Mechanical Engineering Commons^™

Development Of Controller Area Network Bus Programming For Quarter-Scale Tractor Pulling Sled, Brittani Wacker

Honors Theses

Usage of Controller Area Network (CAN) technology has allowed for advancements in many industries, including agriculture. Most importantly, its application is useful for refining data acquisition methods. With support from the Quarter-scale Tractor Design Team at UNL, this project united a CAN bus with the team’s current tractor pulling sled. The objectives were to install new instrumentation needed for the CAN bus and to program the updated system utilizing CAN data. The program needed to give the pulling sled functionality and the ability to read and log important pulling data. These goals were all accomplished by implementing new sensors, coding …

Machine Learning Augmentation Micro-Sensors For Smart Device Applications, Mohammad H. Hasan

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Novel smart technologies such as wearable devices and unconventional robotics have been enabled by advancements in semiconductor technologies, which have miniaturized the sizes of transistors and sensors. These technologies promise great improvements to public health. However, current computational paradigms are ill-suited for use in novel smart technologies as they fail to meet their strict power and size requirements. In this dissertation, we present two bio-inspired colocalized sensing-and-computing schemes performed at the sensor level: continuous-time recurrent neural networks (CTRNNs) and reservoir computers (RCs). These schemes arise from the nonlinear dynamics of micro-electro-mechanical systems (MEMS), which facilitates computing, and the inherent ability …

Design And Experimentation Of Cable-Driven Platform Stabilization And Control Systems, Matthew Newman

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Agricultural researchers are constantly attempting to generate crops superior to those currently in use by the world. Whether this means creating crops with greater yield, crops that are more resilient to disease, or crops that can tolerate harsh environments with fewer failures, test plots of these experimental crops must be studied in real-world environments with minimal invasion to determine how they will perform in full-scale agricultural settings. To monitor these crops without interfering on their natural growth, a noninvasive sensor system has been implemented. This system, instituted by the College of Agricultural Sciences and Natural Resources at the University of …

Design And Experimentation Of Cable-Driven Platform Stabilization And Control Systems, Matthew Newman

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Agricultural researchers are constantly attempting to generate crops superior to those currently in use by the world. Whether this means creating crops with greater yield, crops that are more resilient to disease, or crops that can tolerate harsh environments with fewer failures, test plots of these experimental crops must be studied in real-world environments with minimal invasion to determine how they will perform in full-scale agricultural settings. To monitor these crops without interfering on their natural growth, a noninvasive sensor system has been implemented. This system, instituted by the College of Agricultural Sciences and Natural Resources at the University of …

Safer Sweep Auger Operation Using Robotics, Nathan A. Wulf

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis presents a remotely controlled robotic solution for those who must sometimes enter agriculturally confined spaces in attempts to assist with grain bin cleanout, particularly by manipulating the sweep auger. In 2015 alone, there were at least 47 documented incidents that occurred in agriculturally confined spaces, of which more than half were fatal. While there have been several advancements in the quality and effectiveness of sweep augers, there have been very few that offer the safety and adaptability of the robotic solution proposed. This robotic solution is a four-wheeled, skid-steering style robot with camera and lighting attachments that allow …

Formation Of Mound-Like Multiscale Surface Structures On Titanium By Femtosecond Laser Processing, Edwin Peng, Alfred Tsubaki, Craig A. Zuhlke, Ryan Bell, Meiyu Wang, Dennis R. Alexander, George Gogos, Jeffrey E. Shield

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Surface Functionalization Technique • Femtosecond Laser Surface Processing (FLSP) • Utilize high power, femtosecond (10-15 s) laser pulses • Produce self-organized, multiscale surface micro/nanostructures • Diverse range of applicable substrates: semiconductors, metals, polymers, & composites

Why? • What are the different types of FLSP structures on Ti? • Physical evidence needed for FLSP formation models • Optimize FLSP of Ti for biomedical & other applications

How? • Obtain evidence of mound growth processes by examining underlying microstructure • Utilize dual beam Scanning Electron Microscope-Focused Ion Beam instrument to cross section surface structures & fabricate transmission electron microscopy samples

Design, Testing And Evaluation Of Robotic Mechanisms And Systems For Environmental Monitoring And Interaction, James K. Higgins

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Unmanned Aerial Vehicles (UAVs) have significantly lowered the cost of remote aerial data collection. The next generation of UAVs, however, will transform the way that scientists and practitioners interact with the environment. In this thesis, we address the challenges of flying low over water to collect water samples and temperature data. We also develop a system that allows UAVs to ignite prescribed fires. Specifically, this thesis contributes a new peristaltic pump designed for use on a UAV for collecting water samples from up to 3m depth and capable of pumping over 6m above the water. Next, temperature sensors and their …

Inter-Row Robot Navigation Using 1d Ranging Sensors, Tyler A. Troyer, Santosh Pitla, Ethan Nutter

Biological Systems Engineering: Papers and Publications

In this paper a fuzzy logic navigation controller for an inter-row agricultural robot is developed and evaluated in laboratory settings. The controller receives input from one-dimensional (1D) ranging sensors on the robotic platform, and operated on ten fuzzy rules for basic row-following behavior. The control system was implemented on basic hardware for proof of concept and operated on a commonly available microcontroller development platform and open source software libraries. The robot platform used for experimentation was a small tracked vehicle with differential steering control. Fuzzy inferencing and defuzzification, step response and cross track error were obtained from the test conducted …

Analytical Solution For Speed To Achieve A Desired Operating Point For A Given Fan Or Pump, Michael F. Kocher, Jeyamkondan Subbiah

Biological Systems Engineering: Papers and Publications

The Affinity Laws for fans (and pumps) provide a way of determining new fan or pump speed given fan or pump performance curve data and a desired operating point (combination of flow rate and pressure) that does not fall on the curve. However, the affinity law calculations require using a point on the curve (hereafter referred to as the “basic point”) to determine the new speed. Most references regarding the Affinity Laws do not give a clear description of the method for determining the “basic point”, and improper selection of this point can affect the results considerably. This article describes …

Comparing Various Hardware/Software Solutions And Conversion Methods For Controller Area Network (Can) Bus Data Collection, Samuel E. Marx, Joe D. Luck, Santosh Pitla, Roger M. Hoy

Biological Systems Engineering: Papers and Publications

Various hardware and software solutions exist for collecting Controller Area Network (CAN) bus data. Digital data accuracy could vary based upon different data logging methods (e.g., hardware/software timing, processor timing, etc.). CAN bus data were collected from agricultural tractors using multiple data acquisition solutions to quantify differences among collection methods and demonstrate potential data accumulation rates. Two types of data were observed for this study. The first, CAN bus frame data, represents data collected for each line of hex data sent from an ECU. One issue with frame data is the resulting large file sizes, therefore a second logging format …

Turning An Organic Semiconductor Into A Low-Resistance Material By Ion Implantation, Beatrice Fraboni, Alessandra Scidà, Piero Cosseddu, Yongqiang Wang, Michael Nastasi, Silvia Milita, Annalisa Bonfiglio

Nebraska Center for Energy Sciences Research: Publications

We report on the effects of low energy ion implantation on thin films of pentacene, carried out to investigate the efficacy of this process in the fabrication of organic electronic devices. Two different ions, Ne and N, have been implanted and compared, to assess the effects of different reactivity within the hydrocarbon matrix. Strong modification of the electrical conductivity, stable in time, is observed following ion implantation. This effect is significantly larger for N implants (up to six orders of magnitude), which are shown to introduce stable charged species within the hydrocarbon matrix, not only damage as is the case …

Fluid Powered Miniature In-Vivo Robots For Minimally Invasive Surgery (Mis), Abolfazl Pourghodrat

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Minimizing the invasiveness of surgery is believed to improve patient outcomes. Bleeding, infection, and pain are major concerns in surgery afflicting patients for decades. Minimally invasive techniques have come into play to reduce these concerns and smooth the evolution of abdominal surgery to a scarless process where nearly all surgeries can be performed without a skin incision. Technology continually advances the frontier of development of novel surgical devices to implement less invasive surgical techniques.

Fusion of robotics and Minimally Invasive Surgery (MIS) has created new opportunities to develop diagnostic and therapeutic tools. Surgical robotics is advancing from externally actuated systems …

Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …

Measurement And Description Of Dynamics Required For In Vivo Surgical Robotics Via Kinematic Methods, Jacob G. Greenburg

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

With the goal of improved recovery times and reduced trauma to the patient there has been a substantial shift in the medical community’s demand for minimally invasive surgical (MIS) techniques. With the standardization of MIS becoming more commonplace in the medical field there are still many improvements that are desired. Traditional, manual methods of these surgeries require multiple incisions on the abdomen for the tools and instruments to be inserted. The more recent demand has been to localize the incisions into what is being referred to as a Laparoendoscopic Single-Site (LESS) surgery. Furthermore, the manual instruments that are commonly used …

Automated Resonant Wireless Power Transfer To Remote Sensors From An Unmanned Aerial Vehicle, Brent Griffin

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Wireless magnetic resonant power transfer is an emerging technology that has many advantages over other wireless power transfer methods due to its safety, lack of interference, and efficiency at medium ranges. In this thesis, we develop a wire- less magnetic resonant power transfer system that enables unmanned aerial vehicles (UAVs) to provide power to, and recharge batteries of, wireless sensors and other electronics far removed from the electric grid. We address the difficulties of implementing and outfitting this system on a UAV with limited payload capabilities and develop a controller that maximizes the received power as the UAV moves into …

Design, Analysis And Testing Of Haptic Feedback System For Laparoscopic Graspers In In Vivo Surgical Robots, Nikhil Salvi

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

Laparo-Endoscopic Single Site (LESS) Robotics Surgery is an advanced technology in the field of Minimally Invasive Surgery (MIS). The LESS surgical robots significantly improve the surgeon’s accuracy, dexterity and visualization, and reduce the invasiveness of surgical procedure results in faster recovery time and improved cosmetic results. In a standard robotic endosurgery, the palpation of tissues is performed by laparoscopic graspers located at the end effectors. The master-slave configuration in robotic surgery leads in remote access to the operation site. Therefore, surgeon’s ability to perceive valuable sensory information is severely diminished. Sensory information such as haptics, which is essential for safe …

A Study Of Five Commercial Electric Stoves, A. E. Baragar, Edna B. Snyder

Historical Research Bulletins of the Nebraska Agricultural Experiment Station

Five commercial electric stoves having major variations in types of surface units, in the construction, lining, and insulation of the oven, and in the retail price were studied to determine (1) the efficiency and time of heating of the various surface units, and (2) the merits of differently constructed ovens.