Computer Engineering Commons^™

Short Term Energy Forecasting For A Microgird Load Using Lstm Rnn, Akhil Soman

Masters Theses

Decentralization of the electric grid can increase resiliency (during natural disasters) and can reduce T&D energy losses and emissions. Microgrids and DERs can enable this to happen. It is important to optimally control microgrids and DERs to extract the greatest economic, environmental and resiliency benefits. This is enabled by robust forecasting to optimally control loads and energy sources. An integral part of microgrid control is power side and load side demand forecasting.

In this thesis, we look at the ability of a powerful neural network algorithm to forecast the load side demand for a microgrid using the UMass campus as …

Sundown: Model-Driven Per-Panel Solar Anomaly Detection For Residential Arrays, Menghong Feng

Masters Theses

There has been significant growth in both utility-scale and residential-scale solar installa- tions in recent years, driven by rapid technology improvements and falling prices. Unlike utility-scale solar farms that are professionally managed and maintained, smaller residential- scale installations often lack sensing and instrumentation for performance monitoring and fault detection. As a result, faults may go undetected for long periods of time, resulting in generation and revenue losses for the homeowner. In this thesis, we present SunDown, a sensorless approach designed to detect per-panel faults in residential solar arrays. SunDown does not require any new sensors for its fault detection and …

Application And Evaluation Of Lighthouse Technology For Precision Motion Capture, Soumitra Sitole

Masters Theses

This thesis presents the development towards a system that can capture and quantify motion for applications in biomechanical and medical fields demanding precision motion tracking using the lighthouse technology. Commercially known as SteamVR tracking, the lighthouse technology is a motion tracking system developed for virtual reality applications that makes use of patterned infrared light sources to highlight trackers (objects embedded with photodiodes) to obtain their pose or spatial position and orientation. Current motion capture systems such as the camera-based motion capture are expensive and not readily available outside of research labs. This thesis provides a case for low-cost motion capture …

Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken

Doctoral Dissertations

Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …

Multi-Classifier Fusion Strategy For Activity And Intent Recognition Of Torso Movements, Abhijit Kadrolkar

Doctoral Dissertations

As assistive, wearable robotic devices are being developed to physically assist their users, it has become crucial to develop safe, reliable methods to coordinate the device with the intentions and motions of the wearer. This dissertation investigates the recognition of user intent during flexion and extension of the human torso in the sagittal plane to be used for control of an assistive exoskeleton for the human torso. A multi-sensor intent recognition approach is developed that combines information from surface electromyogram (sEMG) signals from the user’s muscles and inertial sensors mounted on the user’s body. Intent recognition is implemented by following …

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 …

A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price

Masters Theses

This thesis presents the design for a novel haptic interface for large-format touchscreens. Techniques such as electrovibration, ultrasonic vibration, and external braked devices have been developed by other researchers to deliver haptic feedback to touchscreen users. However, these methods do not address the need for spatial constraints that only restrict user motion in the direction of the constraint. This technology gap contributes to the lack of haptic technology available for touchscreen-based upper-limb rehabilitation, despite the prevalent use of haptics in other forms of robotic rehabilitation. The goal of this thesis is to display kinesthetic haptic constraints to the touchscreen user …

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 …

Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings

Masters Theses

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …

Activity Intent Recognition Of The Torso Based On Surface Electromyography And Inertial Measurement Units, Zhe Zhang

Masters Theses 1911 - February 2014

This thesis presents an activity mode intent recognition approach for safe, robust and reliable control of powered backbone exoskeleton. The thesis presents the background and a concept for a powered backbone exoskeleton that would work in parallel with a user. The necessary prerequisites for the thesis are presented, including the collection and processing of surface electromyography signals and inertial sensor data to recognize the user’s activity. The development of activity mode intent recognizer was described based on decision tree classification in order to leverage its computational efficiency. The intent recognizer is a high-level supervisory controller that belongs to a three-level …

Parallel Mesh Adaptation And Graph Analysis Using Graphics Processing Units, Timothy P. Mcguiness

Masters Theses 1911 - February 2014

In the field of Computational Fluid Dynamics, several types of mesh adaptation strategies are used to enhance a mesh’s quality, thereby improving simulation speed and accuracy. Mesh smoothing (r-refinement) is a simple and effective technique, where nodes are repositioned to increase or decrease local mesh resolution. Mesh partitioning divides a mesh into sections, for use on distributed-memory parallel machines. As a more abstract form of modeling, graph theory can be used to simulate many real-world problems, and has applications in the fields of computer science, sociology, engineering and transportation, to name a few. One of the more important graph analysis …