Engineering Commons^™

Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong

Master's Theses (2009 -)

Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial robotics applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This thesis analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. Simulations and real-world experiments are carried out to test the proposed method against a deterministic …

Optimization Of The Bowtie Gap Geometry For A Maximum Electric Field Enhancement, Tsenguun Byambadorj

Master's Theses (2009 -)

Optimization of the geometry of a metallic bowtie gap at radio frequency is presented in this thesis. Since the design and fabrication of a plasmonic device (nanogap) at nanoscale is challenging, the results of this study can be used to estimate the best design parameters for nanogap structure. The geometry of the bowtie gap including gap size, tip width, metal thickness, and tip angle are investigated at macroscale to find the maximum electric field enhancement across the gap. This thesis focuses on the simulation portion of a work that consists of experimental and simulation platforms. The simulation platform is created …

Analysis Of Interference Between Electromagnetic Articulography And Electroglottograph Systems, Kelly Vonderhaar

Master's Theses (2009 -)

Electromagnetic Articulography (EMA) has become an integral tool for researchers and clinicians who seek to characterize speech kinematics. The position and orientation of the articulators – which include the jaw, lips, and tongue – are recorded by attaching sensors to the articulators and tracking the movement of the sensors through an electromagnetic field. This has been used by researchers and clinicians to better understand dysarthria and synthesize speech, among other applications. Another speech tool, electroglottography (EGG), is used to analyze the movement of the vocal folds during speech production. This is achieved by measuring the time variation of the contact …

Design And Characterization Of A Low Cost Mems Imu Cluster For Precision Navigation, Daniel R. Greenheck

Master's Theses (2009 -)

The fast paced development of micro-electromechanical systems (MEMS) technology in recent years has resulted in the availability of low cost gyroscopes and accelerometers in commercial markets. These sensors can be integrated into a single device known as an inertial measurement unit (IMU). An IMU is capable of tracking and navigating a vehicle for a short period of time in the absence of external position and attitude updates. The precision of the manufacturing techniques used to fabricate commercial MEMS sensors as well as their mechanical nature result in noise and errors that limit their performance. It has been mathematically shown that …

Common Mode Voltage Mitigation Strategies Using Pwm In Neutral-Point-Clamped Multilevel Inverters, Chad Alexander Somogyi

Master's Theses (2009 -)

Over the last several decades, there has been consistent growth in the research and development of multilevel voltage-source inverter-based adjustable speed motor drives (ASDs) as a result of low cost, high reliability power semiconductors. The three-level neutral-point-clamped (NPC) ASD is a popular multilevel inverter used in low and medium voltage applications because of its ability to produce lower levels of total harmonic distortion (THD) and withstand higher voltages while preserving the rated output power compared to two-level ASDs. As with other voltage-source inverters, three-level NPC ASDs produce common-mode voltage (CMV) that can cause motor shaft voltages, bearing currents, and excess …

Analysis Of Sensor Signals And Quantification Of Analytes Based On Estimation Theory, Karthick Sothivelr

Master's Theses (2009 -)

Compact sensor systems for on-site monitoring of groundwater for trace organic compounds are currently under development. To permit near real-time analysis of samples containing multiple analytes, the present work investigates a sensor signal processing approach based on estimation theory, specifically using Kalman Filter and Extended Kalman Filter. As a first step towards the analysis of groundwater samples containing multiple compounds, the approach presented in this work permits estimation of analyte concentration(s) in binary mixtures and single analyte samples on-line, before the sensor response reaches steady-state. Sensor signals from binary mixtures and single analyte samples of BTEX compounds (benzene, toluene, ethylbenzene, …

Comparison Of Three Space Vector Pwm Methods For A Three-Level Inverter With A Permanent Magnet Machine Load, Alia Rebecca Strandt

Master's Theses (2009 -)

Much work exists on multilevel space vector pulse width modulation (PWM) to drive induction machines, in which the rotor currents are induced by stator rotating field effects. However, there are few investigations that analyze these modulation methods applied to permanent magnet (PM) and wound-field synchronous machines, in which the rotor induces a back emf in the stator. In this thesis, three different three-level space vector PWM switching sequences are applied to a three-level neutral-point-clamped (NP) inverter driving an internal permanent magnet (IPM) machine load. The inherent qualities of each of the switching sequences when under the influence of a forcing …

A Novel Design Optimization Of A Fault-Tolerant Ac Permanent Magnet Machine-Drive System, Peng Zhang

Dissertations (1934 -)

In this dissertation, fault-tolerant capabilities of permanent magnet (PM) machines were investigated. The 12-slot 10-pole PM machines with V-type and spoke-type PM layouts were selected as candidate topologies for fault-tolerant PM machine design optimization problems. The combination of 12-slot and 10-pole configuration for PM machines requires a fractional-slot concentrated winding (FSCW) layout, which can lead to especially significant PM losses in such machines. Thus, a hybrid method to compute the PM losses was investigated, which combines computationally efficient finite-element analysis (CE-FEA) with a new analytical formulation for PM eddy-current loss computation in sine-wave current regulated synchronous PM machines. These algorithms …

Physiologically-Motivated Feature Extraction Methods For Speaker Recognition, Jianglin Wang

Dissertations (1934 -)

Speaker recognition has received a great deal of attention from the speech community, and significant gains in robustness and accuracy have been obtained over the past decade. However, the features used for identification are still primarily representations of overall spectral characteristics, and thus the models are primarily phonetic in nature, differentiating speakers based on overall pronunciation patterns. This creates difficulties in terms of the amount of enrollment data and complexity of the models required to cover the phonetic space, especially in tasks such as identification where enrollment and testing data may not have similar phonetic coverage. This dissertation introduces new …

Theoretical Analysis Of Laterally Vibrating Hammerhead Microcantilever Sensors In A Viscous Liquid, Jinjin Zhang

Dissertations (1934 -)

Dynamically driven prismatic microcantilevers excited in the in-plane flexural mode have been investigated and used in liquid-phase sensing applications. However, the performance is restricted due to their limited surface sensing area and higher stiffness in shorter and wider prismatic microcantilevers. To increase the surface sensing area, and further improve sensing characteristics, it has been proposed to investigate symmetric hammerhead microcantilevers vibrating laterally in viscous liquid media. In this work, a theoretical model is proposed and the characteristics of the microcantilevers with symmetric shaped hammerheads (isosceles trapezoid, semi-circle, uniform rectangle and composite rectangle) are investigated. In the analysis, the stem of …

Observer Incorporated Neoclassical Controller Design: A Discrete Perspective, Winston Alexander Baker

Master's Theses (2009 -)

Control theory has generally been divided into two categories, modern control and classical control. Modern control uses state feedback to alter the pole locations of a given system. Classical control uses pre-compensation to alter the zeroes of the system and uses output feedback to adjust the poles to bring stability to the system. The drawback is that the application of classical control techniques can be a lengthy, complicated and iterative design process and in the end, classical control techniques still do not give information about the state of the system. Neoclassical control combines classical control techniques with the state feedback …

Coupling Into Waveguide Evanescent Modes With Applications In Electron Paramagnetic Resonance, Jason Walter Sidabras

Master's Theses (2009 -)

The use of analytical and numerical techniques in solving the coupling of evanescent modes in a microwave waveguide through slots can be optimized to create a uniform magnetic field excitation on axis within a waveguide. This work has direct applications in Electron Paramagnetic Resonance (EPR) where a 100~kHz time-varying magnetic field is incident on a sample contained in a microwave cavity. Typical cavity designs do not take into consideration the uniformity of the 100~kHz field modulation and assume it to be uniform enough over the sample region from quasi-static principles. This work shows otherwise and uses Ansoft (Pittsburgh, PA) High …

A Voip Implementation On An Embedded Platform, Zachary D. Lund

Master's Theses (2009 -)

This thesis presents a method of building an open VoIP telephone using off-the-shelf hardware. VoIP has become an important area of study in computer science and engineering, but many of the pieces are expensive and proprietary. We discuss the process of building an open IP telephone, the design decisions and difficulties, a performance evaluation of the different pieces of the system, and methods and suggestions for improving the overall system.

The IP telephone is built on the Freescale 68HC12 microcontroller because of its analog and digital capabilities and the Linksys WRT54GL router for its embedded simplicity and network capabilities. The …