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Full-Text Articles in Mechanical Engineering

Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson Sep 2019

Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson

Ulrike Passe

Building energy simulation is of considerable interest and benefit for architects, engineers, and urban planners. Only recently has it become possible to develop integrated energy models for clusters of buildings in urban areas. Simulating energy consumption of the built environment on a relatively large scale (e.g., such as a neighborhood) will be necessary to obtain more reliable results, since building energy parameters are influenced by characteristics of the nearby environment. Therefore, the construction of a 3-D model of urban built areas with detail of the near-building environment should enhance simulation approaches and provide more accurate results. This paper describes ...


Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson Jun 2019

Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson

Farzad Hashemi

Building energy simulation is of considerable interest and benefit for architects, engineers, and urban planners. Only recently has it become possible to develop integrated energy models for clusters of buildings in urban areas. Simulating energy consumption of the built environment on a relatively large scale (e.g., such as a neighborhood) will be necessary to obtain more reliable results, since building energy parameters are influenced by characteristics of the nearby environment. Therefore, the construction of a 3-D model of urban built areas with detail of the near-building environment should enhance simulation approaches and provide more accurate results. This paper describes ...


A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim Jun 2019

A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim

LSU Master's Theses

A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to ...


Modeling Of Complex Parts For Industrial Waterjet Cleaning, Braden James May 2019

Modeling Of Complex Parts For Industrial Waterjet Cleaning, Braden James

Theses and Dissertations

Industrial high-pressure waterjet cleaning is common to many industries. The modeling in this paper functions inside a collaborative robotic framework for high mix, low volume processes where human robot collaboration is beneficial. Automation of pressure washing is desirable for economic and ergonomic reasons. An automated cleaning system needs path simulation and analysis to give the operator insight into the predicted cleaning performance of the system. In this paper, ablation, the removal of a substrate coating by waterjet, is modeled for robotic cleaning operations. The model is designed to work with complex parts often found in spray cleaning operations, namely parts ...


The Comparison Of Verbalized Feedback In Human To Computer Interfacing Versus Human To Human Interaction, Kea Francis Feb 2019

The Comparison Of Verbalized Feedback In Human To Computer Interfacing Versus Human To Human Interaction, Kea Francis

EURēCA: Exhibition of Undergraduate Research and Creative Achievement

The project evaluates response to social robots for purposeful tasks. The study uses a social robot, Rapiro, along with a smartphone that serves as a visual interface for the robot system. My role was to design a program on a Raspberry Pi that allows simultaneous control of Rapiro’s actions and a response from a phone application. The phone app is downloaded to an Android phone and designed using MIT App Inventor software. This allows pre-programmed and real-time control of the robot. The user inputs what they want the robot to say through the terminal of the Raspberry Pi. Through ...


Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop Jan 2019

Estimation Of Multi-Directional Ankle Impedance As A Function Of Lower Extremity Muscle Activation, Lauren Knop

Dissertations, Master's Theses and Master's Reports

The purpose of this research is to investigate the relationship between the mechanical impedance of the human ankle and the corresponding lower extremity muscle activity. Three experimental studies were performed to measure the ankle impedance about multiple degrees of freedom (DOF), while the ankle was subjected to different loading conditions and different levels of muscle activity. The first study determined the non-loaded ankle impedance in the sagittal, frontal, and transverse anatomical planes while the ankle was suspended above the ground. The subjects actively co-contracted their agonist and antagonistic muscles to various levels, measured using electromyography (EMG). An Artificial Neural Network ...


Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro Jan 2019

Estimation And Prediction Of The Human Gait Dynamics For The Control Of An Ankle-Foot Prosthesis, Guilherme Aramizo Ribeiro

Dissertations, Master's Theses and Master's Reports

With the growing population of amputees, powered prostheses can be a solution to improve the quality of life for many people. Powered ankle-foot prostheses can be made to behave similar to the lost limb via controllers that emulate the mechanical impedance of the human ankle. Therefore, the understanding of human ankle dynamics is of major significance. First, this work reports the modulation of the mechanical impedance via two mechanisms: the co-contraction of the calf muscles and a change of mean ankle torque and angle. Then, the mechanical impedance of the ankle was determined, for the first time, as a multivariable ...


Light Touch Based Virtual Cane For Balance Assistance During Standing, Sindhu Reddy Alluri Jan 2019

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 ...


Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation, Monroe David Kennedy Jan 2019

Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation, Monroe David Kennedy

Publicly Accessible Penn Dissertations

As advances are made in robotic hardware, the complexity of tasks they are capable of performing also increases. One goal of modern robotics is to introduce robotic platforms that require very little augmentation of their environments to be effective and robust. Therefore the challenge for a roboticist is to develop algorithms and control strategies that leverage knowledge of the task while retaining the ability to be adaptive, adjusting to perturbations in the environment and task assumptions. This work considers approaches to these challenges in the context of a wet-lab robotic assistant. The tasks considered are cooperative transport with limited communication ...


Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi Jan 2019

Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi

Graduate Theses, Dissertations, and Problem Reports

In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about ...


Hydrogen Fuel Cell Gasket Handling And Sorting With Machine Vision Integrated Dual Arm Robot, Devin C. Fowler Jan 2019

Hydrogen Fuel Cell Gasket Handling And Sorting With Machine Vision Integrated Dual Arm Robot, Devin C. Fowler

Electronic Theses and Dissertations

Recently demonstrated robotic assembling technologies for fuel cell stacks used fuel cell components manually pre-arranged in stacks (presenters), all oriented in the same position. Identifying the original orientation of fuel cell components and loading them in stacks for a subsequent automated assembly process is a difficult, repetitive work cycle which if done manually, deceives the advantages offered by automated fabrication technologies of fuel cell components and by robotic assembly processes. We present an innovative robotic technology which enables the integration of automated fabrication processes of fuel cell components with robotic assembly of fuel cell stacks into a fully automated fuel ...


A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson Dec 2018

A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson

Computer Science and Computer Engineering Undergraduate Honors Theses

Cooperative 3D printing is an emerging technology that aims to increase the 3D printing speed and to overcome the size limit of the printable object by having multiple mobile 3D printers (printhead-carrying mobile robots) work together on a single print job on a factory floor. It differs from traditional layer-by-layer 3D printing due to requiring multiple mobile printers to work simultaneously without interfering with each other. Therefore, a new approach for slicing a digital model and generating commands for the mobile printers is needed, which has not been discussed in literature before. We propose a chunk-by-chunk based slicer that divides ...


Transcribing Braille Code: Learning Equations Across Platforms, Deegan Atha, Courtney Balogh Nov 2018

Transcribing Braille Code: Learning Equations Across Platforms, Deegan Atha, Courtney Balogh

Purdue Journal of Service-Learning and International Engagement

Deegan Atha, a graduating senior in electrical engineering and a future engineer, is interested in human-centered design and developing technology that helps students engage and be successful in STEM.

Courtney Balogh, a junior in mechanical engineering, is interested in human-centered design and the importance it plays in product development. Deegan and Courtney are members of the Purdue EPICS project, Learning Equations Across Platforms (LEAP). They partnered with the Indiana School for the Blind and Visually Impaired (ISBVI) to develop a braille transcription device and web application that converts braille to print in real time.


Esense 2.0: Modeling Biomimetic Predation With Multi-Agent Multi-Team Distributed Artificial Intelligence, D. Michael Franklin, Derek Martin Nov 2018

Esense 2.0: Modeling Biomimetic Predation With Multi-Agent Multi-Team Distributed Artificial Intelligence, D. Michael Franklin, Derek Martin

Georgia Undergraduate Research Conference (GURC)

Biologic predation is a complex interaction amongst sets of predators and prey operating within the same environment. There are many disparate factors for each member of each set to consider as they interact. Additionally, they each must seek food while avoiding other predators, meaning that they must prioritize their actions based on policies. eSense provides a powerful yet simplistic reinforcement learning algorithm that employs model-based behavior across multiple learning layers. These independent layers split the learning objectives across multiple layers, avoiding the learning-confusion common in many multi-agent systems. The new eSense 2.0 increases the number of layers and the ...


The Subject Librarian Newsletter, Engineering And Computer Science, Spring 2018, Buenaventura "Ven" Basco Oct 2018

The Subject Librarian Newsletter, Engineering And Computer Science, Spring 2018, Buenaventura "Ven" Basco

Buenaventura "Ven" Basco

No abstract provided.


The Subject Librarian Newsletter, Engineering And Computer Science, Fall 2017, Buenaventura "Ven" Basco Oct 2018

The Subject Librarian Newsletter, Engineering And Computer Science, Fall 2017, Buenaventura "Ven" Basco

Buenaventura "Ven" Basco

No abstract provided.


Deep Rc: Enabling Remote Control Through Deep Learning, Jaron Ellingson, Gary Ellingson, Tim Mclain Sep 2018

Deep Rc: Enabling Remote Control Through Deep Learning, Jaron Ellingson, Gary Ellingson, Tim Mclain

Student Publications

Human remote-control (RC) pilots have the ability to perceive the position and orientation of an aircraft using only third-person-perspective visual sensing. While novice pilots often struggle when learning to control RC aircraft, they can sense the orientation of the aircraft with relative ease. In this paper, we hypothesize and demonstrate that deep learning methods can be used to mimic the human ability to perceive the orientation of an aircraft from monocular imagery.

This work uses a neural network to directly sense the aircraft attitude. The network is combined with more conventional image processing methods for visual tracking of the aircraft ...


Micro-Manipulation Using Learned Model, Matthew A. Lyng, Benjamin V. Johnson, David J. Cappelleri Aug 2018

Micro-Manipulation Using Learned Model, Matthew A. Lyng, Benjamin V. Johnson, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Microscale devices can be found in applications ranging from sensors to structural components. The dominance of surface forces at the microscale hinders the assembly processes through nonlinear interactions that are difficult to model for automation, limiting designs of microsystems to primarily monolithic structures. Methods for modeling surface forces must be presented for viable manufacturing of devices consisting of multiple microparts. This paper proposes the implementation of supervised machine learning models to aid in automated micromanipulation tasks for advanced manufacturing applications. The developed models use sets of training data to implicitly model surface interactions and predict end-effector placement and paths that ...


Purdue Air Sense: A Methodology For Improving The Accuracy Of Ambient Aerosol Mass Concentration And Size Distribution Measurement With Low-Cost Optical Sensing Techniques, Rishabh Ramsisaria, Satya Sundar Patra, Brandon Emil Boor Aug 2018

Purdue Air Sense: A Methodology For Improving The Accuracy Of Ambient Aerosol Mass Concentration And Size Distribution Measurement With Low-Cost Optical Sensing Techniques, Rishabh Ramsisaria, Satya Sundar Patra, Brandon Emil Boor

The Summer Undergraduate Research Fellowship (SURF) Symposium

There is a global lack of a means for monitoring air pollutant levels at a local level due to expensive and bulky instrument requirements. It is important to monitor toxic gas levels, as well as particulate matter levels, in the atmosphere to study their effects on human health and to further develop city- and community-level air pollution solutions. In this study, with the means of a Raspberry Pi, low-cost Alphasense Optical Particle Counter and gas sensors, and methodical calibration techniques, we built a portable 3-D printed module powered by clean electricity generated by an on-board Voltaic solar cell that measures ...


A Study Of Comparing Cad/Cam Simulated Machining Time With Practical Cnc Machining Time And The Influence Of The Parameter Setting In Cnc, Jinming Wan Jul 2018

A Study Of Comparing Cad/Cam Simulated Machining Time With Practical Cnc Machining Time And The Influence Of The Parameter Setting In Cnc, Jinming Wan

Morehead State Theses and Dissertations

A thesis presented to the faculty of the College of Business and Technology at Morehead State University in partial fulfillment of the requirements for the degree of Master of Science by Jinming Wan on July 11, 2018.


Identification And Optimal Linear Tracking Control Of Odu Autonomous Surface Vehicle, Nadeem Khan Jul 2018

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 ...


Biomimetic Design And Construction Of A Bipedal Walking Robot, Alexander Gabriel Steele Jun 2018

Biomimetic Design And Construction Of A Bipedal Walking Robot, Alexander Gabriel Steele

Dissertations and Theses

Human balance and locomotion control is highly complex and not well understood. To understand how the nervous system controls balance and locomotion works, we test how the body responds to controlled perturbations, the results are analyzed, and control models are developed. However, to recreate this system of control there is a need for a robot with human-like kinematics. Unfortunately, such a robotic testbed does not exist despite the numerous applications such a design would have in mobile robotics, healthcare, and prosthetics.

This thesis presents a robotic testbed model of human lower legs. By using MRI and CT scans, I designed ...


Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson Jun 2018

Developing A Workflow To Integrate Tree Inventory Data Into Urban Energy Models, Farzad Hashemi, Breanna L. Marmur, Ulrike Passe, Janette R. Thompson

Natural Resource Ecology and Management Conference Papers, Posters and Presentations

Building energy simulation is of considerable interest and benefit for architects, engineers, and urban planners. Only recently has it become possible to develop integrated energy models for clusters of buildings in urban areas. Simulating energy consumption of the built environment on a relatively large scale (e.g., such as a neighborhood) will be necessary to obtain more reliable results, since building energy parameters are influenced by characteristics of the nearby environment. Therefore, the construction of a 3-D model of urban built areas with detail of the near-building environment should enhance simulation approaches and provide more accurate results. This paper describes ...


Dynamic Model For Simulating Motion Of The Right Ventricle, Brian Michael Larsen, Sam Koopman Porter, John Francis D'Ambrosio Jun 2018

Dynamic Model For Simulating Motion Of The Right Ventricle, Brian Michael Larsen, Sam Koopman Porter, John Francis D'Ambrosio

Mechanical Engineering

This report documents all the research, ideation, and mockups used to determine right ventricle motion and develop a system capable of reproducing that motion on a tissue sample. The model is intended for evaluating anchoring systems being developed by Edwards Lifesciences for use with tricuspid valve therapies. Several design solutions were considered for the primary functions of recreating motion of the right ventricle and attaching tissue to the device. From these ideas a primary means of producing motion and attaching tissue was selected. These ideas were then developed over the course of a school year to become the final system ...


Bicycle Power Meter, Andrew Mcguan Jun 2018

Bicycle Power Meter, Andrew Mcguan

Computer Engineering

No abstract provided.


Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt Jun 2018

Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt

Honors Theses

A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies.

In order to observe ...


Role Of Diagnostic Monitoring Software Versus Fault-Tolerant Components In The Development Of Spacecraft Avionics Systems, Andrew Attorri Jun 2018

Role Of Diagnostic Monitoring Software Versus Fault-Tolerant Components In The Development Of Spacecraft Avionics Systems, Andrew Attorri

Honors Theses

In any spacecraft, there are several systems that must work simultaneously to ensure a safe mission. One critical system is the ‘avionics’ system, which is comprised of all of the electronic controls on-board the spacecraft, as well as radio links to other craft and ground stations. These systems are present for both manned or unmanned spacecraft.

Throughout the history of spaceflight, there have been several disasters related to avionics failures. To make these systems safer and more reliable, two main strategies have been adopted. The first, more established approach is through use of fault-tolerant components, which can operate under a ...


Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert May 2018

Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert

Antonie J. van den Bogert

A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system ...


Designing An Automated Material Handler For Agricultural Warehouse Applications, Brendan Taedter, Mark Fenn May 2018

Designing An Automated Material Handler For Agricultural Warehouse Applications, Brendan Taedter, Mark Fenn

Honors Theses AY 17/18

Plenty Unlimited farms are contained within 100,000 square foot warehouses which require a substantial amount of goods transportation. Currently, these goods are primarily transported by humans. In order to optimize labor efficiency within the warehouse, remedial tasks such as manually carrying goods should be conducted autonomously. This investigation aims to address the issue of automating the task of carrying goods. Automated material handlers for warehouses already exist; however, these handlers are very expensive and are riddled with non-essential functionality. The material handler design proposed by the senior design team and Plenty Unlimited engineers is a line-following, multi-directional robot capable ...


Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale Apr 2018

Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale

Mechanical & Aerospace Engineering Theses & Dissertations

This thesis presents the design of a robotic prosthesis, which mimics the morphology of a human hand. The primary goal of this work is to develop a systematic methodology that allows a custom-build of the prosthesis to match the specific requirements of a person with hand impairments. Two principal research questions are addressed toward this goal: 1) How do we cater to the large variation in the distribution of overall hand-sizes in the human population? 2) How closely do we mimic the complex morphological aspects of a biological hand in order to maximize the anthropomorphism (human-like appearance) of the robotic ...