Digital Commons Network^™

Human-Robot Interaction For Assistive Robotics, Jiawei Li

Dissertations

This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and …

Experiments And Modeling Of The Chemo-Mechanically Coupled Behavior Of Polymeric Gels, Nikola Bosnjak

Dissertations

Polymeric materials consist of mutually entangled or chemically crosslinked long njitmolecular chains which form a polymer network. Due to their molecular structure, the njitpolymeric materials are known to undergo large deformation in response to various njitenvironmental stimuli, such as temperature, chemical potential and light.

When a polymer network is exposed to a suitable chemical solvent, the solvent molecules are able to diffuse inside the network, causing it to undergo a large volumetric deformation, known as swelling. In addition to volumetric deformation, this process involves the chemical mixing of the polymer network and solvent molecules, and is typically environmentally responsive. A …

Cooling Under Applied Stress Rejuvenates Amorphous Alloys And Enhances Their Ductility, Nikolai Priezjev

Mechanical and Materials Engineering Faculty Publications

The effect of tensile stress applied during cooling of binary glasses on the potential energy states and mechanical properties is investigated using molecular dynamics simulations. We study the three-dimensional binary mixture that was first annealed near the glass transition temperature and then rapidly cooled under tension into the glass phase. It is found that at larger values of applied stress, the liquid glass former freezes under higher strain and its potential energy is enhanced. For a fixed cooling rate, the maximum tensile stress that can be applied during cooling is reduced upon increasing initial temperature above the glass transition point. …

Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal

Theses

This thesis's scope was to construct a highly back drivable and compact joint design that can be used for wearable exoskeletons specifically designed to assist with rehabilitation. A compact cycloidal gear transmission was designed to satisfy the compactness requirement while ensuring the minimum torque is required for backdriving the mechanism. The joint was designed based on the compact cycloidal drive specifications, and the backdrivability test was performed to measure the minimum torque required (1.20 Nm) to backdrive. The joint design incorporates various important features such as rotation lock feature to prevent hyperextension, a housing design that offers the benefit of …

Blast Shock-Wave Characterization In Experimental Shock Tubes, Sudeepto Kahali

Dissertations

Blast-induced traumatic brain injuries have affected U.S. soldiers deployed for extended periods in the gulf and Afghanistan wars. To identify the biomechanical and biochemical mechanisms of injury, critical in the identification of diagnostic and therapeutic tools, compressed gas-driven shock tubes are used by investigators to study shockwave-animal specimen interactions and its biological consequences. However, shock tubes are designed and operated in a variety of geometry with a range of process parameters, and the quality of shock wave characteristics relevant to field conditions and therefore the study of blast-induced traumatic brain injuries suffered by soldiers is affected by those conditions. Lab-to-lab …

The Beautiful Math Of Everything And You Included, E. Ozie

The STEAM Journal

This a reflection on how there is beautiful math to everything. An author's interpretation of matrices and mechanics in its relationship to someone's identity.

Control Of Mr Damper Using Anfis And Pid Controller For Optimum Vehicle Ride Comfort, Mohammad Faisal Yakhni, Mohamad Ali, Mohamed El-Gohary

BAU Journal - Science and Technology

Suspension system design is an important challenging duty that facing car manufacturers, so the challenge has become to design the best system in terms of providing ride comfort and handling ability under all driving situations. The goal of this paper is to provide assistance in enhancing the effectiveness of the suspension system. A full car model with eight Degrees Of Freedom (DOF) was developed using MATLAB/Simulink. Validation of the Simulink model was obtained. The model was assumed to travel over a speed hump that has a half sine wave shape and amplitude that changing from 0.01 to 0.2 m. The …

High Fidelity Computational Modeling And Analysis Of Voice Production, Weili Jiang

Electronic Theses and Dissertations

This research aims to improve the fundamental understanding of the multiphysics nature of voice production, particularly, the dynamic couplings among glottal flow, vocal fold vibration and airway acoustics through high-fidelity computational modeling and simulations. Built upon in-house numerical solvers, including an immersed-boundary-method based incompressible flow solver, a finite element method based solid mechanics solver and a hydrodynamic/aerodynamic splitting method based acoustics solver, a fully coupled, continuum mechanics based fluid-structure-acoustics interaction model was developed to simulate the flow-induced vocal fold vibrations and sound production in birds and mammals. Extensive validations of the model were conducted by comparing to excised syringeal and …

Comparison Of Popular Three-Dimensional Printing Materials For Oral And Maxillofacial Surgical Guidance Model, Mohammad Adhitya, Sunarso Sunarso, Abdul Muis

Journal of Dentistry Indonesia

The application of three-dimensional (3D) models in the medical field has become popular. However, the accuracy of 3D models for surgical guidance varies among different materials and 3D printing technologies, such as printing machine usage. Objectives: This study aims to obtain more information about the effect of three different materials printed using a fused deposition material printer from the same digital data source. This study also aims to compare, analyze, and test the materials’ ability. Methods: Each of the filament materials (acetylbutane stearate [ABS], polylactic acid [PLA], and high-impact polystyrene [HIPS]) are printed at two infill densities, their weight, volume, …

Prospects For Solving The Problem Of Rational Use Of Water Resources Using The Tiiame-1 Sprinkling Machine, M.Kh. Khamidov, A.R. Muratov

Irrigation and Melioration

The information published by the International Commission on Irrigation and Drainage, and the intermediate results of many years of research carried out by scientists from TIIAME on the development, research and implementation of water-saving technologies in agriculture are presented. The acute shortage of water resources in Central Asia, the problems of increasing the efficiency of the use of water-saving technologies around the world have led to the careful use of available water resources in the region, including the prospects and advantages of using irrigation of crops by sprinkling, as well as the design and technical parameters of the sprinkler developed …

Inadequacy Of Current Water Use Planning At The Level Of Water Users And Wuas, A.A. Alimdjanov, A.Kh. Karimov, B.R. Nasibov

Irrigation and Melioration

This paper studies the main issues of water use planning at the level of water consumers and water user associations (WUA). The study carried out in Bulakbashi district of Andijan province of Uzbekistan, where the main source of irrigation water is the Southern Fergana Main Canal. The study followed two-stage procedure. During the first stage we compiled water use plans for the WUA and water consumers based on the applied methodology of water use planning. Then, at the second stage, we analyzed the results of the actual implementation of the farm water consumption plans and WUA water use plan, and …

Technology And Technical Device Used In The Efficient Use Of Water Resources In Irrigated Agriculture, А.U. Аtajanov

Irrigation and Melioration

The economical use of water resources, the improvement and development of new technology and technical means for its implementation, ensuring the saving of irrigation water is one of the most important issues of today. This article is devoted to the issues of improving the technology of irrigation of furrows and the creation of technical means,also recommended technology and using from created technical device in selected per experiment fields and analyzing their results.

Empirical Assessment Of Climate Change Impacts On Agriculture In Samarkand Region, Sh.B. Babakholov

Irrigation and Melioration

Agricultural production is highly sensitive to climate factors like other endogenous factors, and the expected climate change projections may have a negative impact on the efficiency and income of agricultural producers. Therefore, this study aims to analyze the impact of changes in climatic factors (average air temperature and precipitation) on the technical efficiency of cotton growing farmers as its determinants in Samarkand region. Empirical analyzes were performed on the cases of 1141 cotton-growing farms using panel-based Time-Invariant Inefficiency model. According to the results of the analysis, cotton farms in the region have an average technical efficiency of 76%, which in …

Car Wash Complex – Object Of Harmful Impact On Water Resources, M. Radkevich, K. Shipilova, M. Abdukodirova, O. Pochugevski

Irrigation and Melioration

Deals with the problem of the impact of car wash complexes in the city of Tashkent on water resources. The analysis of the technological process of washing and a sociological survey of car owners and employees of car washes revealed the average amount of water used per car wash per year, as well as the amount of harmful substances entering the sewer network of the city of Tashkent. Calculations have shown that the annual water consumption only for passenger cars in Tashkent is about 4.34 million m³, and the wastewater is not properly treated. From one car wash …

Agrochemical Indicators Of New Irrigated Graph-Meadow Soils Formed On The Iii Underfladder Terrace Of Syrdarya, J.M. Kuziev

Irrigation and Melioration

Presents material on the geographical location, geomorphological and geological structure, as well as the agrochemical state of irrigated serozem-meadow soils, common in the Mirzaabad district of the Syrdarya region. According to the data obtained on the chemical analysis of soils, the studied soils are medium- and heavily loamy in texture, where particles of coarse sand predominate (0.05-0.01%). In the arable horizon of these soils, the humus content is 1.088-1.214%, total nitrogen 0.079-0.089%, total phosphorus 0.109-0.124%, and total potassium within 1.15-1.24%, and on the basis of these data, a regularity of the underlying horizon of these soils. The degree of provision …

Water Efficient Technology Of Drip Irrigation In Intensive Gardens, F.U. Juraev, G.H. Karimov

Irrigation and Melioration

The studies were carried out in 2017-2019 at the Zodabek farm on a 6 hectare garden plot with seedlings of half-tall apple trees “Golden Delicious”. Experimental research work was carried out at a groundwater level in the experimental area of 1.5-2.0 m, mineralization 1.0-1.2 g/l in alluvial, mechanical, medium sandy soils with the following irrigation options. The first option is irrigation, at the start of the second - drip irrigation; third, the use of specially designed soil pegs. The following results were obtained: in the control option, the average irrigation rate for three years was 1125.7 m3/ha, with drip irrigation …

Forecasting The Dynamics Of Cotton Yield In The Ferghana Region, V. Vakhobov, А.А. Faiziev

Irrigation and Melioration

Observations of a certain phenomenon, the nature of which changes over time, give rise to an ordered sequence, which is called a time series. In the article, using the method of statistical time series analysis, statistical pattern of time series Y₁ – average yield of cotton in Fergana region of the Republic of Uzbekistan(on materials of CSB of the Republic of Uzbekistan for 1991-2018 years). Point and interval estimates for the average cotton yield were constructed with a 95% guarantee, explicit types of trends were determined, and the yield in the region was predicted for subsequent years. Using statistical …

Hydraulic Elevator For Purification Of Water Supply Facilities Of The Reservoir, R.R. Ergashev, F. Atrikbekova, H. Khusanboeva, B.T. Kholbutaev, N.A. Babazhanov

Irrigation and Melioration

The purpose of the research is to increase the efficiency of pumping stations operation by improving the methods of uniform flow spreading in the front chamber and inlet of the pumping station and developing constructive measures to improve the hydraulic conditions for supplying the flow to the pumps. The improvement of the method of hydraulic calculation of the flow in the front chamber and the water intake chamber is given on the example of the head pumping station of the Jizzakh cascade. In the process of research, standard methods of full-scale and bench tests of pumps, methods of mathematical and …

Energy-Saving Structure Justification Powerful Tractor And Modern Agricultural Machine, A.K. Igamberdiyev, N.A. Khalikova, N.B. Razikov, O.E. Usarov

Irrigation and Melioration

Discusses the fact that machine-tractor units (MTA) from high-power tractors are often not fully used due to errors in the design and operation of units, their ability to work under certain operating conditions with maximum efficiency and minimum fuel consumption, a method of completing a machine-tractor unit from a high-power technical means is proposed, which ensures the required quality of the technological operation, maximum efficiency and minimum fuel consumption, which must be performed under certain operating conditions. To study the power balance of energy-saving units, consisting of powerful tractors and modern agricultural machinery, an analysis was carried out of a …

Traction Control Of The Friction Drive Of The Vertical Spindle, M. Shoumarova, T. Abdillaev, Sh.A. Yusupov, Ch.A. Shermatova

Irrigation and Melioration

The main indicator in assessing the quality of the work of cotton pickers is its completeness of picking cotton, among the factors that predetermine the completeness of picking a special place is occupied by the direction and magnitude of the absolute speed of the spindle tooth. Among the factors affecting the absolute speed of the tooth, the main place is occupied by the angular speed of rotation of the spindle around its own axis, which depends on the quality of functioning of the friction drive of the spindle. This drive does not always provide its required traction capacity, since due …

Research The Chopper Apparatus Of Equipment For Chopping Pressed Rough Fodders, Sh.H. Gapparov, N.A. Ashurov

Irrigation and Melioration

Livestock is one of the most important agricultural sectors in Uzbekistan and it is based on family livestock farms. On family farms, livestock animals are fed with pressed roughage, including corn stalks, alfalfa hay, barbed straw and wheat straw, mixed with concentrated feed. However, due to the lack of small choppers suitable for small farms, the compressed feed is fed to animals without chopping, as a result of which about 25-30 percent of them go to waste and there are large losses. Taking this into account, a small device was developed for chopping pressed roughage and mixing it with concentrated …

Theoretical Research On Determining The Length Of The Shovels Of A Wheel Of Centrifugal Fans, V.A. Arkhipov, D. Dzhuraev, I.Zh. Toirov, A.E. Urishev

Irrigation and Melioration

Presents the results of theoretical research by scientists, carried out scientific work to determine the length of the shovel of a centrifugal fan wheel. A technological scheme for installing a shovel on a fan wheel disk has been developed Analyzes of these works are carried out, which show that the length of the wheel shovel has a significant dependence on the parameters of the wheel (R, R₁), the angle of installation α and the radius of the arc R₃ of the shovel. An analytical dependence is derived for determining the length of the shovel of a …

Non-Contact Point Measuring Equipment For Robotic Systems Of Automobile Industry, J Khollhujayev, N Abdukarimov, J Mavlonov, N Abdivahidova

Technical science and innovation

The non-contact measurement method development is caused by the need for precise measurement and elimination of an operator’s errors. The purpose of the atticle research is to develop a reliable small scale prototype model of non-contact point measuring system. The mathematical model of robotic articulated arm has been developed to analyze the forward kinematics. Then, the prototype model of a robotic arm and laser-sensor mounted technique have been developed to take the measurements. The idea was derived from the coordinate measuring machine working principle, that puts the tip or tool center point in the known position with necessary precision. Most …

Investigation Of The Moisture Binding Forms In Plant Raw Materials And Thermal Characteristics Determination, Tojiniso Raxmanova, Shaxnoza Sultanova, Jasur Safarov, Esra Capanoglu

Technical science and innovation

In this article, the forms of moisture connection and the thermal characteristics of plant materials are studied. Rosehip and hawthorn fruits were chosen as the object of research. In the heat analyzer, a decrease in the mass of the product and an increase in temperature were found when the temperature was controlled in a certain gas environment. The curves of the dependence of the dog rose and hawthorn samples on the mass and temperature are given. DTA-1/10 galvanometer sensitivity; sensitivity of the DTG-1/5 galvanometer; the maximum heating temperature is 300° С and the rate of change of the furnace heating …

Estimation Of The Speed Of Rotation Of Gears In Oil Depending On The Load, Ramzjon Hamroyev, N Mirzayev, B Qurbonov

Technical science and innovation

This article shows the wear and the amount of load that occurs in the gears under different loads and under different operating conditions of the contact surfaces, and is given by the formulas. The values of loads and wear rates on gears are given in tabular form based on curves. According to the results of the study, an increase in the load value affects the wear rate, as well as the load values q = 100; 200; 300; 400; at N/mm, a decrease in the wear rate was found. The load concentration and accumulation of dislocations in the material, their …

Numerical Simulation Of Nonlinear Vibrations Of Discrete Mass With Harmonic Force Perturbation, M. Yusupov, B. A. Akhmedov, Olga Karpova

Acta of Turin Polytechnic University in Tashkent

The problem of vibration of a single-mass system under the force excitation of vibration associated with a fixed base by a weightless nonlinear viscoelastic spring is considered. To take into account the rheological properties of the spring material, the Boltzmann-Volterra principle was used. Mathematical models of the problem under consideration are obtained, which are described by integro-differential equations. A solution method based on the use of quadrature formulas has been developed and a computer program has been compiled on its basis, the results obtained are presented in the form of graphs. The influence of nonlinear and rheological properties of a …

Design And Control Techniques Of The Open-Circuit Subsonic Wind Tunnel With Closed Testing Section, Jamshid Yakhshilikov, Jamshid Inoyatkhodjaev

Acta of Turin Polytechnic University in Tashkent

This paper will describe the design and control techniques of the open-circuit subsonic wind tunnel with closed testing section (WT) for study purpose. The goal is to design a WT that can be tested at a wind speed of 30 m/s, where the desired cross-sectional area of the test chamber is 0.5x0.5 m. The pressure drop inside the WT has been calculated in order to select one of the available axial fans from the manufacturer’s catalog, and computational fluid dynamics (CFD) was performed to check the result. In order to obtain a smooth airflow in the test section, a proportional …

Feasibility Study Of A Micro-Electro-Mechanical-Systems Threshold-Pressure Sensor Based On Parametric Resonance: Experimental And Theoretical Investigations, Mark Pallay, Meysam Daeichin, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

A tunable threshold pressure sensor based on parametric resonance of a microbeam subjected to electrostatic levitation is proposed. Parametric excitation can trigger a large amplitude vibration at twice the natural frequency if the magnitude of the driving force is large enough to overcome energy loss mechanisms in the system such as squeeze film damping. This causes a temporarily unstable response with a significant gain in oscillation amplitude over time until it is eventually capped by nonlinearities in the force or material or geometric properties. The instability divides the frequency region into two regions: distinct responses bounded by the system non-linearity, …

Solar Photovoltaic Performance Monitoring: A Bibliometric Review, Research Gaps And Opportunities, Javed Sayyad, Paresh Nasikkar

Library Philosophy and Practice (e-journal)

Electrical power generation has been revolutionized by growing demand and use of Renewable Energy (RE) sources such as Solar Photovoltaic (SPV) as the main electricity source in modern times. The main objective of this bibliometric analysis is to understand the scope of the literature available for SPV performance characterization. This detailed reviewed was performed on the documents related to SPV research considering all the subject categories from Scopus and Web of Science (WoS) databases. The patterns for the particular set of keywords were broke down with the recuperated outcomes from Scopus database in the language, publication type, year of publication, …

Exploring A Platinum Nanocatalytic Microcombustion-Thermoelectric Coupled Device, Dylan Moore Mcnally

Theses and Dissertations

This work aimed to create a first-generation power device for eventual application to portable electronics. A platinum nanoparticle catalytic substrate was employed in a microcombustion-thermoelectric coupled (MTC) device for the purpose of chemical-to-electrical energy conversion. Multiple microcombustion reactors were designed, fabricated, and investigated. Most importantly, the reactor configuration was designed to accommodate thermoelectric generators (TEGs) for power production. Temperature studies with catalytic combustion of methanol-air fuel mixtures were used to evaluate the thermal power generation performance of each reactor. The final reactor design enabled ignition at room temperature with the ability to achieve repeat catalytic cycles upon subsequent exposure to …