Computer Engineering Commons^™

On Sensorless Collision Detection And Measurement Of External Forces In Presence Of Modeling Inaccuracies, Vahid Sotoudehnejad

Electronic Thesis and Dissertation Repository

The field of human-robot interaction has garnered significant interest in the last decade. Every form of human-robot coexistence must guarantee the safety of the user. Safety in human-robot interaction is being vigorously studied, in areas such as collision avoidance, soft actuators, light-weight robots, computer vision techniques, soft tissue modeling, collision detection, etc. Despite the safety provisions, unwanted collisions can occur in case of system faults. In such cases, before post-collision strategies are triggered, it is imperative to effectively detect the collisions. Implementation of tactile sensors, vision systems, sonar and Lidar sensors, etc., allows for detection of collisions. However, due to …

A Hybrid Visual Control Scheme To Assist The Visually Impaired With Guided Reaching Tasks, Duane Jacques

Electronic Thesis and Dissertation Repository

In recent years, numerous researchers have been working towards adapting technology developed for robotic control to use in the creation of high-technology assistive devices for the visually impaired. These types of devices have been proven to help visually impaired people live with a greater degree of confidence and independence. However, most prior work has focused primarily on a single problem from mobile robotics, namely navigation in an unknown environment. In this work we address the issue of the design and performance of an assistive device application to aid the visually-impaired with a guided reaching task. The device follows an eye-in-hand, …

Feedback Stabilization At Spear3, Daniel Kelley, Jeff Corbett

STAR Program Research Presentations

The SPEAR3 synchrotron lightsource at SLAC relies on a sophisticated radio frequency (RF) timing system to maintain current – electrons – in the storage ring. One problem SPEAR3 operators have dealt with is the thermal expansion of one of the cables supporting this RF timing system. As the cable expands and contracts with the diurnal rise and fall of the sun, the phase of the RF in the cable shifts. This shifting phase affects the timing accuracy of electron injections into the storage ring.

A common feedback control algorithm PID (Proportional Integral Derivative) has countless applications in engineering. PID feedback …

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

Abhijit Saxena

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 …

Design Of An Energy Efficient Virtual End Node Client Using Openadr2.0a And Smap, Kevin Navero

BioResource and Agricultural Engineering

Demand Response (DR) describes the set of actions taken to impose a reduction in electrical loads to stabilize the power grid and decrease costs. It is used when power grid emergencies or extremely high demand and congestion, threaten the electricity supply-demand balance. Automated Demand Response (ADR) describes a web-based control system that triggers DR events automatically by signaling other pre-programmed control systems. This project intends to use the OpenADR2.0 specifications provided by the OpenADR Alliance to construct an open source Virtual End Node (VEN) client to retrieve DR signals. The Simple Measurement and Actuation Profile (sMAP) software is also used …

Adaptive Control Of Apache Web Server, Erik Reed, Abe Ishihara, Ole J. Mengshoel

Ole J Mengshoel

Wireless Transmission Network : A Imagine, Radhey Shyam Meena Engineer, Neeraj Kumar Garg Asst.Prof

Radhey Shyam Meena

World cannot be imagined without electrical power. Generally the power is transmitted through transmission networks. This paper describes an original idea to eradicate the hazardous usage of electrical wires which involve lot of confusion in particularly organizing them. Imagine a future in which wireless power transfer is feasible: cell phones, household robots, mp3 players, laptop computers and other portable electronic devices capable of charging themselves without ever being plugged in freeing us from that final ubiquitous power wire. This paper includes the techniques of transmitting power without using wires with an efficiency of about 95% with non-radioactivemethods. In this paper …

Emulation Of Industrial Control Field Device Protocols, Robert M. Jaromin

Theses and Dissertations

It has been shown that thousands of industrial control devices are exposed to the Internet, however, the extent and nature of attacks on such devices remains unknown. The first step to understanding security problems that face modern supervisory control and data acquisition (SCADA) and industrial controls networks is to understand the various attacks launched on Internet-connected field devices. This thesis describes the design and implementation of an industrial control emulator on a Gumstix single-board computer as a solution. This emulator acts as a decoy field device, or honeypot, intended to be probed and attacked via an Internet connection. Evaluation techniques …

Battery Energy Storage System In Solar Power Generation, Radhey Shyam Meena Er., Deepa Sharma

Radhey Shyam Meena

Grid-connected solar PV dramatically changes the load profile of an electric utility customer. The expected widespread adoption of solar generation by customers on the distribution system poses significant challenges to system operators both in transient and steady state operation, from issues including voltage swings, sudden weather-induced changes in generation, and legacy protective devices designed with one-way power flow in mind

Caddy: A 2005 Roborodentia Entry With Vision And Path Planning Abilities, Taylor Braun-Jones

Computer Engineering

Roborodentia is an autonomous robotics competition held each year during Cal Poly’s Open House. For the 2005 competition, robot entries needed to navigate a maze searching for three randomly placed golf balls, collect them, and then deposit the balls in the “nest” at the end of the maze. A newly added aspect for the 2005 competition included two bonus balls that were placed on a platform behind the wall in two predetermined corners of the maze.

Caddy is a robot that was entered into the 2005 Roborodentia competition. Caddy included a vision system that allowed searching for balls down untraveled …

Battery Energy Storage System In Solar Power Generation, Radhey Shyam Meena Er.

Radhey Shyam Meena

As solar photovoltaic power generation becomes more commonplace, the inherent intermittency of the solar resource poses one of the great challenges to those who would design and implement the next generation smart grid. Specifically, grid-tied solar power generation is a distributed resource whose output can change extremely rapidly, resulting in many issues for the distribution system operator with a large quantity of installed photovoltaic devices. Battery energy storage systems are increasingly being used to help integrate solar power into the grid. These systems are capable of absorbing and delivering both real and reactive power with sub-second response times. With these …