Linfield College
The University of Akron
South Dakota State University
New Jersey Institute of Technology
University of Arkansas, Fayetteville
University of Kentucky
Michigan Technological University
University of Massachusetts Amherst
External Direct Sum Invariant Subspace And Decomposition Of Coupled Differential-Difference Equations,
2024
Southern Illinois University Edwardsville
External Direct Sum Invariant Subspace And Decomposition Of Coupled Differential-Difference Equations, Keqin Gu, Huan Phan-Van
SIUE Faculty Research, Scholarship, and Creative Activity
This article discusses the invariant subspaces that are restricted to be external direct sums. Some existence conditions are presented that facilitate finding such invariant subspaces. This problem is related to the decomposition of coupled differential-difference equations, leading to the possibility of lowering the dimensions of coupled differential-difference equations. As has been well documented, lowering the dimension of coupled differential-difference equations can drastically reduce the computational time needed in stability analysis when a complete quadratic Lyapunov-Krasovskii functional is used. Most known ad hoc methods of reducing the order are special cases of this formulation.
Hardware-In-The-Loop Reaction Wheel Testbed With Camera Vision,
2023
California Polytechnic State University, San Luis Obispo
Hardware-In-The-Loop Reaction Wheel Testbed With Camera Vision, Abigail Romero, Harvey Perkins, Stephen Kwok-Choon
College of Engineering Summer Undergraduate Research Program
Reaction wheels are widely used in aerospace systems as a method of attitude control. This research was focused on the design, development, and testing of a hardware-in-the-loop reaction wheel testbed that can be used for research and teaching applications related to satellite navigation and control. This project successfully utilized commercial off-the-shelf components to develop a reaction wheel capable of controlling the orientation of a freely rotating platform, as well as tracking objects using computer vision.
Sociotechnical Thinking In Statics And Dynamics,
2023
California Polytechnic State University, San Luis Obispo
Sociotechnical Thinking In Statics And Dynamics, Raul Espinoza
College of Engineering Summer Undergraduate Research Program
This project introduced Canvas modules to instill a sociotechnical mindset in engineering students. By emphasizing the synergy between social and technical systems, the modules aim to produce engineers capable of crafting solutions that are technically adept and socially responsible.
A Multi-Aerial Vehicle Platform For Testing Collaborative Mobility Formation Controllers,
2023
Louisiana State University
A Multi-Aerial Vehicle Platform For Testing Collaborative Mobility Formation Controllers, Matthew Snellgrove
LSU Master's Theses
Multi-agent systems have potential applications in a multitude of fields due to their ability to perform complex tasks with a high degree of robustness. Decentralized systems are multi-agent systems where sensing, control, and communication responsibilities are distributed amongst the agents giving this scheme a particularly high potential for robustness, adaptability, and complexity; however, this comes with its own list of challenges. Formation control is a topic in multi-agent systems that aims to have the agents moving as a virtual rigid body through space. In the literature, there have been successful implementation of formation control algorithms on robot agents in both …
Dynamics And Steering Of A Vibration-Driven Bristle Bot In A Pipe System,
2023
Clemson University
Dynamics And Steering Of A Vibration-Driven Bristle Bot In A Pipe System, Ian Stewart
All Theses
Soft vibrational robots are robots that incorporate compliant structures into their design and are driven by oscillating actuators. A recent, popular version of a soft vibrational robot is the bristle bot, which uses flexible bristles and a vibration motor to propel itself across surfaces and through pipes. This motion is primarily driven by stick-slip dynamics resulting from asymmetric frictional forces applied at the bristle tips. Depending on the frequency of vibration of the motor, the robot experiences various resonance regions allowing it to maneuver in different directions. Attaching bristles to all sides of the robot and placing it in a …
The Effect Of Deployment And Optimal Dispatch Of Shared Electric Shuttles On The Energy Efficiency Of Campus Transit,
2023
Clemson University
The Effect Of Deployment And Optimal Dispatch Of Shared Electric Shuttles On The Energy Efficiency Of Campus Transit, Robert Smith
All Theses
A problem facing most public transit systems is low energy efficiency and the continued cycling of large transport vehicles such as buses at low occupancy when low demand for transport exists, wasting energy to no benefit. To remedy this issue, we propose a hybrid system consisting of existing diesel buses and automated electric shuttles to augment the system during off-peak hours. Due to their smaller size, higher occupancy, and more efficient powertrains, these shuttles could reduce the system energy used per passenger-mile-traveled. Automation removes the labor cost of drivers and, thus, eliminates the need to employ more drivers for the …
Vibration-Based Fault Diagnostics In Wind Turbine Gearboxes Using Machine Learning,
2023
Clemson University
Vibration-Based Fault Diagnostics In Wind Turbine Gearboxes Using Machine Learning, Abdelrahman Amin
All Dissertations
A significantly increased production of wind energy offers a path to achieve the goals of green energy policies in the United States and other countries. However, failures in wind turbines and specifically their gearboxes are higher due to their operation in unpredictable wind conditions that result in downtime and losses. Early detection of faults in wind turbines will greatly increase their reliability and commercial feasibility. Recently, data-driven fault diagnosis techniques based on deep learning have gained significant attention due to their powerful feature learning capabilities. Nonetheless, diagnosing faults in wind turbines operating under varying conditions poses a major challenge. Signal …
In Situ Process Monitoring And Machine Learning Based Modeling Of Defects And Anomalies In Wire-Arc Additive Manufacturing,
2023
University of Tennessee, Knoxville
In Situ Process Monitoring And Machine Learning Based Modeling Of Defects And Anomalies In Wire-Arc Additive Manufacturing, Eduardo Miramontes
Masters Theses
Wire Arc Additive Manufacturing (WAAM) has made great strides in recent years however, there remain numerous persistent challenges still hindering more widespread adoption. Defects in the parts produced degrade their mechanical performance. Inconsistency in the geometry of the weld beads or undesirable anomalies such as waviness, or humps can lead to loss of geometric accuracy and in extreme cases, when anomalies propagate to subsequent layers, build failure. Such defects can be mitigated by a controls framework, which would require a model that maps undesirable outcomes to information about the process that can be obtained in real time. This thesis explores …
Modeling, Control, And Hardware Development Of A Thrust-Vector Coaxial Uav,
2023
Embry-Riddle Aeronautical University
Modeling, Control, And Hardware Development Of A Thrust-Vector Coaxial Uav, Andrew North
Doctoral Dissertations and Master's Theses
This thesis introduces a unique thrust vector coaxial unmanned aerial vehicle (UAV) configuration and presents a comprehensive investigation encompassing dynamics modeling, hardware design, and controller development. Using the Newton-Euler method, a dynamic model for the UAV is derived to gain in-depth insights into its fundamental flight characteristics. A simple thrust model is formulated and modified by comparing it with data obtained from vehicle testing. The feasibility of manufacturing such a vehicle is assessed through the development of a hardware prototype. Finally, a linear state feedback controller is designed and evaluated using the non-linear dynamics model. The results demonstrate successful validation …
The Potential Of The Implementation Of Offline Robotic Programming Into Automation-Related Pedagogy,
2023
CUNY, New York City College of Technology
The Potential Of The Implementation Of Offline Robotic Programming Into Automation-Related Pedagogy, Max Rios Carballo, Xavier Brown
Publications and Research
In this study, the offline programming tool RoboDK is used to program industrial robots for the automation sector. The study explores the feasibility of using this non-disruptive robot programming software for classroom use; assesses how well RoboDK can be used to program various robots used in the industry; creates and tests various applications; and pinpoints technical obstacles that prevent a smooth link between offline programming and actual robots. Initial results indicate that RoboDK is an effective tool for deploying its offline programming code to a Universal Robot, UR3e. There are many potential for advanced applications. The goal of the project …
Leveling The Playing Field: Enacting Equitable Pedagogy To Teach Rigid Body Dynamics,
2023
The University of Texas Rio Grande Valley
Leveling The Playing Field: Enacting Equitable Pedagogy To Teach Rigid Body Dynamics, Eleazar Marquez, Samuel Garcia
Mechanical Engineering Faculty Publications and Presentations
Research examining the quality of engineering programs across different instructions of learning has revealed that no two programs are alike. Each program has unique and distinctive features that influence the quality and rigor of education that students receive. Institutional culture, leadership, faculty preparedness, funding and many other factors influence program quality. Additionally, researchers have also noted that many institutional gaps and equity related issues are persistent and troublesome facets that further exacerbate the academic gaps in STEM education. It is within this context, that students attending top tier universities will likely have remarkedly vast academic experiences in terms of level …
Treadmill Platform For Quadrupedal Robots,
2023
California Polytechnic State University, San Luis Obispo
Treadmill Platform For Quadrupedal Robots, Baxter J. Bartlett, Jack F. Butler, Phillip A. Shafik, Tarun S. Ganamur
Mechanical Engineering
Cal Poly Legged Robots, led by Professor Refvem and Professor Xing, has been leading Cal Poly’s attempts to simulate, produce, and test their legged robots. The initial testing of the locomotion of these robots can be dangerous to the robot since any bugs in the code could cause the robot to fall over and harm itself. Our responsibility as a team was to deliver a portable platform for testing the locomotion capabilities containing a fall prevention mechanism. In short, we have designed a platform for this purpose that consists of a treadmill surrounded by a wheeled chassis with a system …
Thermoacoustic Refrigerator,
2023
California Polytechnic State University, San Luis Obispo
Thermoacoustic Refrigerator, Rees Phillip Verleur, Colleen Farrell Mccandless, Anders Matthew Bjork, Yashraj Ashwinkumar Solanki
Mechanical Engineering
In the Thermoacoustic Refrigerator Cal Poly Mechanical Engineering senior project, we designed, built, and tested a thermoacoustic refrigeration system which achieved an average temperature difference of 11.0°C. Our system consists of a resonator tube with an instrumented stack, mounted onto a base with a speaker and amplifier. An external power supply and function generator provide the power and signal to the system, and a thermocouple reader displays the temperature of the top and bottom of the stack. The system consistently achieved a significant temperature difference between the two ends of the stack in various ambient conditions, and it was quick …
Damage Identification In 3d Printed Metal Parts Using Deep Learning,
2023
Florida International University
Damage Identification In 3d Printed Metal Parts Using Deep Learning, Romaine Byfield, Alireza Modir, Ibrahim Tansel, Raniero Plaza
36th Florida Conference on Recent Advances in Robotics
An active Structural Health Monitoring (SHM) method called Surface Response to Excitation (SuRE), is used in this study to detect and quantify the damages created by a milling operation on additively manufactured metal plates. This method entails bonding two piezoelectric disks to the test specimens, one to excite it with surface waves from one end of the plate, and the other to sense the dynamic response to excitation at the other end. A sweep sine wave with a duration of 1 ms, ranging from 50-120 kHz is used as the excitation signal. Five stainless steel plates of identical size (195×54×2.5 …
Comparing Probabilistic Planning Success On Three Types Of Robots: Wheeled, Legged, And Underwater,
2023
Florida Institute of Technology
Comparing Probabilistic Planning Success On Three Types Of Robots: Wheeled, Legged, And Underwater, Daniel Griessler, Josias Moukpe, Braidan Duffy, Akil Hosang, Blake Janes, Omar Jebari, Kourtnee Fernalld, Erbene De Castro, Humberto Rivera, William Stern, Badria Alfurhood, Akram Alghanmi, Marius Silaghi
36th Florida Conference on Recent Advances in Robotics
We compare the relevance of POMDP graphical models to addressing a given common task, the autonomous navigation, in mobile robotics, for robots in three different environments: legged walking, wheeled, and underwater robots. Principled approaches to the implementation of Intelligent robots in realistic environments with uncertainty exploit probabilistic models. The use of graphical models increases tractability and verifiability of probabilistic reasoning. Our robots face similar localization problems of passing by three doors on a corridor in a building, respectively, for the underwater case, of passing by three barrels in a pool. All the three robots are equipped solely with noisy sonars …
Photonic Sensors Based On Integrated Ring Resonators,
2023
Southern Methodist University
Photonic Sensors Based On Integrated Ring Resonators, Jaime Da Silva
Mechanical Engineering Research Theses and Dissertations
This thesis investigates the application of integrated ring resonators to different sensing applications. The sensors proposed here rely on the principle of optical whispering gallery mode (WGM) resonance shifts of the resonators. Three distinct sensing applications are investigated to demonstrate the concept: a photonic seismometer, an evanescent field sensor, and a zero-drift Doppler velocimeter. These concepts can be helpful in developing lightweight, compact, and highly sensitive sensors. Successful implementation of these sensors could potentially address sensing requirements for both space and Earth-bound applications. The feasibility of this class of sensors is assessed for seismic, proximity, and vibrational measurements.
Covenant Persuasion Lead To Constitutionalism – Neither Was Invented,
2023
Constitutionalism
Covenant Persuasion Lead To Constitutionalism – Neither Was Invented, Joseph Livni
Helm's School of Government Conference - American Revival: Citizenship & Virtue
Constitutionalism is a conviction shared by people that a government must act in compliance with a dominant charter. So is covenantal persuasion. The covenant reflects statutes and traditions etched in a living covenantal practice. The practice cannot exist without the persuasion and the persuasion cannot exist without the practice. Elazar was one of the most prolific scholars of the covenantal model. There is one point were the paper diverges from Elazar. The paper discusses a mathematical model and other studies of the covenant practice demonstrating that such a practice involves a multitude of simultaneous vital conditions. That led to the …
Laser Stabilization Through Optical Turbulence,
2023
Clemson University
Laser Stabilization Through Optical Turbulence, Liam Vanderschaaf
All Theses
Laser jitter presents a significant issue in the fields of laser communication and sensing. There are two main categories of positional noise in regards to the instantaneous centroid of a laser propagating over long distances: jitter resulting from optical turbulence and jitter resulting from mechanical vibrations. Optical turbulence was generated using Clemson University’s Variable Turbulence Generator (VTG). The VTG is capable of creating a desired level of optical turbulence that is comparable to atmospheric conditions with fried parameters greater than 0.3 cm. A gaussian laser was transmitted through the VTG and a system of Fast Steering Mirrors and Position Sensing …
Design And Data-Driven Identification Of A Quadruped Robot,
2023
Clemson University
Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino
All Theses
The existence of nonlinearities and the lack of sufficient equations are fundamental challenges in modeling, analyzing, and controlling complex systems. However, recent developments revolutionizing the study of dynamical systems. An emerging method in nonlinear dynamical systems is the Koopman operator theory, which provides us with key advantages in performing the modeling, prediction, and control of nonlinear systems. The linear system representation allows us to leverage linear stability analysis. The first section of this thesis briefly covers the construction of a quadrupedal robot, a sufficiently complex nonlinear dynamical system, for the use of analyzing data-driven modeling techniques. The second section details …
Modeling, Simulation And Control Of Microrobots For The Microfactory.,
2023
University of Louisville
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 …
