Physics Commons^™

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Uav 6dof Simulation And Kalman Filter For Localizing Radioactive Sources, John G. Goulet

Electronic Theses and Dissertations

Unmanned Aerial Vehicles (UAVs) expand the available mission-space for a wide range of budgets. Using MATLAB, this project has developed a six degree of freedom (6DOF) simulation of UAV flight, an Extended Kalman Filter (EKF), and an algorithm for localizing radioactive sources using low-cost hardware. The EKF uses simulated low-cost instruments in an effort to estimate the UAV state throughout simulated flight.

The 6DOF simulates aerodynamics, physics, and controls throughout the flight and provides outputs for each time step. Additionally, the 6DOF simulation offers the ability to control UAV flight via preset waypoints or in realtime via keyboard input.

Using …

Integrated Environment And Proximity Sensing For Uav Applications, Shawn S. Brackett

Electronic Theses and Dissertations

As Unmanned Aerial Vehicle (UAV), or “drone” applications expand, new methods for sensing, navigating and avoiding obstacles need to be developed. The project applies an Extended Kalman Filter (EKF) to a simulated quadcopter vehicle though Matlab in order to estimate not only the vehicle state but the world state around the vehicle. The EKF integrates multiple sensor readings from range sensors, IMU sensors, and radiation sensors and combines this information to optimize state estimates. The result is an estimated world map to be used in vehicle navigation and obstacle avoidance.

The simulation handles the physics behind the vehicle flight. As …

Simulation And Phases Of Macroscopic Particles In Vortex Flow, Heath Eric Rice

Electronic Theses and Dissertations

Granular materials are an interesting class of media in that they exhibit many disparate characteristics depending on conditions. The same set of particles may behave like a solid, liquid, gas, something in-between, or something completely unique depending on the conditions. Practically speaking, granular materials are used in many aspects of manufacturing, therefore any new information gleaned about them may help refine these techniques. For example, learning of a possible instability may help avoid it in practical application, saving machinery, money, and even personnel. To that end, we intend to simulate a granular medium under tornado-like vortex airflow by varying particle …

Monte Carlo Simulation Of Hole Transport And Terahertz Amplification In Multilayer Delta Doped Semiconductor Structures, Maxim Dolguikh

Electronic Theses and Dissertations

Monte Carlo method for the simulation of hole dynamics in degenerate valence subbands of cubic semiconductors is developed. All possible intra- and inter-subband scattering rates are theoretically calculated for Ge, Si, and GaAs. A far-infrared laser concept based on intersubband transitions of holes in p-type periodically delta-doped semiconductor films is studied using numerical Monte-Carlo simulation of hot hole dynamics. The considered device consists of monocrystalline pure Ge layers periodically interleaved with delta-doped layers and operates with vertical or in-plane hole transport in the presence of a perpendicular in-plane magnetic field. Inversion population on intersubband transitions arises due to light hole …