Mechanical Engineering Commons^™

Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak

Graduate Theses, Dissertations, and Problem Reports

Practical decision makers are inherently limited by computational and memory resources as well as the time available in which to make decisions. To cope with these limitations, humans actively seek methods which limit their resource demands by exploiting structure within the environment and exploiting a coupling between their sensing and actuation to form heuristics for fast decision-making. To date, such behavior has not been replicated in artificial agents. This research explores how heuristics may be incorporated into the decision-making process to quickly make high-quality decisions through the analysis of a prominent case study: the outfielder problem. In the outfielder problem, …

Observer-Based Event-Triggered And Set-Theoretic Neuro-Adaptive Controls For Constrained Uncertain Systems, Abdul Ghafoor

Doctoral Dissertations

"In this study, several new observer-based event-triggered and set-theoretic control schemes are presented to advance the state of the art in neuro-adaptive controls. In the first part, six new event-triggered neuro-adaptive control (ETNAC) schemes are presented for uncertain linear systems. These comprehensive designs offer flexibility to choose a design depending upon system performance requirements. Stability proofs for each scheme are presented and their performance is analyzed using benchmark examples. In the second part, the scope of the ETNAC is extended to uncertain nonlinear systems. It is applied to a case of precision formation flight of the microsatellites at the Sun-Earth/Moon …

Fault Adaptive Workload Allocation For Complex Manufacturing Systems, Charlie B. Destefano

Graduate Theses and Dissertations

This research proposes novel fault adaptive workload allocation (FAWA) strategies for the health management of complex manufacturing systems. The primary goal of these strategies is to minimize maintenance costs and maximize production by strategically controlling when and where failures occur through condition-based workload allocation.

For complex systems that are capable of performing tasks a variety of different ways, such as an industrial robot arm that can move between locations using different joint angle configurations and path trajectories, each option, i.e. mission plan, will result in different degradation rates and life-expectancies. Consequently, this can make it difficult to predict when a …

Motor Control Systems Analysis, Design, And Optimization Strategies For A Lightweight Excavation Robot, Austin Jerold Crawford

Graduate Theses and Dissertations

This thesis entails motor control system analysis, design, and optimization for the University of Arkansas NASA Robotic Mining Competition robot. The open-loop system is to be modeled and simulated in order to achieve a desired rapid, yet smooth response to a change in input. The initial goal of this work is to find a repeatable, generalized step-by-step process that can be used to tune the gains of a PID controller for multiple different operating points. Then, sensors are to be modeled onto the robot within a feedback loop to develop an error signal and to make the control system self-corrective …

The Affective Perceptual Model: Enhancing Communication Quality For Persons With Pimd, Jadin Tredup

UNLV Theses, Dissertations, Professional Papers, and Capstones

Methods for prolonged compassionate care for persons with Profound Intellectual and Multiple Disabilities (PIMD) require a rotating cast of import people in the subjects life in order to facilitate interaction with the external environment. As subjects continue to age, dependency on these people increases with complexity of communications while the quality of communication decreases. It is theorized that a machine learning (ML) system could replicate the attuning process and replace these people to promote independence. This thesis extends this idea to develop a conceptual and formal model and system prototype.

The main contributions of this thesis are: (1) proposal of …

Volumetric Error Compensation For Industrial Robots And Machine Tools, Le Ma

Doctoral Dissertations

“A more efficient and increasingly popular volumetric error compensation method for machine tools is to compute compensation tables in axis space with tool tip volumetric measurements. However, machine tools have high-order geometric errors and some workspace is not reachable by measurement devices, the compensation method suffers a curve-fitting challenge, overfitting measurements in measured space and losing accuracy around and out of the measured space. Paper I presents a novel method that aims to uniformly interpolate and extrapolate the compensation tables throughout the entire workspace. By using a uniform constraint to bound the tool tip error slopes, an optimal model with …

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, …

Feasible Form Parameter Design Of Complex Ship Hull Form Geometry, Thomas L. Mcculloch

University of New Orleans Theses and Dissertations

This thesis introduces a new methodology for robust form parameter design of complex hull form geometry via constraint programming, automatic differentiation, interval arithmetic, and truncated hierarchical B- splines. To date, there has been no clearly stated methodology for assuring consistency of general (equality and inequality) constraints across an entire geometric form parameter ship hull design space. In contrast, the method to be given here can be used to produce guaranteed narrowing of the design space, such that infeasible portions are eliminated. Furthermore, we can guarantee that any set of form parameters generated by our method will be self consistent. It …

Identification And Optimal Linear Tracking Control Of Odu Autonomous Surface Vehicle, Nadeem Khan

Mechanical & Aerospace Engineering Theses & Dissertations

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system …

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 …

Data Driven Low-Bandwidth Intelligent Control Of A Jet Engine Combustor, Nathan L. Toner

Open Access Dissertations

This thesis introduces a low-bandwidth control architecture for navigating the input space of an un-modeled combustor system between desired operating conditions while avoiding regions of instability and blow-out. An experimental procedure is discussed for identifying regions of instability and gathering sufficient data to build a data-driven model of the system's operating modes. Regions of instability and blow-out are identified experimentally and a data-driven operating point classifier is designed. This classifier acts as a map of the operating space of the combustor, indicating regions in which the flame is in a "good" or "bad" operating mode. A data-driven predictor is also …

Improving Product Design Phase For Engineer To Order (Eto) Product With Knowledge Base Engineering (Kbe), Hanhdung Thi Dinh

Open Access Theses

In industry currently Computer Aided Design (CAD) is an important tool for the modification, analysis, or optimization of the 3D virtual environment that replicates the physical product. CAD software is an efficient and reliable tool. However, as globalization increases customer demands, this process needs to be faster and more efficient to accommodate changing product design situations, especially for Engineer-to- Order (ETO) products. ^ The traditional method of product design process is to operate CAD software without argumentation. Design engineers create CAD prototypes and drawings based on available knowledge and information which comes from engineering experts, company standards, industrial practices as …

Novel Classification Of Slow Movement Objects In Urban Traffic Environments Using Wideband Pulse Doppler Radar, Berta Rodriguez Hervas

Open Access Theses & Dissertations

Every year thousands of people are involved in traffic accidents, some of which are fatal. An important percentage of these fatalities are caused by human error, which could be prevented by increasing the awareness of drivers and the autonomy of vehicles. Since driver assistance systems have the potential to positively impact tens of millions of people, the purpose of this research is to study the micro-Doppler characteristics of vulnerable urban traffic components, i.e. pedestrians and bicyclists, based on information obtained from radar backscatter, and to develop a classification technique that allows automatic target recognition with a vehicle integrated system. For …

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 …

Faults Identification In Three-Phase Induction Motors Using Support Vector Machines, Rama Hammo

Master of Technology Management Plan II Graduate Projects

Induction motor is one of the most important motors used in industrial applications. The operating conditions may sometime lead the machine into different fault situations. The main types of external faults experienced by these motors are over loading, single phasing, unbalanced supply voltage, locked rotor, phase reversal, ground fault, under voltage and over voltage. The machine should be shut down when a fault is experienced to avoid damage and for the safety of the workers. Computer based relays monitor the machine and disconnect it during the faults. The relay logic used to identify these faults requires sophisticated signal processing techniques …

Preoperative Planning Of Robotics-Assisted Minimally Invasive Cardiac Surgery Under Uncertainty, Hamidreza Azimian

Electronic Thesis and Dissertation Repository

In this thesis, a computational framework for patient-specific preoperative planning of Robotics-Assisted Minimally Invasive Cardiac Surgery (RAMICS) is developed. It is expected that preoperative planning of RAMICS will improve the rate of success by considering robot kinematics, patient-specific thoracic anatomy, and procedure-specific intraoperative conditions. Given the significant anatomical features localized in the preoperative computed tomography images of a patient's thorax, port locations and robot orientations (with respect to the patient's body coordinate frame) are determined to optimize characteristics such as dexterity, reachability, tool approach angles and maneuverability. In this thesis, two approaches for preoperative planning of RAMICS are proposed that …

Sonar Sensor Interpretation For Ectogeneous Robots, Wen Gao

Dissertations, Theses, and Masters Projects

We have developed four generations of sonar scanning systems to automatically interpret surrounding environment. The first two are stationary 3D air-coupled ultrasound scanning systems and the last two are packaged as sensor heads for mobile robots. Template matching analysis is applied to distinguish simple indoor objects. It is conducted by comparing the tested echo with the reference echoes. Important features are then extracted and drawn in the phase plane. The computer then analyzes them and gives the best choices of the tested echoes automatically. For cylindrical objects outside, an algorithm has been presented to distinguish trees from smooth circular poles …

Design Of Adaptive Sliding Mode Fuzzy Control For Robot Manipulator Based On Extended Kalman Filter, Abdelrahman Aledhaibi

Mechanical & Aerospace Engineering Theses & Dissertations

In this work, a new adaptive motion control scheme for robust performance control of robot manipulators is presented. The proposed scheme is designed by combining the fuzzy logic control with the sliding mode control based on extended Kalman filter. Fuzzy logic controllers have been used successfully in many applications and were shown to be superior to the classical controllers for some nonlinear systems. Sliding mode control is a powerful approach for controlling nonlinear and uncertain systems. It is a robust control method and can be applied in the presence of model uncertainties and parameter disturbances, provided that the bounds of …

Virtual Reality Modelling Of A Cnc Machine, Damian O'Sullivan

Theses

The increasing importance of training and upgrading skills has led to the use of new interactive technologies in the development of more effective training tools. Previous techniques for training Computer Numerical Control (CNC) machine operators, while excellent for their time, varied from brief inexpensive tutorials to expensive on the job training. A CNC machine uses a computer to perform the functions of the machine using a part program stored in the memory of the computer. This thesis describes a Virtual Reality (VR) model of a CNC milling machine, implemented within a VR environment representing a CNC workshop. Its development and …

Kinematic Synthesis Of Deployable-Foldable Truss Structures Using Graph Theory, Dirk B. Warnaar

Mechanical & Aerospace Engineering Theses & Dissertations

A graph theoretic approach is applied to the conceptual design of deployable truss structures. The characteristics that relate to the inter-connectivity of the elements of a deployable truss structure can be captured in a schematic representation, called a graph. A procedure is presented that enables the exhaustive generation of these graphs for structures of any given number of nodes and links and which are foldable onto a plane or onto a line.

A special type of truss structures, called truss modules, is presented. Graphs of this class of structures form a subset of the graphs of truss structures. Two procedures …