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Articles 1 - 11 of 11
Full-Text Articles in Mechanical Engineering
Design And Simulation Of A Supervisory Control System For Hybrid Manufacturing, Michael Buckley
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 …
Physics-Based Modeling Of Lithium-Ion Batteries For Control And Estimation Applications, Brody J. C. Riemann
Physics-Based Modeling Of Lithium-Ion Batteries For Control And Estimation Applications, Brody J. C. Riemann
Masters Theses
“Lithium-ion batteries are extensively used in many application areas like consumer electronics, electric vehicles, and microgrids. As the world moves towards further electrification of vehicles and more widespread use of renewable energy sources, the need for large-scale battery storage systems will grow. To effectively replace conventional methods, batteries will need to be charged quickly while accounting for degradation to maximize lifetime. Further, larger batteries require more detailed safety monitoring, which is implemented using a battery management system (BMS). A BMS is responsible for state of charge (SOC) estimation, state of health (SOH) estimation, cell balancing, regulating voltage and current according …
Application And Evaluation Of Lighthouse Technology For Precision Motion Capture, Soumitra Sitole
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 …
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
A Magnetic Resonance Compatible Knee Extension Ergometer, Youssef Jaber
Masters Theses
The product of this thesis aims to enable the study of the biochemical and physical dynamics of the lower limbs at high levels of muscle tension and fast contraction speeds. This is accomplished in part by a magnetic resonance (MR) compatible ergometer designed to apply a load as a torque of up to 420 Nm acting against knee extension at speeds as high as 4.7 rad/s. The system can also be adapted to apply the load as a force of up to 1200 N acting against full leg extension. The ergometer is designed to enable the use of magnetic resonance …
A Haptic Surface Robot Interface For Large-Format Touchscreen Displays, Mark Price
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 …
Multifunctional Wearable Epidermal Device For Physiological Signal Monitoring In Sleep Study, J V M S Avinash Kankipati
Multifunctional Wearable Epidermal Device For Physiological Signal Monitoring In Sleep Study, J V M S Avinash Kankipati
Masters Theses
"Sleep is the essential part of life. Thousands of people are suffering from different kinds sleep disorders. Clinical diagnosing and treating for such disorders are costly, painful and quite sluggish. To reach the demand many commercial products are into the market to encourage home based sleep studies using portable devices. These portable devices are limited in use, cannot be handled easily and quite costly. Advancements in technology miniaturized these portable devices to wearable devices to make them convenient and economical. Elastic, soft and thin silicon membrane with physical properties well matched with that of the epidermis provides conformal and robust …
A Continous Rotary Actuation Mechanism For A Powered Hip Exoskeleton, Matthew C. Ryder
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 …
Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings
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 …
A Gps-Based Mobility Power Model For Military Vehicle Applications, George William Bozdech
A Gps-Based Mobility Power Model For Military Vehicle Applications, George William Bozdech
Masters Theses
In recent years, military vehicles have been equipped with hybrid, diesel-electric drives to improve fuel efficiency and stealth capabilities. These vehicles require an accurate estimate of the power duty cycles during distinct operating conditions. To meet this demand, a GPS-based mobility power and duty cycle analysis is one approach to predict the power requirements of on-road and off-road vehicles. The dynamic vehicle parameters needed to estimate the forces developed during locomotion are determined from the GPS tracking data, and these forces include the following: the motion resistance, gravitational, linear inertia, rotational inertia, and aerodynamic drag. The motion resistance force generated …
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Haptic Tele-Operation Of Wheeled Mobile Robot And Unmanned Aerial Vehicle Over The Internet, Zhiyuan Zuo
Masters Theses
Teleoperation of ground/aerial vehicle extends operator's ability (e.g. expertise, strength, mobility) into the remote environment, and haptic feedback enhances the human operator's perception of the slave environment. In my thesis, two cases are studied: wheeled mobile robot (MWR) haptic tele-driving over the Internet and unmanned aerial vehicle (UAV) haptic teleoperation over the Internet.
We propose novel control frameworks for both dynamic WMR and kinematic WMR in various tele-driving modes, and for a "mixed" UAV with translational dynamics and attitude kinematics.
The recently proposed passive set-position modulation (PSPM) framework is extended to guarantee the passivity and/or stability of the closed-loop system …
Thermal Feasibility And Performance Characteristics Of An Air-Cooled Axial Flow Cylindrical Power Inverter By Finite Element Analysis, Jonathan Atef Tawfik
Thermal Feasibility And Performance Characteristics Of An Air-Cooled Axial Flow Cylindrical Power Inverter By Finite Element Analysis, Jonathan Atef Tawfik
Masters Theses
The purpose of the present study is to determine the thermal feasibility of an air-cooled power inverter. The inverter circuitry layout is designed in tandem with the thermal management of the devices. The cylindrical configuration of the air-cooled inverter concept accommodates a collinear axial air blower and a cylindrical capacitor with inverter cards oriented radially between them. Cooling air flows from the axial fan around the inverter cards and through the center hole of the cylindrical capacitor. The present study is a continuation of the thermal feasibility study conducted in fiscal year 2009 for the Oak Ridge National Laboratory to …