Computer Engineering Commons^™

Railroad Condition Monitoring Using Distributed Acoustic Sensing And Deep Learning Techniques, Md Arifur Rahman

Electronic Theses and Dissertations

Proper condition monitoring has been a major issue among railroad administrations since it might cause catastrophic dilemmas that lead to fatalities or damage to the infrastructure. Although various aspects of train safety have been conducted by scholars, in-motion monitoring detection of defect occurrence, cause, and severity is still a big concern. Hence extensive studies are still required to enhance the accuracy of inspection methods for railroad condition monitoring (CM). Distributed acoustic sensing (DAS) has been recognized as a promising method because of its sensing capabilities over long distances and for massive structures. As DAS produces large datasets, algorithms for precise …

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 …

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 …

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 …

Design And Fabrication Of A Force-Displacement Control Mechanism For Bone-Surgical Tool Testing, Kenneth Nwagu

Electronic Theses and Dissertations

This project focuses on the design and fabrication of an experimental setup for orthopedic-tool testing, tailored for a surgical instrumentation company. The multifaceted project encompasses a literature review, conceptual design, prototyping, and rigorous testing, resulting in a versatile control system capable of assessing various orthopedic tools, including bone drills, saws, burrs, and power handpieces.

Orthopedic surgical procedures (which include cutting and/or drilling into bone) often need to be performed on bones for faster recovery. The drilling and cutting process can cause an increase in temperature at the cutting site which can cause bone necrosis. The tools also need to be …

Space Force Design Project, Emily Greene, Ashton Orosa, Julia Patek, Nathan Doty

Williams Honors College, Honors Research Projects

The objective of our research project is to develop a lab testbed composed of a curved surface to represent a spacecraft hull, a mobile robot equipped with repair tools, and a robotic arm equipped with a laser 3D scanner. This project is part of a larger grant to the University of Akron from Space Force and Air Research Labs. The lab testbed developed in this project will be used to assist in creating and testing a software and algorithm to inspect and repair spacecraft while in orbit. The project will involve researching spacecraft hulls to create an accurate simulation bed, …

Therapeutic Mechanical Horse, Cade M. Liberty, Aleya Dolorfino, Peter Philips, Zuzanna Dominik, Luke Watts

Mechanical Engineering

Jack's Helping Hand and its hippotherapy participants required a device to serve as an alternative to a live horseback riding experience that could also increase the range of riders. This would provide more clients with equine-assisted therapy that has proven to better the lives of people with both physical and mental disabilities. Horses can be unpredictable, tall, and sometimes anxiety-inducing, especially for new riders. Our group’s aim was to develop a mechanical horse that will be able to reduce these issues for equine therapy centers and the riders they help. When a rider gets to practice sitting on the horse …

An Experimental Study Towards Underwater Propulsion System Using Structure Borne Traveling Waves, Shreyas Suhas Gadekar

Dissertations, Master's Theses and Master's Reports

The method of generating steady-state structure-borne traveling waves underwater in an infinite media creates abundant opportunities in the field of propulsive applications, and they are gaining attention from several researchers. This experimental study provides a framework for harnessing traveling waves in a 1D beam immersed under quiescent water using two force input methods and providing a motion to an object floating on the surface of the water.

In this study, underwater traveling waves are tailored using structural vibrations at five different frequencies in the range of 10Hz to 300Hz. The resulting fluid motion provides a propulsive thrust that moves a …

Respiratory Compensated Robot For Liver Cancer Treatment: Design, Fabrication, And Benchtop Characterization, Mishek Jair Musa

Graduate Theses and Dissertations

Hepatocellular carcinoma (HCC) is one of the leading causes of cancer-related death in the world. Radiofrequency ablation (RFA) is an effective method for treating tumors less than 5 cm. However, manually placing the RFA needle at the site of the tumor is challenging due to the complicated respiratory induced motion of the liver. This paper presents the design, fabrication, and benchtop characterization of a patient mounted, respiratory compensated robotic needle insertion platform to perform percutaneous needle interventions. The robotic platform consists of a 4-DoF dual-stage cartesian platform used to control the pose of a 1-DoF needle insertion module. The active …

Computational Frameworks For Multi-Robot Cooperative 3d Printing And Planning, Laxmi Prasad Poudel

Graduate Theses and Dissertations

This dissertation proposes a novel cooperative 3D printing (C3DP) approach for multi-robot additive manufacturing (AM) and presents scheduling and planning strategies that enable multi-robot cooperation in the manufacturing environment. C3DP is the first step towards achieving the overarching goal of swarm manufacturing (SM). SM is a paradigm for distributed manufacturing that envisions networks of micro-factories, each of which employs thousands of mobile robots that can manufacture different products on demand. SM breaks down the complicated supply chain used to deliver a product from a large production facility from one part of the world to another. Instead, it establishes a network …

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 …

Reading Robot, Gillian Watts, Andrew Myers, Sabrinna Tan, Taylor Klein, Omeed Djassemi

General Engineering

Presently, there is an insufficient availability of human experts to assist students in reading competency and comprehension. Our team’s goal was to create an improved socially assistive robot for use by therapists, teachers, and parents to help children and adults develop reading skills while they do not have access to specialists. HAPI is a socially assistive robot that we created with the goal of helping students practice their reading comprehension skills. HAPI enables a student to improve their reading skills without an educator present, while enabling educators to review the student's performance remotely. Design constraints included: physical size, weight, duration …

A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou

Electronic Thesis and Dissertation Repository

Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.

It has been reported in …

Modeling Of Complex Parts For Industrial Waterjet Cleaning, Braden James

Graduate Theses and Dissertations

Industrial high-pressure waterjet cleaning is common to many industries. The modeling in this paper functions inside a collaborative robotic framework for high mix, low volume processes where human robot collaboration is beneficial. Automation of pressure washing is desirable for economic and ergonomic reasons. An automated cleaning system needs path simulation and analysis to give the operator insight into the predicted cleaning performance of the system. In this paper, ablation, the removal of a substrate coating by waterjet, is modeled for robotic cleaning operations. The model is designed to work with complex parts often found in spray cleaning operations, namely parts …

Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle

Graduate Theses, Dissertations, and Problem Reports

This thesis presents Virtual Morphology (VM), a method that explores a different perspective on the design of robot autonomy using inspiration from morphological computing and programmed computation. Morphological computation offers physical solutions that solve complex tasks, like robotic grasping of unknown objects, with relative ease. Unfortunately, these physical solutions are difficult to adjust post-development, and are usually designed to complete only one or a few specific tasks. Programmed computational approaches are more flexible because they can be implemented and adjusted through software, but unfortunately, these approaches can become rather complex as tasks become more difficult. This thesis explores the potential …

Virtual Reality Simulation Of Glenoid Reaming Procedure, Mohammadreza Faieghi

Electronic Thesis and Dissertation Repository

Glenoid reaming is a bone machining operation in Total Shoulder Arthroplasty (TSA) in which the glenoid bone is resurfaced to make intimate contact with implant undersurface. While this step is crucial for the longevity of TSA, many surgeons find it technically challenging. With the recent advances in Virtual Reality (VR) simulations, it has become possible to realistically replicate complicated operations without any need for patients or cadavers, and at the same time, provide quantitative feedback to improve surgeons' psycho-motor skills. In light of these advantages, the current thesis intends to develop tools and methods required for construction of a VR …

Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt

Honors Theses

A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies.

In order to observe …

Automation In Entertainment: Concept, Design, And Application, Ryan Thally

Undergraduate Honors Theses

The focus of this thesis is to explore the automation technology used in the modern entertainment industry. Upon completion of my thesis, I will deliver a working prototype of the chosen technology and present its capabilities in a choreographed show.

Corgi: Compute Oriented Recumbent Generation Infrastructure, Christopher Allen Hunt

Master's Theses

Creating a bicycle with a rideable geometry is more complicated than it may appear, with today’s mainstay designs having evolved through years of iteration. This slow evolution coupled with the bicycle’s intricate mechanical system has lead most builders to base their new geometries off of previous work rather than expand into new design spaces. This crutch can lead to slow bicycle iteration rates, often causing bicycles to all look about the same. To combat this, several bicycle design models have been created over the years, with each attempting to define a bicycle’s handling characteristics given its physical geometry. However, these …

Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven

Theses and Dissertations--Mechanical Engineering

This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …

Intent Recognition Of Rotation Versus Translation Movements In Human-Robot Collaborative Manipulation Tasks, Vinh Q. Nguyen

Masters Theses

The goal of this thesis is to enable a robot to actively collaborate with a person to move an object in an efficient, smooth and robust manner. For a robot to actively assist a person it is key that the robot recognizes the actions or phases of a collaborative tasks. This requires the robot to have the ability to estimate a person’s movement intent. A hurdle in collaboratively moving an object is determining whether the partner is trying to rotate or translate the object (the rotation versus translation problem). In this thesis, Hidden Markov Models (HMM) are used to recognize …

El Capitán: Cal Poly Rose Float Digital Drive System, Gregory Raffi Baghdikian

Computer Engineering

In today’s world of smartphones, self-driving cars, and internet-connected coffee makers, it seems as if computers are contained in everything around us. These “embedded systems” have become critical components of our lives, improving everything about the things they control, from cost, to speed, to simplicity. One area that embedded systems has hardly gained a foothold is in the world of floatbuilding. Most of the floats in the Tournament of Roses Parade, including the one built jointly by Cal Poly San Luis Obispo and Cal Poly Pomona, are technologically very simple, using mostly analog components and rudimentary discrete digital logic to …

Development Of An Autonomous Robotic Mushroom Harvester, Nikita Alexeevich Kuchinskiy

Electronic Thesis and Dissertation Repository

The process of development of a new robot is one of the modern technological arts. This process involves multiple complex steps and recursive approach. In this project, a solution for automatic harvesting of mushrooms is developed. In order to design an effective solution, it is necessary to explore and take into consideration the limitations of grasping very soft and fragile objects (particularly mushrooms). We will elaborate several strategies of picking and analyze each strategy to formulate the design requirements, develop a solution, and finally, evaluate the efficiency of the proposed solution in actual farm conditions for real mushrooms. The mushroom …

A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder

Masters Theses

This thesis presents a new mechanical design for an exoskeleton actuator to power the sagittal plane motion in the human hip. The device uses a DC motor to drive a Scotch yoke mechanism and series elasticity to take advantage of the cyclic nature of human gait and to reduce the maximum power and control requirements of the exoskeleton. The Scotch yoke actuator creates a position-dependent transmission that varies between 4:1 and infinity, with the peak transmission ratio aligned to the peak torque periods of the human gait cycle. Simulation results show that both the peak and average motor torque can …

Forest Sign Maker, Victor Espinosa Iii, Kevin Ly, Lisa Yip

Mechanical Engineering

Executive Summary:

The Inyo National Forest is arguably one of the most beautiful locations in California, containing natural masterpieces such as Mount Whitney and the Ancient Bristlecone Pine Forest. Despite its magnificence, the Inyo National Forest can be a treacherous region. The Friends of the Inyo take pride in being able to facilitate the viewing experience for all outdoorsmen by maintaining the mountain trails, which includes providing adequate trail signage.

Unfortunately, there is a fundamental issue with the recent state of trail signage in the Inyo National Forest: the rate at which signs are being vandalized or naturally destroyed is …

Implementación De Un Sistema Para Digitalización De Objetos 3d Por Métodos Ópticos, Julio Alberto Iii Ambrosio Prieto, Laura Marcela Patiño Garcia

Ingeniería en Automatización

En este documento, se presenta el diseño y la implementación de un sistema de digitalización de objetos tridimensionales, con geometrías regulares para la obtención de la nube de puntos. La configuración del sistema digitalizador consiste en la utilización de una base automática para situar el objeto a digitalizar, un láser lineal IRL 103 A2B para proyectar su haz de luz sobre el objeto y una cámara web HP 2100 para adquirir imágenes del láser proyectado. El proceso de digitalización de objetos tridimensionales describe la obtención de la nube de puntos, a partir de la extracción de pixeles de imágenes capturadas …

Wingtip Dynamics Simulator, Eugene Fox, Nick Rodriguez, Steven Rieber

Mechanical Engineering

Raytheon is a defense contracting company with an electronic warfare division that is developing a radio frequency signal triangulation system. Part of the focus in improving this technology is the need for accurate and real time locational knowledge of the signal receivers, which are located at the tips of aircraft wings. Due to turbulence during flight, the fluttering motion of the wings alter the distance and angle relationships of the two receivers and add noise to the received signal data, which negatively affect the triangulation estimates. To mitigate this error caused by the wing flutter, Raytheon is developing a software …

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Electronic Thesis and Dissertation Repository

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …

Historic Calculator Project, Will Harris, Dan Marioni, Kevin Webb, Chad Williams

Mechanical Engineering

The Deutsches Museum of Munich, Germany requested add-on components to their mechanical calculator exhibit. The end-goal is to produce an interactive 3D model in software to demonstrate the functions of the Braun-Vayringe Machine (BVM). There will be four students working on this project at California Polytechnic State University, San Luis Obispo: two mechanical engineers (Dan Marioni and Will Harris) and two computer engineers (Chad Williams and Kevin Webb).This project involves the coordination of three facilities; the Deutsches Museum, and the Mechanical and Computer Science Departments of Cal Poly. The name of the project is known as the Historic Calculator Project …