Developing A Miniature Smart Boat For Marine Research, 2022 California Polytechnic State University, San Luis Obispo
Developing A Miniature Smart Boat For Marine Research, Michael Isaac Eirinberg
Computer Engineering
This project examines the development of a smart boat which could serve as a possible marine research apparatus. The smart boat consists of a miniature vessel containing a low-cost microcontroller to live stream a camera feed, GPS telemetry, and compass data through its own WiFi access point. The smart boat also has the potential for autonomous navigation. My project captivated the interest of several members of California Polytechnic State University, San Luis Obispo’s (Cal Poly SLO) Marine Science Department faculty, who proposed a variety of fascinating and valuable smart boat applications.
Quantum Computing And Resilient Design Perspectives For Cybersecurity Of Feedback Systems, 2022 Department of Chemical Engineering and Materials Science, Wayne State University, Detroit, MI
Quantum Computing And Resilient Design Perspectives For Cybersecurity Of Feedback Systems, Keshav Kasturi Rangan, Jihan Abou Halloun, Henrique Oyama, Samantha Cherney, Ilham Azali Assoumani, Nazir Jairazbhoy, Helen Durand, Simon Ka Ng
Chemical Engineering and Materials Science Faculty Research Publications
Cybersecurity of control systems is an important issue in next-generation manufac- turing that can impact both operational objectives (safety and performance) as well as process designs (via hazard analysis). Cyberattacks differ from faults in that they can be coordinated efforts to exploit system vulnerabilities to create otherwise unlikely hazard scenarios. Because coordination and targeted process manipulation can be characteristics of attacks, some of the tactics previously analyzed in our group from a control system cybersecurity perspective have incorporated randomness to attempt to thwart attacks. The underlying assumption for the generation of this randomness has been that it can be achieved …
Smartphone Control Of Rc Cars, 2022 California Polytechnic State University, San Luis Obispo
Smartphone Control Of Rc Cars, Weston R. Fitzgerald
Electrical Engineering
The smartphone-controlled RC (remote-controlled) car is an inexpensive remote-controlled car designed to be fast and portable. Instead of manufacturing, packaging, and shipping a separate controller, the remote control is implemented in a phone application, which saves time and money in both the design process and the manufacturing process. Utilizing the user’s smartphone is more cost-effective since mobile devices are a common recurrence, and packaging fewer devices results in overall better portability of the product.
This smartphone-controlled car is speedy and intuitive to learn for typical smartphone users. The user can change the car’s speed and direction wirelessly using their phone; …
Model-Based Design Of An Optimal Lqg Regulator For A Piezoelectric Actuated Smart Structure Using A High-Precision Laser Interferometry Measurement System, 2022 California Polytechnic State University, San Luis Obispo
Model-Based Design Of An Optimal Lqg Regulator For A Piezoelectric Actuated Smart Structure Using A High-Precision Laser Interferometry Measurement System, Grant P. Gallagher
Master's Theses
Smart structure control systems commonly use piezoceramic sensors or accelerometers as vibration measurement devices. These measurement devices often produce noisy and/or low-precision signals, which makes it difficult to measure small-amplitude vibrations. Laser interferometry devices pose as an alternative high-precision position measurement method, capable of nanometer-scale resolution. The aim of this research is to utilize a model-based design approach to develop and implement a real-time Linear Quadratic Gaussian (LQG) regulator for a piezoelectric actuated smart structure using a high-precision laser interferometry measurement system to suppress the excitation of vibratory modes.
The analytical model of the smart structure is derived using the …
Deployment Considerations For Autonomous And Integrated Mobility Services Of The Future, 2022 University of Wolverhampton
Deployment Considerations For Autonomous And Integrated Mobility Services Of The Future, Panagiotis Georgakis
CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference
No abstract provided.
Iterative Learning Control - Moving From Theory To Applications, 2022 University of Southampton
Iterative Learning Control - Moving From Theory To Applications, Bing Chu, Eric Rogers
CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference
Iterative learning control applies to systems performing the same finite duration task repeatedly. Each execution is known as a trial, and the finite duration of each trial is known as the trial length. A reference trajectory is specified, and then the design can proceed based on minimizing the error sequence with entries formed as the difference between the output on a trial and the reference vector. The starting point for ILC is widely accepted as research in the mid1980s in the robotics area. Since then, ILC has remained an active area of research, starting with the underlying theory and proceeding …
Programming An Autonomous Vehicle Ethical Decision Maker Based On Injury Severity, 2022 Coventry University
Programming An Autonomous Vehicle Ethical Decision Maker Based On Injury Severity, James E. Pickering
CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference
No abstract provided.
Issues Building An Autonomous Vehicle, 2022 Jaguar Land Rover
Issues Building An Autonomous Vehicle, Paul King
CONTROL 2022: 13th United Kingdom Automatic Control Council (UKACC) International Conference
No abstract provided.
Closed-Loop Brain-Computer Interfaces For Memory Restoration Using Deep Brain Stimulation, 2022 Southern Methodist University
Closed-Loop Brain-Computer Interfaces For Memory Restoration Using Deep Brain Stimulation, David Xiaoliang Wang
Electrical Engineering Theses and Dissertations
The past two decades have witnessed the rapid growth of therapeutic brain-computer interfaces (BCI) targeting a diversity of brain dysfunctions. Among many neurosurgical procedures, deep brain stimulation (DBS) with neuromodulation technique has emerged as a fruitful treatment for neurodegenerative disorders such as epilepsy, Parkinson's disease, post-traumatic amnesia, and Alzheimer's disease, as well as neuropsychiatric disorders such as depression, obsessive-compulsive disorder, and schizophrenia. In parallel to the open-loop neuromodulation strategies for neuromotor disorders, recent investigations have demonstrated the superior performance of closed-loop neuromodulation systems for memory-relevant disorders due to the more sophisticated underlying brain circuitry during cognitive processes. Our efforts are …
Manual Material Handling Lift-Assist System For Occupational Exoskeleton, 2022 Northern Illinois University
Manual Material Handling Lift-Assist System For Occupational Exoskeleton, Erik Goes, Daniel Guthrie, Trevor Ward
Honors Capstones
It is no secret that lifting heavy objects is one of the premier causes of workplace injury, and the modern worker needs help to remain healthy. Workers need something they always have with them that makes their work safer as well as easier; our solution is an active lift-assist exoskeleton. The proposed exoskeleton design includes a military backpack exoskeleton frame, on which two actuators pull cables attached to end effectors that the operator will be holding. This system can adjust to conform to a wide variety of operator sizes, without restricting any of their range of motion. This leads to …
Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, 2022 Clemson University
Control, Decision-Making, And Learning Approaches For Connected And Autonomous Driving Systems With Humans-In-The-Loop, Fangjian Li
All Dissertations
By virtue of vehicular connectivity and automation, the vehicle becomes increasingly intelligent and self-driving capable. However, no matter what automation level the vehicle can achieve, humans will still be in the loop despite their roles. First, considering the manual driving car as a disturbance to the connected and autonomous vehicles (CAVs), a novel string stability is proposed for mixed traffic platoons consisting of both autonomous and manual driving cars to guarantee acceptable motion fluctuation and platoon safety. Furthermore, humans are naturally considered as the rider in the passenger vehicle. A human-centered cooperative adaptive cruise control (CACC) is designed to improve …
Automatic Testing Of Organic Strain Gauge Tactile Sensors., 2022 University of Louisville
Automatic Testing Of Organic Strain Gauge Tactile Sensors., Brian P. Goulet
Electronic Theses and Dissertations
Human-Robot Interaction is a developing field of science, that is posed to augment everything we do in life. Skin sensors that can detect touch, temperature, distance, and other physical interaction parameters at the human-robot interface are very important to enhancing the collaboration between humans and machines. As such, these sensors must be efficiently tested and characterized to give accurate feedback from the sensor to the robot. The objective of this work is to create a diversified software testing suite that removes as much human intervention as possible. The tests and methodology discussed here provide multiple realistic scenarios that the sensors …
Pulse-Coupled Oscillator Networks: Achieving Phase Continuity And Learning Optimal Control In Physical Systems, 2022 Clemson University
Pulse-Coupled Oscillator Networks: Achieving Phase Continuity And Learning Optimal Control In Physical Systems, Timothy Anglea
All Dissertations
In this dissertation, we consider the application of pulse-coupled oscillator theory to real-world, physical networks. When the phase of an oscillator is associated with a physical measure, such as clock timing or robotic heading, discontinuous adjustments of the oscillator's phase is undesirable and potentially disadvantageous. Rather, continuous adjustment of the oscillator phase value is needed over a certain amount of time. To ensure that both synchronization and desynchronization can still be achieved under the constraint of continuous phase value changes, we pursue a novel approach to analyze the generalization of a pulse-coupled oscillator network with a time-varying coupling strength. We …
Environmental Exploration With Long, Thin Tendril Robots, Or Building Plant Based Robots And Teaching Them How To Feel, 2022 Clemson University
Environmental Exploration With Long, Thin Tendril Robots, Or Building Plant Based Robots And Teaching Them How To Feel, Michael Benjamin Wooten
All Dissertations
Continuum robots offer unique potential benefits for environmental exploration, notably in using their maneuverability to navigate congested environments. In this dissertation, we show how circumnutation, a motion strategy, commonly employed by plants, can be implemented, and usefully exploited, with continuum robots. We discuss how the kinematics of circumnutation, which combines local backbone growth with periodic backbone bending, can be created using extensible continuum robot hardware. The underlying kinematics are generated by adapting kinematic models of plant growth. We illustrate the effectiveness of that approach with experimental results with a tendril robot exploring a congested environment. However, significant challenges remain in …
Improving Intelligent Transportation Safety And Reliability Through Lowering Costs, Integrating Machine Learning, And Studying Model Sensitivity, 2022 Clemson University
Improving Intelligent Transportation Safety And Reliability Through Lowering Costs, Integrating Machine Learning, And Studying Model Sensitivity, Cavender Holt
All Theses
As intelligent transportation becomes increasingly prevalent in the domain of transportation, it is essential to understand the safety, reliability, and performance of these systems. We investigate two primary areas in the problem domain. The first area concerns increasing the feasibility and reducing the cost of deploying pedestrian detection systems to intersections in order to increase safety. By allowing pedestrian detection to be placed in intersections, the data can be better utilized to create systems to prevent accidents from occurring. By employing a dynamic compression scheme for pedestrian detection, we show the reduction of network bandwidth improved by 2.12× over the …
Live Access Control Policy Error Detection Through Hardware, 2022 University of Arkansas, Fayetteville
Live Access Control Policy Error Detection Through Hardware, Bryce Mendenhall
Graduate Theses and Dissertations
Access Control (AC) is a widely used security measure designed to protect resources and infrastructure in an information system. The integrity of the AC policy is crucial to the protection of the system. Errors within an AC policy may cause many vulnerabilities such as information leaks, information loss, and malicious activities. Thus, such errors must be detected and promptly fixed. However, current AC error detection models do not allow for real-time error detection, nor do they provide the source of errors. This thesis presents a live error detection model called LogicDetect which utilizes emulated Boolean digital logic circuits to provide …
Analysis And Optimization Of The Two-Phase Series Capacitor Buck Dc-Dc Converter, 2022 University of Arkansas, Fayetteville
Analysis And Optimization Of The Two-Phase Series Capacitor Buck Dc-Dc Converter, Salahaldein Ali Aboajila Ahmed
Graduate Theses and Dissertations
Current sharing schemes for conventional multi-phase converters are based on sensing each phase current to deliver the current information to their controllers. In conventional buck converters, this fact may require a preset current sharing ratio at the expense of efficiency, which eventually requires a larger sensing circuit to achieve the sensing accuracy of each phase. Introducing the concept of automatic current sharing is one of the solutions to tackle this issue. Automatic current sharing (Current Sharing Mechanism CSM) is an advanced way to distribute heat generation in multi-phase switching topologies at full load. A two-phase series capacitor buck converter (2-pscB) …
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, 2022 Kennesaw State University
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran
Symposium of Student Scholars
Industrial robots are moving toward automation, which makes it increasingly necessary to replace the functions traditionally performed by humans with robotics. Pick and place operation is a prime example of such automation. Robots that pick up and place objects mimic the human action of picking an object up and placing it in a targeted location. It has led to the development of robotic end-effectors that have a human-like feel. Grippers can be articulated in various ways depending on their application area and well-defined desired tasks. As compliant and soft links deflect more under the same load than their rigid body …
Ai Based Optimization Of Odometry Performance On Mobile Robots, 2022 Kennesaw State University
Ai Based Optimization Of Odometry Performance On Mobile Robots, Sunny Leveson Jones, Charles Koduru
Symposium of Student Scholars
Robots have become a large part of the modern world and have been used to navigate through complex environments, with various optimal speeds and pathing requirements. To improve this, we have developed an AI-based predictive pathing optimizer that takes in data regarding the requested route and implements optimal speeds. The algorithm will compare time lost to the time gained by moving at a higher velocity. This has been developed by implementing continual circular patterns onto a mobile robot, which allows for rapid analysis of both the accuracy and the speed of the cycle. This optimization is proposed to increase the …
Lyapunov-Based Economic Model Predictive Control For Detecting And Handling Actuator And Simultaneous Sensor/Actuator Cyberattacks On Process Control Systems, 2022 Department of Chemical Engineering and Materials Science, Wayne State University, Detroit, MI
Lyapunov-Based Economic Model Predictive Control For Detecting And Handling Actuator And Simultaneous Sensor/Actuator Cyberattacks On Process Control Systems, Henrique Oyama, Dominic Messina, Keshav Kasturi Rangan, Helen Durand
Chemical Engineering and Materials Science Faculty Research Publications
The controllers for a cyber-physical system may be impacted by sensor measurement cyberattacks, actuator signal cyberattacks, or both types of attacks. Prior work in our group has developed a theory for handling cyberattacks on process sensors. However, sensor and actuator cyberattacks have a different character from one another. Specifically, sensor measurement attacks prevent proper inputs from being applied to the process by manipulating the measurements that the controller receives, so that the control law plays a role in the impact of a given sensor measurement cyberattack on a process. In contrast, actuator signal attacks prevent proper inputs from being applied …