ Mechanical Tester, Andrrew Murach, Gustavo Marquez, Kosimo Tonn, Jake Vormbaum
Mechanical Engineering
Over the course of the 2022-23 Cal Poly SLO school year, a small tensile tester device was developed specifically for Dr. Long Wang to test thin film materials under a microscope and generate accurate force versus displacement graphs. A tensile tester was manufactured using purchased and machined components, electronics were consolidated in a separate box and connected, and a program and user interface were written to control the motion, provide custom inputs, and organize useful data for the researcher. Tests were conducted to compare the performance of the device to universal tensile testers available in the Composites lab. The device …
Animatronic Monarch Butterfly: Mechanical System, 2023 California Polytechnic State University, San Luis Obispo
Animatronic Monarch Butterfly: Mechanical System, Janine Rae Moreno, Enrico Cruz, Alexia Murphy, Lakshmanan Muthukaruppan
Mechanical Engineering
This report describes the design, manufacturing, and design verification of an interactive animatronic monarch butterfly created by a team of mechanical and computer engineering students for the Girl Scouts of California's Central Coast. The purpose of the project is to engage Girl Scouts in learning about monarch butterflies and provide hands-on experience in robotics and STEM. The report covers design changes, manufacturing processes, and assembly of various components, including the butterfly body, wings, legs, and electronic housing. The software and electronics used in the project are also briefly discussed, as the computer engineering team was responsible for the software and …
Baja Sae Semi-Active Suspension, 2023 California Polytechnic State University, San Luis Obispo
Baja Sae Semi-Active Suspension, Cameron Paul Jones, Ethan Jacobi Mikel, Joshua Macguire Wright, Aditya Garg
Mechanical Engineering
This document outlines the design and justification for the final design of the Baja SAE Semi-Active Suspension Senior Project. The goal of the project was to build a base valve that can adjust suspension damping rates on the fly. This document details the ideation, design, manufacturing, design verification results, and detailed drawing package for the project. Additionally, this document includes information regarding the pressure drop calculator, O-ring calculations, and CAD. The manufacturing processes used to create the valve and the testing and evaluation of the valve are included as well. Finally, the methods that were used to manage this project …
Power Thyristor Controller For Speed Control Of Dc Motor, 2023 California Polytechnic State University, San Luis Obispo
Power Thyristor Controller For Speed Control Of Dc Motor, Alejandra Zapata, Morgan Erich Boehme, Abdullah Mohammed Awidah, Payton Robert Chalstrom
Electrical Engineering
In this work, a Power Thyristor Controller for Speed Control of DC Motor has been developed with the purpose of replacing an existing simulation experiment, aiming to effectively implement the principle of learning by doing. The primary objective of the experiment setup is to illustrate the fundamental principles and operational mechanisms underlying the firing angle and controlled bridge rectifier. The new experiment is taking advantage of the existing FCRO4100 Single Phase Firing Board that was donated to the University by ENERPRO. The pre-programmed microcontroller is connected to the thyristor bridge rectifier that’s powered by 24VAC. Additionally, a DC motor will …
Damage Identification In 3d Printed Metal Parts Using Deep Learning, 2023 Florida International University
Damage Identification In 3d Printed Metal Parts Using Deep Learning, Romaine Byfield, Alireza Modir, Ibrahim Tansel, Raniero Plaza
36th Florida Conference on Recent Advances in Robotics
An active Structural Health Monitoring (SHM) method called Surface Response to Excitation (SuRE), is used in this study to detect and quantify the damages created by a milling operation on additively manufactured metal plates. This method entails bonding two piezoelectric disks to the test specimens, one to excite it with surface waves from one end of the plate, and the other to sense the dynamic response to excitation at the other end. A sweep sine wave with a duration of 1 ms, ranging from 50-120 kHz is used as the excitation signal. Five stainless steel plates of identical size (195×54×2.5 …
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, 2023 University of West Florida
Assistive Robotic Platform For Non‐Urgent Household Tasks: A New Design, Amanda Serger, Normandy Tanguilan, Hakki Erhan Sevil
36th Florida Conference on Recent Advances in Robotics
Humans overcome minor household inconveniences daily without fully recognizing how challenging these tasks could be for individuals such as elderly people or people with disabilities. Those people often times struggle to complete tasks, for instance opening a door or reaching for an item, leading them to rely on caregivers for help. During the COVID-19 pandemic, this caregiver support becomes an unsafe and unreliable solution that can result in a greater risk, thus the need for another solution arises: robotic technology. Recent developments in the robotics field have paved the way for this research, aiming to design a home assistance robot …
Laser Stabilization Through Optical Turbulence, 2023 Clemson University
Laser Stabilization Through Optical Turbulence, Liam Vanderschaaf
All Theses
Laser jitter presents a significant issue in the fields of laser communication and sensing. There are two main categories of positional noise in regards to the instantaneous centroid of a laser propagating over long distances: jitter resulting from optical turbulence and jitter resulting from mechanical vibrations. Optical turbulence was generated using Clemson University’s Variable Turbulence Generator (VTG). The VTG is capable of creating a desired level of optical turbulence that is comparable to atmospheric conditions with fried parameters greater than 0.3 cm. A gaussian laser was transmitted through the VTG and a system of Fast Steering Mirrors and Position Sensing …
Modeling, Simulation And Control Of Microrobots For The Microfactory., 2023 University of Louisville
Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang
Electronic Theses and Dissertations
Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …
Optical Fiber Tip Micro Anemometer, 2023 Air Force Institute of Technology
Optical Fiber Tip Micro Anemometer, Jeremiah C. Williams, Hengky Chandrahalim
AFIT Patents
A passive microscopic flow sensor includes a three-dimensional microscopic optical structure formed on a cleaved tip of an optical fiber. The three-dimensional microscopic optical structure includes a post attached off-center to and extending longitudinally from the cleaved tip of the optical fiber. A rotor of the three-dimensional microscopic optical structure is received for rotation on the post. The rotor has more than one blade. Each blade has a reflective undersurface that reflects a light signal back through the optical fiber when center aligned with the optical fiber, the blades of the rotor shaped to rotate at a rate related to …
Implementation Of Static Rfid Landmarks In Slam For Planogram Compliance, 2023 Georgia Southern University
Implementation Of Static Rfid Landmarks In Slam For Planogram Compliance, Brennan L. Drake
Honors College Theses
Autonomous robotic systems are becoming increasingly prevalent in everyday life and exhibit robust solutions in a wide range of applications. They face many obstacles with the foremost of which being SLAM, or Simultaneous Localization and Mapping, that encompasses both creation of the map of an unknown environment and localization of the robot in said environment. In this experiment, researchers propose the use of RFID tags in a semi-dynamic commercial environment to provide concrete landmarks for localization and mapping in pursuit of increased locational certainty. With this obtained, the ultimate goal of the research is to construct a robotics platform for …