Computer Engineering Commons^™

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 …

Mechanical Alloying-Assisted Coating Of Fe–Al Powders On Steel Substrate, Alfian Noviyanto, Sri Harjanto, Wahyu Bambang Widayatno, Agus Sukarto Wismogroho, Muhamad Ikhlasul Amal, Nurul Taufiqu Rochman

Makara Journal of Technology

The coating layer of Fe–Al powders on the steel substrate was prepared by mechanical alloying at room temperature. Fe, Al, and the steel substrates were milled with high-energy ball milling for 32 h with a ball-to-powder ratio of 8 in an argon atmosphere to prevent oxidation during milling. Although mechanical alloying was performed for 32 h, no new phases were observed after mechanical alloying, as analyzed by X-ray diffraction. However, the crystallite size of the milled powders for 32 h decreased by factor two compared with the initial powders. Scanning electron micrographs showed that the coating layers formed >8 h …

Performance Of Free-Space Optical Communication Systems Using Optical Amplifiers Under Amplify-Forward And Amplify-Received Configurations, Ucuk Darusalam, Arockia Bazil Raj, Fitri Yuli Zulkifli, Purnomo Sidi Priambodo, Eko Tjipto Rahardjo

Makara Journal of Technology

With the growth of digital technology in the stage of industrial revolution 4.0, the demand for broadcasting large amounts of information to last mile users has increased. Free-space optical (FSO) communication is one of the telecommunication platforms that has shown immense potential in meeting the demand for information broadcasting. In this work, the performance of FSO communication based on wavelength division multiplexing with a data rate of 80 Gbps is investigated through simulations. The configuration of optical amplifiers in the FSO system is set up on the basis of the amplify-forward and amplify-received configurations to expand the network. The investigation …

Use Of Viscoplastic Damper For Improving The Resistance Of Steel Frames To Blast Loading, Gholamreza Abdollahzadeh, Hadi Faghihmaleki, Hamed Hamidi Jamnani, Atefeh Ebrahimi Bardar

Makara Journal of Technology

In this paper, we evaluated the effect of viscoplastic dampers on the response of steel frames under blast loading. We used SAP2000 software and link elements to investigate the responses of nine-story steel frames with and without dampers. The proposed viscoplastic damper is a new type of viscous damper. The application of this damper is based on the availability of its constituent materials. The damper acts as a viscoelastic damper at low levels of vibration, but it acts as a combination of viscoelastic operator and metal-yielding device at extreme levels of vibration. With respect to the height of the structure, …

A Density Functional Theory Study On Using Montmorillonite To Reduce Air Pollution, Triati Dewi Kencana Wungu, Meqorry Yusfi, Suprijadi Suprijadi

Makara Journal of Technology

In this study, density functional theory (DFT) method is used to investigate the possibility of using a smectite clay mineral called montmorillonite (MMT) in reducing heavy metals, such as Cd, through Cd adsorption. The mechanism of Cd adsorption in MMT is observed theoretically, and the tetrahedrally isomorphic substitution on the upper layer of MMT is considered to observe the role of Al and Fe in strengthening Cd adsorption. Two types of MMT are modeled in this study: Al-MMT and Fe-MMT. The Al-MMT means that Al substitutes one atom in the upper tetrahedral layer of MMT, while Fe-MMT means that Fe …

Influence Of The Shaping Process On The Tensile Properties Of Steel Reinforcement Bars Carbon Steel Grades Bjtp24 And Bjts40, Nuraziz Handika, Ridha Amalia Idhar, Jessica Sjah, Essy Arijoeni, Elly Tjahjono

Makara Journal of Technology

According to the current applicable national standard in Indonesia, i.e. SNI 07 2529 1991, in addition to the limitation on the loading rate, the steel bar must be reduced, formed, or lathed, as part of the shaping process of samples. This study determined and compared the effect of the shaping process on the yield strength, ultimate strength, and percent elongation by conducting tensile tests of steel bar grade BJTS40, i.e. deformed bar type of steel, and grade BJTP24, i.e., plain bar type of steel. Three diameters of the deformed bar (BJTS40) and one diameter of the plain bar (BJTP24) were …

Iso 9001:2015 Risk-Based Thinking: A Framework Using Fuzzy-Support Vector Machine, Ralph Sherwin A. Corpuz

Makara Journal of Technology

Risk-based thinking (RBT) is one of the distinct new features of the International Organization for Standardization 9001:2015. Interestingly, the standard does not prescribe any tools. Hence, organizations are puzzled as to the extent of conformance. Some organizations have adopted formal tools. However, these tools seem insufficient in linking the standard into an evidence-based decision support system. To resolve gaps in RBT implementation, this paper proposes a framework based on fuzzy inference system (FIS) and support vector machine (SVM) to automate risk analysis and evaluation, proposal and verification of action plans, and prediction of the feasibility of risks and opportunities according …

Ionic Conductiviy Of Alginate-Nh4cl Polymer Electrolyte, Nurhasniza Mamajan Khan, Noor Saadiah Mohd Ali, Ahmad Faizrin Ahmad Fuzlin, Ahmad Salihin Samsudin

Makara Journal of Technology

This study aims to produce a solid biopolymer electrolyte (SBE) by doping ammonium chloride (NH4Cl) into alginate. Solution casting was used to prepare the alginate–NH4Cl SBE system. Electrical impedance spectroscopy was performed to analyze the electrical properties of the SBE under the applied frequency range of 50 Hz–1 MHz. The incorporation of 8 wt.% NH4Cl enhances the ionic conductivity of the SBE up to 3.18 × 10-7 S/cm at ambient room temperature. Fourier transform infrared spectroscopy shows that complexation occurs between the hydroxyl (-OH), carboxylate (COO-) and ether linkage (C-O-C) functional groups due to the formation of inter- and intra-molecular …

Influence Of Lithium Bromide On Electrical Properties In Bio-Based Polymer Electrolytes, Ahmad Faizrin Fuzlin, Bouchta Sahraoui, Ahmad Salihin Samsudin

Makara Journal of Technology

This research presents the influence of lithium bromide (LiBr) on the electrical properties of alginate in bio-based polymer electrolytes (BBPEs) system. Bio-based alginate was prepared using the solution casting technique with various LiBr compositions. The ionic conductivity and electrical properties of the prepared BBPEs samples were studied using electrical impedance spectroscopy over a frequency range of 50 Hz–1 MHz. A maximum ionic conductivity of 7.46 × 10−5 S cm-1 was obtained for a sample containing 15 wt. % lithium bromide-doped alginate BBPEs at ambient temperature (303 K). The electrical analysis revealed that the most conductive sample based on alginate-LiBr BBPEs …

Effect Of Landfill Leachates On Some Water Quality Indicators Of Selected Surface Water And Groundwater At Ilokun, Ado-Ekiti, Nigeria, Olorunwa Omofunmi, Adesola Satimehin, Abraham Oloye, Okwunna Umego

Makara Journal of Technology

This study was conducted to examine the impact of dumpsites on the quality of groundwater and surface water. The water samples and leachates were collected from dumpsites in respective zones. The physicochemical properties of the samples were examined and determined in accordance with the standards of the American Public Health Association. Results indicated that the groundwater and surface water that are close to the dumpsites have an electrical conductivity of 385 and 245 Sd/cm, total dissolved solids of 168 and 128 mg/L, a turbidity of 4.6 and 22 NTU, a total alkalinity of 103 and 50 mg/L, a total hardness …

Effect Of Catholyte Concentration On Current Production During Chocolate Industry Wastewater Treatment By A Microbial Fuel Cell, Diana Rahayuning Wulan, Suprihanto Notodarmojo

Makara Journal of Technology

Microbial fuel cells (MFCs) use bacteria as a catalyst to oxidize organic and/or inorganic substrates and produce electric currents. Wastewater could function as an electron donor in the anode chamber and, thus, represents a very promising energy source. Catholytes, as electron acceptors, influence power production in MFCs by increasing the availability of electrons. The present research aims to determine the influence of catholyte concentration on current production in an aerobic two-chamber MFC. Aerobic treatment was carried out in the two-chamber MFC operated in an incubator at 37  1 °C with and without aeration in the cathode chamber. Wastewater from …

Evaluation Of Il-17a And Il-17f Gene Expression In Peripheral Blood Mononuclear Cells In Different Clinical Stages Of Chronic Hepatitis B Infection In An Iranian Population, Tannaz Akbari Kolagar, Seyed Reza Mohebbi, Fatemeh Ashrafi, Shahrzad Shoraka, Hamid Asadzadeh Aghdaei, Mohammad Reza Zali

Makara Journal of Technology

Hepatitis B virus (HBV) infection is one of the main causes of liver damage, which can also lead to chronic hepatitis B (CHB) infection. More than 240 million individuals worldwide are chronic carriers of HBV. Among individuals with CHB who are untreated, approximately 15% – 40% will progress to liver cirrhosis or cancer. The interactions between HBV and host immune response play significant roles in the progression of CHB. CHB can be generally divided into four different clinical phases: immune tolerance (IT), immune clearance, inactive carrier, and Hepatitis B surface antigen (HBsAg)-negative reactivation phase (ENEG). Many studies showed that interleukins …

Effect Of Pvdf-Ca Ratio On Electrospun Membrane For Water–Oil Filtration Application, Mohamad Haziq Alias, Izan Izwan Misnon, Rajan Jose

Makara Journal of Technology

Oil spillage and generation of industrial water–oil wastewater mixture ignite a focus on filtration technology. Electrospinning technique provides a versatile route in producing tunable diameter and pores in nanofiber filtration membrane development. In this work, polyvinylidene difluoride (PVDF) and cellulose acetate (CA) electrospun membrane at different concentration ratios were synthesized for water–oil filtration application. The polymeric solutions were characterized using viscometer and conductivity testing, whereas the membranes were analyzed using contact angle, tensile test, scanning electron microscopy (SEM), and filtration testing of oil (dichloromethane). Conductivity test showed a decreased conductivity along with decrement of CA ratio in the polymeric solution. …

Redesign Of Product Packaging With Kansei Engineering: Empirical Study On Small-Medium Enterprises In Indonesia, Amalia Suzianti, A. Aldianto

Makara Journal of Technology

Small-medium enterprises (SMEs) in Indonesia have been proven to be one of the important pillars of the national economy. Unfortunately, some problems hinder their development, and one of the critical problems is the quality of product packaging. The packages of SME products are considered poor, dirty, and unattractive. Packaging problem is one of the factors why consumers are less interested in buying and why SME products always lose in the competition with other products. This study discusses how to employ Kansei engineering to design better SME product packaging with a focus on psychological (affective) aspects. This research concludes that there …

Microstrip Filters: A Review Of Different Filter Designs Used In Ultrawide Band Technology, Hussain Bohra, Giriraj Prajapati

Makara Journal of Technology

In this study, optimization techniques applied in designing microstrip bandpass ultra-wideband (UWB) filters are presented. Optimization based on various defected ground structure techniques, resonator designs, and type of dielectric materials is discussed. Microstrip bandpass filters implemented at UWB frequency bands used in wireless communication systems have key features to control frequency response in passband and stopband. Optimization techniques are studied to attain optimum performance of bandpass microstrip filters to ensure minimum insertion loss, high selectivity, compactness, sharp transitions at cut-off frequencies, high return loss, and excellent linearity. Extensive study shows that proper selection of fabrication techniques and type of material …

Performance-Shaping Factors Of Personnel Performing Evacuation And Escape On Offshore Installations In Tropical, Norafneeza Norazahar, Nur Azizah Arryanie Morshidi, Arshad Ahmad, Wijayanuddin Mohd Ali

Makara Journal of Technology

Performance-shaping factors (PSFs) are used to address the strengths and weaknesses of workers performing escape and evacuation activities. These PSFs are time, environmental factors as stressors, complexity of activities, experiences and training, interaction between workers and emergency equipment, workers’ physical conditions, and procedures. This paper presents a survey work on fitness for the duty of workers performing basic offshore survival and emergency response training. The training provides credible scenarios of escape and evacuation in case of an emergency of offshore installations in tropical waters. The survey is conducted among participants of the tropical basic offshore safety induction & emergency training …

Wetting-Driven Formation Of Present-Day Loess Structure, Yanrong Li, Weiwei Zhang, Shengdi He, Adnan Aydin

Faculty and Student Publications

© 2020 The Authors Present-day loess, especially Malan loess formed in Later Quaternary, has a characteristic structure composed of vertically aligned strong units and weak segments. Hypotheses describing how this structure forms inside original loess deposits commonly relate it to wetting-drying process. We tested this causal relationship by conducting unique experiments on synthetic samples of initial loess deposits fabricated by free-fall of loess particles. These samples were subjected to a wetting-drying cycle, and their structural evolutions were documented by close-up photography and CT scanning. Analysis of these records revealed three key stages of structural evolution: initiation (evenly distributed cracks appear …

2020 (Fall) Ensi Informer Magazine, Morehead State University. Engineering Sciences Department

ENSI Informer Magazine Archive

The ENSI Informer Magazine published in the fall of 2020.

Extending The Functional Subnetwork Approach To A Generalized Linear Integrate-And-Fire Neuron Model, Nicholas Szczecinski, Roger Quinn, Alexander J. Hunt

Mechanical and Materials Engineering Faculty Publications and Presentations

Engineering neural networks to perform specific tasks often represents a monumental challenge in determining network architecture and parameter values. In this work, we extend our previously-developed method for tuning networks of non-spiking neurons, the “Functional subnetwork approach” (FSA), to the tuning of networks composed of spiking neurons. This extension enables the direct assembly and tuning of networks of spiking neurons and synapses based on the network’s intended function, without the use of global optimization ormachine learning. To extend the FSA, we show that the dynamics of a generalized linear integrate and fire (GLIF) neuronmodel have fundamental similarities to those of …

Roboat - Rescue Operations Bot Operating In All Terrains, Akshay Gulhane

USF Tampa Graduate Theses and Dissertations

Natural calamities are on a rise with each passing year. Disasters like floods and fire take many lives all around the world, especially in remote areas or less developed countries. One such incident was the Kerala Floods in India where rescue services had difficulty reaching to all the people on time since a huge landmass (more than 9 districts) was flooded and hence villagers or other people risked their lives to save others in danger without proper safety equipment. Amazon Rainforest Fires was another example for a major destruction of an ecosystem. The main reason for lack of facilities in …

Control Of A Human Arm Robotic Unit Using Augmented Reality And Optimized Kinematics, Carlo Canezo

USF Tampa Graduate Theses and Dissertations

There are more than 350000 amputees in the US who suffer loss of functionality in their daily living activities, and roughly 100000 of them are upper arm amputees. Many of these amputees use prostheses to compensate part of their lost arm function, including power prostheses. Research on 6-7 degree of freedom powered prostheses is still relatively new, and most commercially available powered prostheses are typically limited to 1 to 3 degrees of freedom. Due to the myriad of possible options for various powered protheses from different manufacturers, each configuration is governed by a distinct control scheme typically specific to the …

A Mathematical Framework For Estimating Risk Of Airborne Transmission Of Covid-19 With Application To Face Mask Use And Social Distancing, Rajat Mittal, Charles Meneveau, Wen Wu

Faculty and Student Publications

© 2020 Author(s). A mathematical model for estimating the risk of airborne transmission of a respiratory infection such as COVID-19 is presented. The model employs basic concepts from fluid dynamics and incorporates the known scope of factors involved in the airborne transmission of such diseases. Simplicity in the mathematical form of the model is by design so that it can serve not only as a common basis for scientific inquiry across disciplinary boundaries but it can also be understandable by a broad audience outside science and academia. The caveats and limitations of the model are discussed in detail. The model …

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 …

Numerical Study Of Paraffin Wax Melting In A Cavity With A Gradient Of Hot Wall Inclination, Agus Dwi Korawan

Makara Journal of Technology

The melting of a phase change material (PCM) in a cavity with a gradient of hot wall inclination was simulated numerically using five models, namely, Model-A, Model-B, Model-C, Model-D, and Model-E with gradients of −2, −4, ∞, 4, and 2, respectively. The PCM was paraffin wax, which was melted using an enthalpy porosity technique with a pressure-based method. Model-A was found to be the best model. For the completion of the melting process, the models were assigned with the liquid fraction of 1. Model-A required the shortest time, followed by Model-B, Model-C, Model-E, and Model-D, respectively. Compared with Model-C, Model-A …

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 …

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 …

Virginia Digital Shipbuilding Program (Vdsp): Building An Agile Modern Workforce To Improve Performance In The Shipbuilding And Ship Repair Industry, Joseph Peter Kosteczko, Katherine Smith, Jessica Johnson, Rafael Diaz

VMASC Publications

Industry 4.0 is the latest stage in the Industrial Revolution and is reflected in the digital transformation and use of emergent technologies including the Internet of Things, Big Data, Robotic automation of processes, 3D printing and additive manufacturing, drones and Artificial Intelligence (AI) in the manufacturing industry. The implementation of these technologies in the Shipbuilding and Ship Repair Industry is currently in a nascent stage. Considering this, there is huge potential to increase cost savings, decrease production timelines, and drive down inefficiencies in Lifecyle management of ships. However, the implementation of these Industry 4.0 technologies is hindered by a noticeable …

Surface Autonomous Vehicle For Emergency Rescue, Max Emerick, Ryan Shields, Christopher Feickert, Raymond Impara

Mechanical Engineering

The goal of this document is to clearly define the problem parameters and project objectives and to clearly describe the design process, planned final design, and manufacturing and testing procedures for the senior design project of Team 26: SAVER -- the Surface Autonomous Vehicle for Emergency Rescue. This is both for the purpose of project planning and for clear communication between all parties involved in the project.

The objective of the SAVER project is to develop a proof of concept for an autonomous maritime search and rescue vehicle for aiding in man-overboard missions. To accomplish this goal, a list of …

Analog Versus Digital Guitar Pedals, Shaping Guitar Tones And Sparking Debates, Cameron Karren

Capstone Projects and Master's Theses

This paper goes into the history of guitar effects, what exactly they are, how they have evolved, and what they are like today. It also presents the results of an experiment that compares perceptions of differences between analog and digital guitar pedals.

Olivet Robotics, Caroline Orndorff, Allann Davidson, Jared Haworth, Nicholas Mills

Scholar Week 2016 - present

The VEX Robotics Competition is a challenging event series for elementary to university students. Each year, VEX creates thought provoking games with goals that must be accomplished via robotics. The question ONU Robotics Team must answer is “how can one create the most effective strategies in order to win?” during the 2019-2020 Tower Takeover Game. The ONU Robotics Senior Design Team (ORSeT) will work to answer this question with principles from Electrical Engineering, Mechanical Engineering, and Computer Science. ORSeT will use this opportunity to not only create a winning robot, but also to challenge team members’ creative abilities and engineering …