Acoustics, Dynamics, and Controls Commons^™

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 …

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, 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, Eleazar Marquez, Samuel Garcia

Mechanical Engineering Faculty Publications

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 …

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 …

Computational Study On The Acoustic Footprint Of Stenosis In Larger Arteries, Ahmed Abdelnabi

Theses and Dissertations

We identify a new (acoustic) frequency-stenosis relations whose frequencies fall within the recommended auscultation threshold for stethoscopy (< 120 Hz) in this study. We demonstrate that these relations can be used to extend the application of phonoangiography (the measurement of the degree of stenosis from bruits) to stethoscopes that are broadly available. The First relationship is successfully identified using an analysis limited to the acoustic signature of the von Karman vortex street, which we automatically isolate using a metric based on an area-weighted average of the Q-criteria for the post-stenotic region. Specifically, we conduct LES-CFD simulations on simplified 2D internal flow geometries that represent blood vessels with varying degrees of stenosis. Then, using the Ffowcs Williams-Hawkings (FW-H) equation, we extract their emitted acoustic signals, which we subtract from a pure signal (stenosis-free) at the same heart rate. Next, we transform this differential signal to the frequency domain and meticulously classify its acoustic signatures according to six stenosis-invariant flow phases of a cardiac cycle. Using our Q-criterion-based metric, we then automatically restrict our acoustic analysis to the noises emitted by the von Karman vortex street (phase 4). Our analysis of its acoustic signature demonstrates a strong linear relationship between the degree of steno- sis and its dominant frequency, which differs significantly from the break frequency and heart rate (previously identified dominant frequencies). For the Second relationship, we develop a frequency-stenosis scaling law for particularly supravalvular aortic stenosis that falls within the preferred frequency range (30-120 Hz) for echocardiography. We expand to 3D patient specific geometry using Simulia’s Living Heart Human Model (LHHM), which has an anatomically accurate aorta geometry. This LHHM geometry is modified with stenoses ranging from 30 to 80 percent (moderate to severe). For physiologically consistent hemodynamic boundary conditions, we expand the study to employ the Windkessel model, which has been implemented on Fluent using UDF. We demonstrate that physiological boundary conditions reduce simulation time significantly compared to static boundary conditions. The FW-H model extracted the flow-generated acoustic signal of the stenotic geometries and analysed it at clinically relevant receiver locations. A preferred receiver location consistent with clinical practise is determined, and a correlation between the degree of stenosis and the prevalent acoustic frequency (within the frequency range of 70-120 Hz) is established. The obtained second scaling law is shown to be clinically reliable in assessing stenotic severity. Future research will investigate incorporating the vibroacoustic role of adjacent organs and tissue to expand the clinical applicability of our findings. Expansion of clinical and numerical datasets will be pursued in future research to enhance the reliability of our scaling law, possibly by leveraging much-needed ML-based acceleration schemes.

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 …

Damage Identification In 3d Printed Metal Parts Using Deep Learning, Romaine Byfield, Alireza Modir, Ibrahim Tansel, Raniero Plaza

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, 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

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 …

Electromagnetically Actuated Modular Robots With Controlled Self-Assembly And On-Demand Disassembly, Anuruddha Bhattacharjee

Mechanical Engineering Research Theses and Dissertations

Modular reconfigurable robots, with on-demand assembly and disassembly, offer the possibility of mesoscale (milli- and microscale) manufacturing. However, most of the existing modular robotic platforms currently being designed and functionalized rely on complex actuation and assembly mechanisms and so lack further scalability and transformability required for mesoscale applications. Therefore, this dissertation seeks to develop a novel scalable modular robotic platform with controlled self-assembly, disassembly, and reconfiguration techniques using an external electromagnetic field. While current cutting-edge research in this area uses a single magnet to move one module at a time into the target position, this dissertation explores processes to move …

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, Joseph Livni

Helm's School of Government Conference - 2021-2024

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 …

A Proof Of Concept For Detection Of Palato-Lingual Contact Without Intraoral Electrodes In A Human Participant, Amitava Biswas

Master's Theses

The author of this thesis conceived and investigated an unexpected electrical signal that may not be noticed during regular electroglottography (EGG) when electrodes are conventionally placed on the anterior surface of the throat. It appears that there is a measurable electrical signal from the EGG equipment when electrodes are placed over the frontal cheek (belly of zygomatic muscle), and the tongue is elevated to contact the hard palate, or the tongue is lowered to break the contact. Therefore, this phenomenon is designated as unconventional electroglottography (UEGG, Dr. Steven Cloud, private communication, July 17, 2022).

Two distinctive patterns of waveforms were …

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 …

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 …

Engineered Material Systems For Mimicking Tissue And Disease, Margrethe Ruding

McKelvey School of Engineering Graduate Student Theses & Dissertations

This thesis comprises two studies involving design and application of soft material systems. The goal of the first study was to design, fabricate, and characterize hydrogel lattice structures with consistent, controllable, anisotropic mechanical properties. Lattices, based on four types of unit cells (cubic, diamond, vintile, and Weaire-Phelan), were printed using stereolithography (SLA) of polyethylene glycol diacrylate (PEGDA). In order to create structural anisotropy in the lattices, unit cell design files were scaled in one direction by a factor of two in each layer and then printed. The mechanical properties of the scaled lattices were measured in shear and compression and …

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 …

Experimental And Theoretical Analysis Of Nonlinear Triboelectric Energy Harvester For Frequency Up-Conversion Applications, Hadeel A. Abumarar

Mechanical Engineering Theses

With the development of micro-sensors and wireless applications, energy harvesting has become an effective method for self-powering. However, ambient energy is only limited to below 100Hz, which restricts the energy harvester designs to this range resulting in
an impractical bulky and large-scale harvester. Therefore, in this thesis, we investigated
frequency Up and Down conversion energy harvesters to benefit from the high-frequency oscillations and transferred them to the ambient vibration ranges. Toward this, the triboelectric transduction mechanism has been utilized for a frequency-up conversion for energy harvesting applications, while the piezoelectric transduction mechanism is used for frequency-down
conversion for mass sensing …

Motion Control Simulation Of A Hexapod Robot, Weishu Zhan

Dartmouth College Master’s Theses

This thesis addresses hexapod robot motion control. Insect morphology and locomotion patterns inform the design of a robotic model, and motion control is achieved via trajectory planning and bio-inspired principles. Additionally, deep learning and multi-agent reinforcement learning are employed to train the robot motion control strategy with leg coordination achieves using a multi-agent deep reinforcement learning framework. The thesis makes the following contributions:

First, research on legged robots is synthesized, with a focus on hexapod robot motion control. Insect anatomy analysis informs the hexagonal robot body and three-joint single robotic leg design, which is assembled using SolidWorks. Different gaits are …

Development Of Mirror Flexures For Use In The Muvi Instrument, Colin W. Harrop

Master's Theses

The Miniaturized Ultraviolet Imager (MUVI), is a compact wide field UV imaging instrument in development at UC Berkeley Space Sciences Laboratory and Cal Poly, San Luis Obispo. MUVI is designed to fit in a 2U CubeSat form factor and provide wide field, high resolution images of the ionosphere at far ultraviolet wavelengths. This thesis details the design and analyses of MUVI’s deployable cover mirror mounting flexures. Three different flexure geometries were evaluated, an optimal candidate was determined based on a number of criteria including isolation of vibration and stress to the mirrors, manufacturability and cost. The design of the flexure …