Computer Engineering Commons^™

Design Of A Haptic Interface For Medical Applications Using Magneto-Rheological Fluid Based Actuators, Nima Najmaei

Electronic Thesis and Dissertation Repository

This thesis reports on the design, construction, and evaluation of a prototype two degrees-of-freedom (DOF) haptic interface, which takes advantage of Magneto-Rheological Fluid (MRF) based clutches for actuation. Haptic information provides important cues in teleoperated systems and enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. Indeed, deficiencies in these factors in haptics-enabled telerobotic systems has the introduction of haptics in medical environments where safety and reliability are prime considerations. An actuator with poor dynamics, high inertia, large size, and heavy …

Design Of Gan-Based Low-Loss Y-Branch Power Splitter, Retno Wigajatri Purnamaningsih, Irma Saraswati, Nji Raden Poespawati, Elhadj Dogheche

Makara Journal of Technology

We present a Y-branch power splitter design with a multimode section using GaN on Sapphire at telecommunication wavelength. The GaN sample optical properties were also investigated, resulting in a refractive index for the GaN layers nTE=2.289±0.001 and nTM=2.324±0.00. Optimization of the structure parameters for this structure was conducted accurately using BPM methods. The results demonstrated the possibility of realizing a GaN-based Y-branch power splitter for various applications.

Continuous Production Of Nanotubes And Carbon Clusters By Use Of The Revolver-Injection-Type Arc Jet Producer, Tetsu Mieno, Naoki Matsumoto, Takahashi Tomie, H. Inoue

Makara Journal of Technology

Efficient and continuous production of fullerenes, single-walled carbon nanotubes (SWNTs), and carbon nano-particles has been developed by the JxB arc jet method, where the Lorentz force of magnetic field jets out gaseous carbon particles to the JxB direction. In order to realize continuous mass production of these carbon clusters, the revolverinjection- type arc jet producer (RIT-AJP) has been developed. Production of fullerenes, endohedral metallo-fullerenes, SWNTs, metal-encapsulated carbon nano particles has been examined.

Development Of The Soekarno–Hatta International Airport Rail Link Project Using The Value Engineering Method: Creating Value For Money, Mohammed Ali Berawi, Bambang Susantono, Suyono Dikun, Tommy Ilyas, Herawati Zetha Rahman, Abdur Rohim Boy Berawi, Teuku Yuri Zagloel, Perdana Miraj, Jade Sjafrecia Petroceany

Makara Journal of Technology

Soekarno–Hatta Airport is the main gateway for international flights to Greater Jakarta. Its accessibility depends on the inter-city and Sedyatmo toll roads, which causes congestion in peak hours, leading to uncertainty about travel times. The Soekarno–Hatta International Airport Rail Link (SHIARL) is proposed as an alternative mass transportation project, which is expected to provide accessibility and mobility for people and goods to and from the airport. Previously, the project was unattractive to private investors as it was technically and financially unfeasible. Therefore, this research aims to improve the feasibility of the Soekarno-Hatta International Airport Rail Link (SHIARL) by using a …

Modified Design Of Pin-On-Ring Tribometer For Hip Joint Prostheses Measurement; Case Study On Salat Activity, Muhammad Khafidh, Jamari Jamari, Sulardjaka Sulardjaka, Mohamad Tauviqirrahman, Emile Van Der Heide

Makara Journal of Technology

Total hip replacement (THR) is one of the most successful orthopedic surgical procedures for replacing a broken hip joint. In THR, wear may occur at the articulating surface of the acetabular cup and the femoral head. In Indonesia, the country with the largest Muslim population in the world, most of the inhabitants do salat (praying) every day. THR users are banned from doing salat for fear it will damage the hip joint prostheses. The previous wear calculation methods on the hip joint prostheses use the gravimetric, coordinate measuring machine (CMM), profiler, and geometric method. The disadvantages of the previous methods …

Analysis Of Vibration Generated By The Rubbing Of Flat Surfaces, Zahrul Fuadi

Makara Journal of Technology

Among the phenomena that occur as a result of contact between two surfaces is friction sound, in which surface roughness is of great importance. In this study, the parameter of contact stiffness is used to explain the frequency characteristic of vibration generated by the rubbing of flat surfaces under a small load. A 3-disk configuration rubbing method was used, which provides a unique characteristic of the system's frequency response function containing specific information about the rubbing vibrations. It is shown that the peak frequency of the rubbing vibration can be explained by using a two-degrees-of-freedom model incorporating the parameter of …

Endoscopic Application Of A Compact Compound-Eye Camera, Keiichiro Kagawa, Shoji Kawahito

Makara Journal of Technology

A multi-functional compound-eye endoscope enabling multi-spectral imaging and variable field-of-view is presented, which is based on a compact compound-eye camera called TOMBO (thin observation module by bound optics). Narrow-band filters attached to some lenses provide snap-shot multi-band images. Fixed and movable mirrors are introduced to control the field of view, which realizes several observation modes such as three-dimensional shape measurement, wide field-of-view, and close-up observation.

Lateral Load Resistance Of Laminated Veneer Lumber Sengonwooden Joints With Wooden Dowels, Niken Palaeowati, Ali Awaludin, Suprapto Siswosukarto

Makara Journal of Technology

Analytical models for wooden-doweled joints need to be developed. The objective of this research is to determine whether the strength of wooden-doweled joints can be well predicted by equations developed for steel-doweled joints. In this experiment, various connection parameters, such as dowel diameter, species of the wooden dowel, and angle of joints, are studied. The joint specimens are loaded in a quasi-static state with four replications each. A5% offset diameter method is used to determine the lateral load resistance of the tested joints, while the predictions are evaluated by equations given in Indonesian National Standard (SNI) 7973-2013 and the European …

Ultra-Wideband Notched Characteristic Fed By Coplanar Waveguide, Rastanto Hadinegoro, Yuli Kurnia Ningsih, Indra Surjati

Makara Journal of Technology

In this paper, a novel Ultra-Wide Band (UWB) notch patch antenna with co-planar waveguide (CPW) fed is presented. This antenna only used one layer and the patch antenna is constructed on the first layer and back to back with CPW fed and bottom part is ground plane. The width notch is used to achieve the UWB characteristic. The results shown that the impedance bandwidth is 1130 MHz (1.662–2.792 GHz) or about 50.7% for VSWR <2.

The Mechanical And Tribology Properties Of Sputtered Titanium Aluminum Nitride Coating On The Tungsten Carbide Insert Tool In The Dry Turning Of Tool Steel, Esmar Budi, Mohd. Razali Bin Muhamad, Md. Nizam Bin Abdul Rahman

Makara Journal of Technology

The effect of the sputtering parameters on the mechanical tribology properties of Titanium Aluminum Nitride coating on the tungsten cabide insert tool in the dry turning of tool steel has been investigated. The coating was deposited using a Direct Current magnetron sputtering system with various substrate biases (-79 to -221 V) and nitrogen flow rates (30 to 72 sccm). The dry turning test was carried out on a Computer Numeric Code machine using an optimum cutting parameter setting. The results show that the lowest flank wear (~0.4 mm) was achieved using a Titanium Aluminum Nitride-coated tool that was deposited at …

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 …

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

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 …

Bio-Inspired Robotic Fish With Vision Based Target Tracking, Eric Anderson

Open Access Theses

The lionfish is an invasive species that out-competes and overcrowds native sh species along the eastern seaboard of the United States and down into the Caribbean. Lionfish populations are growing rapidly. Current methods of monitoring lionfish populations are costly and time intensive. A bio-inspired robotic fish was built to use as an autonomous lionfish tracking platform. Lionfish are tracked visually using an onboard processor. Five different computer vision methods for identification and tracking are proposed and discussed. These include: background subtraction, color tracking, mixture of Gaussian background subtraction, speeded up robust feature (SURF), and CamShift based tracking. Each of these …

Effects Of Hip And Ankle Moments On Running Stability: Simulation Of A Simplified Model, Rubin C. Cholera

Open Access Theses

In human running, the ankle, knee, and hip moments are known to play different roles to influence the dynamics of locomotion. A recent study of hip moments and several hip-based legged robots have revealed that hip actuation can significantly improve the stability of locomotion, whether controlled or uncontrolled. Ankle moments are expected to also significantly affect running stability, but in a different way than hip moments. Here we seek to advance the current theory of dynamic running and associated legged robots by determining how simple open-loop ankle moments could affect running stability. We simulate a dynamical model, and compare it …

Design And Analysis Of A Cable-Driven Test Apparatus For Flapping-Flight Research, Stephen J. Musick

Open Access Theses

The biology, physiology, kinematics, and aerodynamics of insect flight have been a longstanding fascination for biologists and engineers. The former three are easily obtained through the observation of the organic species. The latter though, is very difficult to study in this fashion. In many cases, aerodynamic forces and fluid-body interactions can be simulated with computational fluid dynamics; another option is to use dynamically-scaled, experimental set-ups to measure physically these values.

An archetypal, experimental set-up may include one or two scaled wings, where each wing is actuated to achieve upwards of three degrees of freedom. The three degrees of freedom correspond …

2014 (Fall) Ensi Informer Magazine, Morehead State University. Engineering Sciences Department

ENSI Informer Magazine Archive

The ENSI Informer Magazine published in the fall of 2014.

Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …

Digestibility Of Betung Bamboo Fiber Following Fungal Pretreatment, Widya Fatriasari, Wasrin Syafii, Nyoman J. Wistara, Khaswar Syamsu, Bambang Prasetya

Makara Journal of Technology

This research evaluated the effect of fungal pretreatment of betung bamboo fibers and enzymatic- and microwaveassisted hydrolysis on the reducing sugar yield. The enzymatic hydrolysis of the pretreated biomass was carried out with cellulase and 10 and 20 FPU/g of substrate in a shaking incubator at 50 °C and 150 rpm for 48 h. The sulfuric acid concentration used in the microwave-assisted acid hydrolysis was 1.0, 2.5, and 5%, either with or without the addition of activated carbon. Microwave irradiation (330 Watt) was applied for 5–12.5 min. The yield of reducing sugar was better with the microwave-assisted acid hydrolysis, and …

Adjustable Resonance Frequency Of Rf-Mems Capacitor By Using Comb- Drive Actuators: A Design Approaches, Agus Santoso Tamsir, Sandy Tannu Wijaya, Dato’ Burhanuddin Yeop Majlis

Makara Journal of Technology

The needs of smaller size RF varactor is a must today, and MEMS comes to be the potential one. In this paper we proposed an adjustable resonance RF-MEMS varactor by using comb-drive actuators placing in each side of the square movable plate. In our preliminary simulation, we found that the device can work properly but some constraints comes such as the dominancies of harmonic resonance frequencies that influences into the nominal capacitances. Therefore for the next step of development we have to find out the window of the structural dimension for a certain spans and a certain operating frequencies.

The Gaussian Orthogonal Laplacianfaces Modelling In Feature Space For Facial Image Recognition, Arif Muntasa

Makara Journal of Technology

Dimensionality reduction based on appearance has been interesting issue on the face image research fields. Eigenface and Fisherface are linear techniques based on full spectral features, for both Eigenface and Fisherface produce global manifold structure. Inability of them in yielding local manifold structure have been solved by Laplacianfaces and further improved by Orthogonal Laplacianfaces, so it can yield orthogonal feature vectors. However, they have also a weakness, when training set samples have non-linear distribution. To overcome this weakness, feature extraction through data mapping from input to feature space using Gaussian kernel function is proposed. To avoid singularity, the Eigenface decomposition …

Make Or Buy Analysis Model Based On Tolerance Design To Minimize Manufacturing Cost And Quality Loss, Cucuk Nur Rosyidi, Reza Rizkichani Akbar, Wakhid Ahmad Jauhari

Makara Journal of Technology

In a manufacturing company, manufacturing costs, or component prices, and tolerance will affect the price and the quality of a product. Companies must produce high-quality products with low manufacturing costs in order to keep their products competitive in the market; however, it is difficult to produce a high-quality product with a low manufacturing cost. Companies have difficulties in determining the components to be produced using their own manufacturing facilities (make) or outsourced to their suppliers (buy). Hence, a make or buy analysis is needed to minimize the manufacturing costs and quality loss and to determine the optimum alternative regarding make …

Observation Of Tunneling Effects In Lateral Nanowire Pn Junctions, Sri Purwiyanti, Arief Udhiarto, Daniel Moraru, Takeshi Mizuno, Djoko Hartanto, Michiharu Tabe

Makara Journal of Technology

As electronic device dimensions are continuously reduced, applied bias conditions significantly change and the transport mechanisms must be reconsidered. Tunneling devices are promising for scaled-down electronics because of expected high-speed operation and relatively low bias. In this work, we investigated the tunneling features in silicon-oninsulator lateral nanowire pn junction and pin junction devices. By controlling the substrate voltage, tunneling features can be observed in the electrical characteristics. We found that the minimum substrate voltage required for tunneling to occur in pn junctions is higher as compared with pin junctions. The main cause of these effects relies in the difference between …

Argon Ion Irradiation Effect On The Magnetic Properties Of Fe-Al2o3 Nano Granular Film, Setyo Purwanto, Isao Sakamoto

Makara Journal of Technology

We studied the effect of Argon (Ar) ion irradiation on Fe-Al2O3 nanogranular thin film. X-ray diffraction (XRD) patterns show that the ion dose might promote the growth of the Fe2O3 phase from an amorphous phase to a crystalline phase. The magnetic and magnetoresistance properties were investigated using a vibrating sample magnetometer (VSM) and a four point probe (FPP). The results suggest that percolation concentration occurred at the 0.55 Fe volume fraction and with a maximum magnetoresistance (MR) ratio of 3%. The present MR ratio was lower than that of previous results, which might be related to the existence of the …

Electron Emission Characteristics Of Multi-Gated Field Emitters, Hidenori Mimura, Yoichiro Neo, Toru Aoki, Tomoya Yoshida, Masayoshi Nagao

Makara Journal of Technology

We have developed a multi-gated field emitter (FE) such as a quadruple-gated FE with a three-stacked electrode lens and a quintuple-gated FE with a four-stacked electrode lens. Both the FEs can focus the electron beam. However, the quintuple-gated FE has a stronger electron convergence than the quadruple-gated FE, and a beam crossover is clearly observed for the quintuple-gated FE.

Properties Of Lignin From Oil Palm Empty Fruit Bunch And Its Application For Plywood Adhesive, Lucky Risanto, Euis Hermiati, Yanni Sudiyani

Makara Journal of Technology

Lignin from lignocellulosic biomass is a potential biopolymer for wood adhesive. The aims of this study were to characterize lignin isolated from the black liquor of oil palm empty fruit bunch fiber pretreated with steam explosion in alkaline conditions and to examine the bond quality of aqueous polymer isocyanate (API) adhesive prepared from lignin, natural rubber latex (NRL), and polyvinyl alcohol (PVA) as base polymers with isocyanate crosslinkers. Lignin was precipitated from the black liquor by adding hydrochloric acid; then the precipitate was separated by filtration, thoroughly washed with water up to pH 2 and pH 5, and dried. The …

Series-Interconnected Plastic Dye-Sensitized Solar Cells Prepared By Low- Temperature Binder-Free Titania Paste, Erlyta Septa Rosa, Lia Muliani, Shobih Shobih, Jojo Hidayat, Brian Yuliarto

Makara Journal of Technology

The aim of this research is to study dye-sensitized solar cells (DSSC). This was implemented on a flexible polyethylene terephthalate (PET) substrate using a mixture of transparent and scattered mesoporous anatase-titania as the electron transport layer for the photoelectrode. This mixture of anatase titania performed a dual function of light scattering and efficient dye absorption. In this study, a porous nano-TiO2 film was prepared on indium tin oxide (ITO) coated polyethylene terephthalate (PET) by using a binder-free titania paste; on it, a DSSC was fabricated. The paste which contained a mixture of TiO2 nanoparticles, acid chloride, and ethanol was printed …

Development And Applications Of The Expanded Equivalent Fluid Method, Bharath Kumar Kandula

Dissertations

Ocean acoustics is the study of sound in the oceans. Electromagnetic waves attenuate rapidly in the water medium. Sound is the best means to transmit information underwater. Computational numerical simulations play an important role in ocean acoustics. Simulations of acoustic propagation in the oceans are challenging due to the complexities involved in the ocean environment. Different methods have been developed to simulate underwater sound propagation. The Parabolic-Equation (PE) method is the best choice in several ocean acoustic problems. In shallow water acoustic experiments, sound loses some of its energy when it interacts with the bottom. An equivalent fluid technique was …

Foss Big Data Storage Solution, Nurdeen Salami

STAR Program Research Presentations

NASA projects require a reliable approach to store large volumes of data. Accordingly, it is crucial to adopt a lightweight, reliable, and scalable database. Current NASA databases bear costly license fees with undesirable speed and flexibility. The purpose of utilizing the AERO Institute as an IT test bed, or “Sandbox,” is to design, build, test, and implement software solutions prior to transfer to NASA projects. Cassandra coupled with the Astyanax API is a viable solution for storing big data. Store a minimum of 2GB of C-FOSS data in multiple file formats (.csv, .log, .xml, and .jpg). Use benchmark tests to …

Legacy Borehole Project, Maza Brady, Luke Cashman, Erin Hicks, Meghan Richey

Interdisciplinary Design Senior Theses

The Legacy Borehole Project is a three-year effort to design and build a sensor package that will be used to explore the geological and chemical conditions of the ocean floor. Over the course of three years, a mechanical structure and a robotic system will be constructed to lower sensors into previously drilled boreholes. As the team responsible for the development of the first year of this project, we have constructed a prototype sensor package and mock mechanical structure to test a communication interface between the sensors and a graphical user interface. The sensors were tested by lowering the sensor package …