Computer Engineering Commons^™

Design And Simulation Of A Supervisory Control System For Hybrid Manufacturing, Michael Buckley

Masters Theses

The research teams of Dr. Bill Hamel, Dr. Bradley Jared and Dr. Tony Schmitz were tasked by the Office of Naval Research to create a hybrid manufacturing process for a reduced scale model of a naval ship propeller. The base structure of the propeller is created using Wire Arc Additive Manufacturing (WAAM), which is then scanned to compare created geometry to desired geometry. The propeller is then machined down to match the desired geometry. This process is iterated upon until the final product meets design tolerances. Due to the complex nature and numerous industrial machines used in the process, it …

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 …

Controlled Switching In Kalman Filtering And Iterative Learning Controls, He Li

Masters Theses

“Switching is not an uncommon phenomenon in practical systems and processes, for examples, power switches opening and closing, transmissions lifting from low gear to high gear, and air planes crossing different layers in air. Switching can be a disaster to a system since frequent switching between two asymptotically stable subsystems may result in unstable dynamics. On the contrary, switching can be a benefit to a system since controlled switching is sometimes imposed by the designers to achieve desired performance. This encourages the study of system dynamics and performance when undesired switching occurs or controlled switching is imposed. In this research, …

Light Touch Based Virtual Cane For Balance Assistance During Standing, Sindhu Reddy Alluri

Masters Theses

"Can additional information about one's body kinematics provided through hands improve human balance? Light-Touch (LT) through hands helps improve balance in a wide range of populations, both healthy and impaired. The force is too small to provide any meaningful mechanical assistance -- rather, it is suggested that the additional sensory information through hands helps the body improve balance.

To investigate the potential for improving human balance through biofeedback through hands, we developed a Virtual Cane (VC) for balance assistance during standing. The VC mimics the physical cane's function of providing information about one's body in space. Balance experiments on 10 …

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 …

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 …

Numerical Analysis Of Flexural Slip During Viscoelastic Buckle Folding, Davi Rodrigues Damasceno

Masters Theses

"Flexural slip is considered to be an important folding mechanism contributing in the development of different folds such as chevron, and kink-band buckle folds. Various filed studies have provided a general conceptual and qualitative understanding of flexural slip. However, quantitative evidence of the importance of the flexural slip mechanism during fold evolution is sparse, as the actual amount of surface parallel displacement, and timing, is difficult to measure accurately, due to the lack of suitable strain markers.

In this study 2D finite element analysis is used to overcome these disadvantages and to simulate flexural slip during viscoelastic buckle folding. Variations …

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 …

Pipeline Leak Detection, Marcia Golmohamadi

Masters Theses

"In the present research two techniques are applied for leak detection in pipelines. The first method is a hardware-based technique which uses ultrasonic wave's emission for pipeline inspection. Ultrasonic waves are propagated in the pipe walls and reflected signal from leakage will be used for pipe analysis. Several Pipes with various dimensions and characteristics are modeled by finite element method using ANSYS. Second order longitudinal modes of ultrasonic waves are emitted in their walls. For this purpose, excited frequency is calculated such that it excites the second order longitude mode. In order to investigate the behavior of emitted wave in …

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 …

Validation Of Weak Form Thermal Analysis Algorithms Supporting Thermal Signature Generation, Elton Lewis Freeman

Masters Theses

Extremization of a weak form for the continuum energy conservation principle differential equation naturally implements fluid convection and radiation as flux Robin boundary conditions associated with unsteady heat transfer. Combining a spatial semi-discretization via finite element trial space basis functions with time-accurate integration generates a totally node-based algebraic statement for computing. Closure for gray body radiation is a newly derived node-based radiosity formulation generating piecewise discontinuous solutions, while that for natural-forced-mixed convection heat transfer is extracted from the literature. Algorithm performance, mathematically predicted by asymptotic convergence theory, is subsequently validated with data obtained in 24 hour diurnal field experiments for …