Mechanical Engineering Commons^™

Fuzzy Attitude Control Of Solar Sail, Joshua Baculi

Mechanical Engineering Master's Theses

This study presents various fuzzy type controllers for a solar sail. First, a Twin Parallel Distributed Compensator (TPDC) is built for a Takagi-Sugeno fuzzy model of the solarsail. The T-S fuzzy model is constructed by linearizing the existing nonlinear equations fo motion of the solar sail. The T-S fuzzy model is used to solve a set of linear matrix inequalities to derive state feedback controller gains. The TPDC controls the solar sail using a combination of reaction wheels and roll stabilizer bars for attitude control and trim masses for disturbance rejection. The TPDC tracks and stabilizes the solar sail to …

An Algorithm For Calculating The Inverse Jacobian Of Multirobot Systems In A Cluster Space Formulation, Christopher Jude Waight

Mechanical Engineering Master's Theses

Multirobot systems have characteristics such as high formation re-configurability that allow them to perform dynamic tasks that require real time formation control. These tasks include gradient sensing, object manipulation, and advanced field exploration. In such instances, the Cluster Space Control approach is attractive as it is both intuitive and allows for full degree of freedom control. Cluster Space Control achieves this by redefining a collection of robots as a single geometric entity called a cluster. To implement, it requires knowing the inverse Jacobian of the robotic system for use in the main control loop. Historically, the inverse Jacobian has been …

Cluster Control Of A Multi-Robot Tracking Network And Tracking Geometry Optimization, Jasmine Cashbaugh

Engineering Ph.D. Theses

The position of a moving object can be tracked in numerous ways, the simplest of which is to use a single static sensor. However, the information from a single sensor cannot be verified and may not be reliable without performing multiple measurements of the same object. When multiple static sensors are used, each sensor need only take a single measurement which can be combined with other sensor measurements to produce a more accurate position estimate. Work has been done to develop sensors that move with the tracked object, such as relative positioning, but this research takes this concept one step …

Peridynamic Modeling Of Ruptures In Biomembranes, Michael Taylor, Irep Gözen, Samir Patel, Aldo Jesorka, Katia Bertoldi

Mechanical Engineering

We simulate the formation of spontaneous ruptures in supported phospholipid double bilayer membranes, using peridynamic modeling. Experiments performed on spreading double bilayers typically show two distinct kinds of ruptures, floral and fractal, which form spontaneously in the distal (upper) bilayer at late stages of double bilayer formation on high energy substrates. It is, however, currently unresolved which factors govern the occurrence of either rupture type. Variations in the distance between the two bilayers, and the occurrence of interconnections (“pinning sites”) are suspected of contributing to the process. Our new simulations indicate that the pinned regions which form, presumably due to …

A Framework For Collaborative Multi-Task, Multi-Robot Missions, John T. Shepard

Engineering Ph.D. Theses

Robotics is a transformative technology that will empower our civilization for a new scale of human endeavors. Massive scale is only possible through the collaboration of individual or groups of robots. Collaboration allows specialization, meaning a multirobot system may accommodate heterogeneous platforms including human partners.

This work develops a unified control architecture for collaborative missions comprised of multiple, multi-robot tasks. Using kinematic equations and Jacobian matrices, the system states are transformed into alternative control spaces which are more useful for the designer or more convenient for the operator. The architecture allows multiple tasks to be combined, composing tightly coordinated missions. …

Passive Unitized Regenerative Fuel Cell (Purefc) For Energy Storage Applications, Sandeep Lele

Mechanical Engineering Master's Theses

Passive Unitized Regenerative Fuel Cell (PUReFC) prototypes were designed, fabricated, and tested as new energy storage devices capable of meeting demands in offgrid applications. Although flooded lead-acid batteries are typically used to provide low cost energy storage, improper disposal infrastructure and lack of education on battery maintenance can lead to serious health concerns. A Passive Unitized Regenerative Fuel Cell can generate energy in a sustainable manner and possesses the ability to run in reverse, providing energy storage capability.

As Proton Exchange Membrane (PEM) fuel cells rely on effective internal water transport to provide stable operation, an energy efficient flood mitigation …

Rsl Rover, Patrick Barone, Giovanni Briggs, Aaron Burns, Hesham Naja, Zoe Demertzis

Interdisciplinary Design Senior Theses

The goal of this project was to design and implement an unmanned vehicle that can assess the air quality and general state of a post-fire environment. To do this, we equipped Santa Clara University's Polaris 6x6 Ranger with appropriate sensors and cameras to determine how safe the environment is for humans to enter. We also used GPS and laser scans to generate a 3D map that operators can use to define certain zones as particularly dangerous. Finally, we incorporated partially-autonomous sensing capabilities that will allow the operator to easily drive the vehicle. The result was a rugged, advanced, and intuitive …

Effects Of The Fiber Distribution And Number Of Nearby Fibers On The Thermal Conductivity For Aligned Cnt-Silicon Oil Composites, Diana Grandio

Mechanical Engineering Master's Theses

Carbon Nanotubes (CNT) are seen as promising materials for thermal transport applications. The high thermal conductivity and structural flexibility of the CNT present them as very attractive components to be used as particle fillers in thermal interface materials. It is important to understand the effective thermal conductivity for CNT-matrix composites at high CNT volume fraction.

In prior work, an effective medium approach (EMA) has been developed to evaluate composite physical properties such as thermal conductivity, dielectric function or elastic modulus (C-W Nan, Prog. Mat. Sci. V 37, 1993). This model combined with the Kapitza interface resistance can predict the effective …

Pcb Prototyping, Kasey Chun, Dylan Hack, Ilja Medan, Michael Rudolf, Ryan Sidley

Interdisciplinary Design Senior Theses

In today’s world, Printed Circuit Boards, also known as PCBs, are part of our daily lives. However, it is currently difficult for students in university classes or hobbyists to quickly produce custom made PCBs since no system exists where every step in the production process is on one platform. There are four main steps that go into manufacturing a PCB once it is fully designed which are: milling, solder dispensing, component placement, and a reflow process. The goal will be to create various toolheads and place them onto a single platform allowing the user to perform the aforementioned production processes. …

Gazelle: A Human Powered Vehicle, William Fluharty, Brian Rice, Amulya Rao, Werner Nistler

Mechanical Engineering Senior Theses

This thesis details the year-long Senior Design process in which our goal was to create a human powered vehicle that could be a short-distance replacement for cars. Our team designed our vehicle to be entered in the ASME Human Powered Vehicle Competition in April of 2016. Our vehicle featured a seat that could be adjusted for users of different heights, making it more comfortable to ride. This report will describe the process and design choices that were made throughout the year in order to create a vehicle. Our frame was welded using Chavez Welding, and the welding created some complications …

Safer: Search And Find Emergency Rover, Zachary Agustin, Charles Lewis, Elizabeth Mcmahon, Cameron Pierce, Pranav Pradhan, Michael Tamshen

Mechanical Engineering Senior Theses

When disaster strikes and causes a structure to collapse, it poses a unique challenge to search and rescue teams as they assess the situation and search for survivors. Currently there are very few tools that can be used by these teams to aid them in gathering important information about the situation that allow members to stay at a safe distance. SAFER, Search and Find Emergency Rover, is an unmanned, remotely operated vehicle that can provide early reconnaissance to search and rescue teams so they may have more information to prepare themselves for the dangers that lay inside the wreckage. Over …

Glows Co Automated Chemical Etching Machine For Fiber Optic Cable, Mishan Golshan, Peter Laird, Thomas Ostrander, Marty Winkler, Peter Savoy

Mechanical Engineering Senior Theses

This report summarizes the conceptualization and development of an automated machine designed for a fiber optic cable stripping process used by Lumentum LLC. This process is currently manually operated by Lumentum’s technicians and involves unavoidable handling of corrosive chemicals. To increase technician safety, the process will be automated to reduce chemical - operator interactions. Improving safety conditions for technicians is the primary motivation for automating this process. Automation will also decrease process variation and increase product quality. GLOWS CO was tasked with creating this automated solution, leading to the design of the Automatic Chemical Etching Machine (or A-CHEM) for the …

Gravity Charger, Luke Lindsay, Will Gonder, George Montgomery

Mechanical Engineering Senior Theses

According to a 2014 World Health Organization research initiative based on data collected from 14 global developing countries, “Only 28% of health facilities and 34% of hospitals had what could be called “reliable” access to electricity (without prolonged interruptions in one week)” [1]. Healthcare quality suffers because of this lack of reliable electricity. We propose that a gravity powered generator would stand as a reliable power source for small medical devices under any conditions at any location at any time of day. Our research examines how a gravity powered electric generator could best empower medical facilities in developing countries to …

Torque Auditing Test Fixture For Hansen Medical’S Remote Catheter Manipulator Robot, Matt Mckay, Charles Reins, Scott Schneider

Mechanical Engineering Senior Theses

Current manufacturing test systems for motor control of Hansen's line of surgical robots are labor intensive, have room for operator error and do not supply sufficient information. Based upon an expected increase in production, the objective of this project was to replace their test protocol with a modular test fixture that improves test time, is intuitive to use, and enhances the user experience. We developed a modular design that works for both the Sensei and Magellan robots, and can be reconfigured easily for use on future robots. Using a control system and GUI made in LabVIEW, a magnetic particle as …

Project Space: Solar Panel Automated Cleaning Environment, Matt Burke, Ryan Greenough, Daniel Jensen, Elliot Voss

Mechanical Engineering Senior Theses

The goal of Project SPACE is to create an automated solar panel cleaner that will address the adverse impact of soiling on commercial photovoltaic cells. Specifically, we hoped to create a device that increases the maximum power output of a soiled panel by 10% (recovering the amount of power lost) while still costing under $500 and operating for up to 7.0 years. A successful design should operate without the use of water. This will help solar panel arrays achieve a production output closer to their maximum potential and save companies on costs associated energy generation.

The current apparatus utilizes a …

Marv: Marine Autonomous Research Vessel, Drew Azevedo, Sam Beltram, Gregorio Delvecchio, Ben Hopner

Interdisciplinary Design Senior Theses

Conducting hydrologic research in remote areas is currently performed manually, making it a labor intensive and inaccurate solution. Due to the size, weight, and cost of automated solutions on the market today, a need has arisen for a low cost, highly portable, autonomous solution. Working closely with Santa Clara University’s Robotics Systems Lab (RSL), our team has developed a low cost, highly portable autonomous marine research vessel named MARV (Marine Autonomous Research Vessel). It is an autonomous surface platform where scientists outfit the vessel with their own data acquisition equipment. The mechanical chassis is collapsible for modes of remote transportation …

Smart Control For Home Water Heater Saving, Joe Singer, Michael Simmons, Scott Jansen

Mechanical Engineering Senior Theses

Existing gas or electric water heaters can become inefficient through the overheating of water and through parasitic heat loss. These inefficiencies are able to be solved by monitoring when a home uses hot water. AquAdapt is a smart sensor which is capable of attaching to any existing residential gas or electric water heater. By constantly monitoring the temperature change of a home water heater, the first law of thermodynamics can be used to relate temperature change to the amount of hot water leaving the water heater. Utilizing this information, a schedule can be generated to optimize the heating of home …

Heat Pipe Design For Absorption Chiller Refrigerators Powered By Cookstoves, Paola Flores, Eduardo Melendez

Mechanical Engineering Senior Theses

We developed an inexpensive refrigeration system that will operate off-grid through the use of reclaimed heat from cookstoves. The refrigerator will serve as a reliable storage unit that will maintain vaccines at a proper temperature range. This report focuses on the various components that make up our Cool Stove project. The overall system and subsystems are laid out and explained. We also address the reason why we believe this project will be beneficial to individuals in developing countries. In addition, we provide detail on the work that we have accomplished and on the results that we have achieved. We created …

Cook Stove Powered Refrigeration: Cool Stove 2, Robert Bernal

Mechanical Engineering Senior Theses

Lack of refrigeration contributes to the death of over 3.7 million children and the loss of 200 tonnes of food every year in developing countries. While 1.21 billion people in developing countries do not have access to electricity to operate traditional refrigerators, 38% of individuals within developing countries use biomass fuel to cook. The scope of my project was to produce a viable solution for refrigeration for these individuals in developing countries through the use of thermosyphons that utilize reclaimed thermal energy from cook stoves to power absorption chillers. Over the span of my project I was able to confirm …

Microfluidic E. Coli Detection, Kyle Pietrzyk, Scott Fukuoka, Andres Maldonado-Liu, Andy Ly

Interdisciplinary Design Senior Theses

In both developed and developing countries, there is a need for a fast diagnostic system to detect pathogens within a fluid sample. In developing a microfluidic platform, which utilizes a microfluidic chip and an optical detection method, doors may be opened for new methods of determining pathogen concentration in fluid. Most biological reactions are not instantaneous. A flow-controlling mechanism with no power requirement may be implemented in the microfluidic platform. As a proof-of-concept, our device uses a microfluidic chip, smartphone, and microlens to detect E. coli concentrations in water. The detection method is based on the latex agglutination assay which …

Molecular Dynamics Study On The Grain Growth In Nanocrystalline Aluminum, Jielong Yin

Mechanical Engineering Master's Theses

In recent years, nano-materials have been a popular direction of research in the field of materials science. Nanocrystalline aluminum has been of particular intrest among the nano-materials. This thesis describes the results of three-dimensional molecular dynamics simulations that have been performed to study grain growth in nanocrystalline FCC aluminum. This project built the models by using the Voronoi geometry method to study the grain growth mechanism, grain boundary structure and the effects of temperature and grain size on the crystal structure and grain growth by Energy Analysis, Radial Distribution Function (RDF) analysis, and investigating changes in Centro symmetric parameters.

The …

Fuzzy Control Of Flexible Multibody Spacecraft: A Linear Matrix Inequality Approach, Chokri Sendi

Engineering Ph.D. Theses

To reduce the cost of lifting to orbit, modern spacecraft and structures used in space applications are designed from light material as flexible multibody system. Moreover The unprecedented requirements for rapid retargeting, precision pointing and tracking capability have made these multibody highly flexible spacecraft vulnerable to dynamic excitation caused by the slewing/pointing maneuver, vibration and external disturbances. As a result, this will degrade the performance of the spacecraft including the pointing accuracy. Thus the aspect of modeling and control become extremely important for the safe and effective operation. Despite the numerous research, the development of high performance, nonlinear control laws …