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Reactive Motion Planning Of Autonomous Vehicles In 3-Dimensional Environments Using Collision And Rendezvous Cones, Kashish Dhal

Mechanical and Aerospace Engineering Dissertations - Archive

This dissertation presents a collision cone/rendezvous cone-based approach for reactive motion planning in three-dimensional dynamic environments. Collision avoidance is fundamental to robot motion planning. In dynamic environments, the path and velocities of obstacles are not known a-priori, and hence it is a common practice to use reactive planners. Reactive planners should be computationally inexpensive because they need to act fast to avoid potential collisions. To reduce the computational load, a majority of motion planning algorithms model the shapes of the robots and obstacles as a circle/sphere. However, when the objects are elongated more in one direction than another, the spherical …

Speed Of Small Droplets On Repellent Surfaces, Addison J. Litton

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

A droplet of fluid can slide or roll down an angled surface if the droplet doesn’t stick to the plate (e.g., droplets on glass). The most common surface to allow for such this motion are hydrophobic surfaces. One example is a freshly waxed car where the rain beads up and rolls off. Another example is if a pan is heated to a high enough temperature then when small amounts of water are added the droplet will skitter around on the surface for a moment before boiling away. This high temperature effect where droplets rest on a vapor layer underneath cause …

Characterization Of 3d Printed Parts Containing Integrated Functionality Via Ultrasonically Embedded Wires, David Abraham Sepulveda

Open Access Theses & Dissertations

Material extrusion additive manufacturing has been widely adopted because it offers freedom of design, which allows complex geometry fabrication, and rapid prototyping. Interest in producing components with integrated functionality allowed forms of hybrid manufacturing to be developed such as the Multi3D system. This system produces parts with embedded components by combining additive, subtractive, soldering, dispensing, and embedding techniques. However, this involves pausing the printing process (which takes place in a controlled environment) and exposing it to ambient temperature where embedding takes places. In this research, the effect of embedding parts with 24 AWG copper for improved functionality was quantified mechanically. …

Aerodynamics And Vibrations Of A Helicopter Rotor Blade, Mohammad Khairul Habib Pulok

LSU New Orleans Theses and Dissertations

The nature of the aerodynamic environment surrounding a helicopter causes a significant amount of vibration to its whole body. Among different sources of vibrations, the aerodynamic loading on the main rotor blade is the major contributor. Therefore, analyzing a rotor blade's vibration characteristics and aerodynamic behavior becomes essential. The vortex characteristics and the wake surrounding a helicopter rotor blade play an important role because they affect the aerodynamic behavior of the rotor blade. An advanced mathematical and computational model of rotor wake and blade vortex gives a better understanding of the helicopter rotor dynamics. This study develops computational models of …

Computational Tradespace Exploration, Analysis, And Decision-Making: A Proposed Framework For Organizational Self-Assessment, Julia Daniels

All Theses

The ability to assess technical feasibility, project risk, technical readiness, and realistic performance expectations in early-phase conceptual design is a challenging mission-critical task for large procurement projects. At present, there is not a well-defined framework for evaluating current practices of organizations performing computational trade studies. One such organization is the US Army Ground Vehicle Systems Center (GVSC). When defining requirements and priorities for the next-generation autonomy-enabled ground vehicle system, GVSC is faced with the challenge of an increasingly complex programmatic tradespace due to emerging complexities of ground vehicle systems. This thesis aims to document and evaluate tradespace processes, methods, and …

Constraint-Aware, Scalable, And Efficient Algorithms For Multi-Chip Power Module Layout Optimization, Imam Al Razi

Graduate Theses and Dissertations

Moving towards an electrified world requires ultra high-density power converters. Electric vehicles, electrified aerospace, data centers, etc. are just a few fields among wide application areas of power electronic systems, where high-density power converters are essential. As a critical part of these power converters, power semiconductor modules and their layout optimization has been identified as a crucial step in achieving the maximum performance and density for wide bandgap technologies (i.e., GaN and SiC). New packaging technologies are also introduced to produce reliable and efficient multichip power module (MCPM) designs to push the current limits. The complexity of the emerging MCPM …

Smart Manufacturing—Theories, Methods, And Applications, Zhuming Bi, Lida Xu, Puren Ouyang

Information Technology & Decision Sciences Faculty Publications

(First paragraph) Smart manufacturing (SM) distinguishes itself from other system paradigms by introducing ‘smartness’ as a measure to a manufacturing system; however, researchers in different domains have different expectations of system smartness from their own perspectives. In this Special Issue (SI), SM refers to a system paradigm where digital technologies are deployed to enhance system smartness by (1) empowering physical resources in production, (2) utilizing virtual and dynamic assets over the internet to expand system capabilities, (3) supporting data-driven decision making at all domains and levels of businesses, or (4) reconfiguring systems to adapt changes and uncertainties in dynamic environments. …

Disruptions In International Trade: A Perspective On Ports Of Entry And Supply Chain Resilience, Jose A. Jara Jr. Guerrero

Theses and Dissertations

United States (U.S.) ports of entry (POEs) and supply chains (SCs) have a prominent trade relationship with a growing desire to improve their operational capabilities. Though trade deals like the U.S.-Mexico-Canada (USMCA) agreement have facilitated trade between these countries, U.S. Customs and Border Protection (CBP) at POEs have also increased security inspections, following the September 11th incident, which have impacted international and global SCs. More recently, the COVID-19 pandemic has caused labor shortages at both sea and land POEs, increasing vessel and commercial vehicle congestion. These POE disruptions have also propagated into the third-party logistics (3PL) of SC networks, which …

Collaborative Robotics Strategies For Handling Non-Repetitive Micro-Drilling Tasks Characterized By Low Structural Mechanical Impedance, Xiangyu Wang

Mechanical & Aerospace Engineering Theses & Dissertations

Mechanical micro-drilling finds widespread use in diverse applications ranging from advanced manufacturing to medical surgery. This dissertation aims to develop techniques that allow programming of robots to perform effective micro-drilling tasks. Accomplishing this goal is faced with several challenges. Micro-drills suffer from frequent breakage caused from variations in drill process parameters. Micro-drilling tasks afford extremely low feed rates and almost zero tolerance for any feed rate variations. The accompanying robot programming task is made difficult as mathematical models that capture the micro-drilling process complexities and sensitive variations in micro-drill parameters are highly difficult to obtain. Therefore, an experimental approach is …

A Comparison Of Uniaxial Compressive Response And Inelastic Deformation Mechanisms In Freeze Cast Alumina-Epoxy Composites Without And With Rigid Confinement, Tareq Aljuhari

Mechanical & Aerospace Engineering Theses & Dissertations

Cellular ceramics have an array of improved mechanical properties that make them incredibly desired for different applications such as armor systems, aircraft structures, automobiles bumpers, and biomedical implants. It is also desirable that porous architecture could be shaped into bulk complicated shapes and easy to scale-up with low manufacturing cost. Despite several efficient techniques to fabricate cellular ceramics, some limitations are preventing us from meeting the high demand of the after mentioned applications. For that, freeze casting, also called ice-templating, is technique of solidifying an aqueous ceramic suspension under the effect of unidirectional temperature gradient. In this study, Ice-templated porous …

Multidisciplinary Reference Solutions For Performance-Optimized Aircraft Wings With Tailored Aerodynamic Load Distributions, Jeffrey D. Taylor

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Morphing wings, or wings that can change shape during flight, have the potential to substantially reduce the amount of fuel consumed by an aircraft over the course of its flight. However, the extent to which these wings can reduce fuel consumption depends on the design of the wing, including its aerodynamic efficiency and its structural layout, and how the aircraft flies, including its flight altitude and speed. Correctly predicting how these design and operational characteristics interact is critical to predicting how wing morphing may affect aircraft fuel consumption. Many computer prediction tools exist that include the effects of these interactions, …

Development Of A Reverse Engineered, Parameterized, And Structurally Validated Computational Model To Identify Design Parameters That Influence American Football Faceguard Performance, William Ferriell

All Dissertations

Traumatic brain injury (TBI) continues to have the greatest incidence among athletes participating in American football. The headgear design research community has focused on developing accurate computational and experimental analysis techniques to better assess the ability of headgear technology to attenuate impacts and protect athletes from TBI. Despite efforts to innovate the headgear system, minimal progress has been made to innovate the faceguard. Although the faceguard is not the primary component of the headgear system that contributes to impact attenuation, faceguard performance metrics, such as weight, structural stiffness, and visual field occlusions, have been linked to athlete safety. To improve …

Foundations For Finite-State Modelling Of A Two-Dimensional Airfoil That Reverses Direction, Jake Michael Oscar Welsh

McKelvey School of Engineering Graduate Student Theses & Dissertations

Current 3-D finite-state wake models are incapable of simulating a maneuver in which the sign of the free-stream velocity changes direction and the rotor enters its own wake -- as might occur in the case of a helicopter which ascends and then descends. It is the purpose of this work to create a 2-D finite-state wake model which is capable of handling changes in free-stream direction as a precursor to development of a 3-D model that can do the same.

The 2-D finite-state model used for reentry modifications is an existing model created by Peters, Johnson, and Karunamoorthy. By the …

Experimental Evaluation Of Heat Leak From Anti-Sweat Components Into Fresh Food And Freezer Compartments Of A Household Refrigerator., Delva Felissaint

Electronic Theses and Dissertations

Condensation beads forming on outside surfaces around a refrigerator is an undesirable byproduct driven by the cold temperature exhibited throughout the unit. To combat this issue, anti-sweat components usually in the form of electrical heaters or tubes carrying hot refrigerant, bring heat to the cold surfaces to ensure their temperatures do not drop below the dew point. Some heat produced by the anti-sweat components may transfer to the interior refrigerated compartment. The purpose of this study is to quantify how much heat from the anti-sweat components are entering the fresh food and freezer compartments and what impact that has on …

Design, Manufacture, And Characterization Of A Novel Miniature Coaxial Ion Trap Mass Analyzer, Kyle Davis Lyman

Masters Theses

In the ever-evolving field of mass spectrometry, a void exists in the availability of field-portable devices that can provide in situ analysis with suitable performance characteristics. In this work, a miniaturized coaxial ion trap mass analyzer is developed, simulated, and characterized. This work, funded by the National Science Foundation, is carried out in conjunction with Brigham Young University. The device in discussion is novel in that it utilizes a rectilinear ion guide (RIG), a simplified toroidal ion trap (STorIT), and a cylindrical ion trap (CIT) in the device’s center. The inclusion of the STorIT provides a high trapping capacity, and …

Characterization Of A Flex-Fuel Oxy-Combustion System Through Experimental Investigation And Computational Modeling, Md Mohieminul I. Khan

Open Access Theses & Dissertations

Oxy-fuel combustion has the potential to offer high thermal efficiency and lower pollutants emission compared to other existing combustion technologies. More than 63% of the worldâ??s electricity is produced by fossil fuel combustion which also is the major reason for greenhouse gas emissions. Oxy combustion offers a solution to it. Oxy combustion uses pure oxygen as an oxidizer instead of air which eliminates the NOx and SOx products from the exhaust. In oxy-combustion flue gas mainly consists of CO2 and water vapor. Furthermore, combustion in presence of pure oxygen results in higher flame temperature and hence promises higher thermal efficiency. …

Optimization Of Lattice Structure Using Machine Learning Approach, Tanzila Bint Minhaj

Open Access Theses & Dissertations

The goal line of designing any structure is to get maximum performance at minimum cost. Therefore, optimization is the only method to achieve that objective. Engineers have been practicing different formats of optimization. Topological optimization is one of the well-known long-practiced methods. But it is always desired to find the most helpful design method that considers every relevant parameter associated with the structure. In the continuation of this search to enhance the efficacy of design through optimization, a new approach was explored in the following work. The motivation was to enable a model to be capable of finding out the …

An Algorithm For Task Allocation And Planning For A Heterogeneous Multi-Robot System To Minimize The Last Task Completion Time, Abhishek Patil, Jungyun Bae, Myoungkuk Park

Michigan Tech Publications, Part 1

This paper proposes an algorithm that provides operational strategies for multiple heterogeneous mobile robot systems utilized in many real-world applications, such as deliveries, surveillance, search and rescue, monitoring, and transportation. Specifically, the authors focus on developing an algorithm that solves a min-max multiple depot heterogeneous asymmetric traveling salesperson problem (MDHATSP). The algorithm is designed based on a primal-dual technique to operate given multiple heterogeneous robots located at distinctive depots by finding a tour for each robot such that all the given targets are visited by at least one robot while minimizing the last task completion time. Building on existing work, …

Employing Boundary Element Approach With Genetic Algorithm To Increase Travel Range Of Repulsive Actuators, Yu Tian, Ronald N. Miles, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

The design of repulsive electrostatic actuators having enlarged travel range is achieved by combining the boundary element approach and a genetic algorithm. The boundary element method enables calculating the electrostatic forces without time consuming finite element simulations. Once a static equation that uses a model of effective lumped mass solves the travel ranges, the GA maximizes travel ranges by optimizing the dimensional parameters. The effectiveness of the scheme is demonstrated with extensive experimental results showing the travel ranges of a micro out-of-plane actuator are increased by up to 190%. The developed platform can improve the signal-to-noise ratios and the performance …

Bbt Acoustic Alternative Top Bracing Cadd Data Set-Norev-2022jun28, Bill Hemphill

STEM Guitar Project’s BBT Acoustic Kit

This electronic document file set consists of an overview presentation (PDF-formatted) file and companion video (MP4) and CADD files (DWG & DXF) for laser cutting the ETSU-developed alternate top bracing designs and marking templates for the STEM Guitar Project’s BBT (OM-sized) standard acoustic guitar kit. The three (3) alternative BBT top bracing designs in this release are
(a) a one-piece base for the standard kit's (Martin-style) bracing,
(b) 277 Ladder-style bracing, and
(c) an X-braced fan-style bracing similar to traditional European or so-called 'classical' acoustic guitars.

The CADD data set for each of the three (3) top bracing designs includes …

4d Printing Of Smart Hydrogel Scaffold To Program Neural Stem Cell Differentiation, Omar Khater

USF Tampa Graduate Theses and Dissertations

Injuries like Traumatic brain injuries (TBI) and Spinal cord injuries (CSI) areconsidered one of the biggest challenges in the medical sector as there is no specific treatment for these injuries and the medical intervention on these injuries is restricted to reducing the pain and removing the damaged human parts. One of the helpful and most effective treatment methods for these injuries involve neural tissue regeneration in the area of the injury. The main issue when trying to treat such injuries is that neural tissues are often unable to regenerate by themselves and require outer human intervention to differentiate. Biomedical scaffolds …

Machine Learning Approach For Classifying Power Outage In Secondary Electric Distribution Network, Stephan Mgaya, Hellen Maziku

Tanzania Journal of Engineering and Technology (TJET)

Power outage is the problem that hinders social and economic development especially for developing countries like Tanzania. Frequent power outages damage electric equipment, and negatively affect the industrial production process. Power outages cannot be completely eradicated due to uncontrolled cause like natural calamities but technical challenges can be managed and hence reducing power outages. The existing manual methods used to locate power outage like customer calls is inefficient and time consuming. On the other hand, modern method like the Advanced Metering Infrastructure (AMI) still faces a challenge in effectively classifying power line outage due to the nature of imbalanced datasets. …

The Research Of The Influence Of The Composition Of Components On The Mechanical Properties Of Structural Polymer Wear-Resistant Materials From Thermosets, J H. Nafasov, U A. Ziyamukhamedova, G B. Miradullaeva

Technical science and innovation

This article presents the research results of effect of the composite material composition based on a thermos reactive binder using the Angren kaolin filler brand AKT-10. The composition possibilities optimizing and the composite material properties are considered for using in the lever brake system of railway transport using as modifying additives – soot containing waste from the Uz-Kor Gas Chemical production enterprise. The mechanical properties of composite materials were researched in order to use them for the manufacture of the “bushing” part used in the suspension of brake lever transmission of the railcar side frame.

Big Data Analytics Framework For Effective Higher Education Institutions, George Matto

Tanzania Journal of Engineering and Technology (TJET)

There has been an increased dependency on Information and Communication Technologies (ICTs) in undertaking various activities in Higher Education Institutions (HEIs) ecosystems. Because of that, huge volumes of data have increasingly been generated. There have been, for instance, considerable amounts of data generated through electronic platforms involved in students’ admission and registration process, students’ academic records management, teaching and learning data, curriculum related data, and several other administrative data. Analysis of data generated from these platforms stands to give students, lecturers, HEIs Management, policy makers and implementers, and other stakeholders useful insights that would help in improving HEIs’ effectiveness. Unfortunately, …

An Iot Based Worker Safety Helmet Using Cloud Computing Technology, Yuthriya Iddi Khamis, Mahmoud Alawi, Waheed Muhammad Sanya

Tanzania Journal of Engineering and Technology (TJET)

Miner safety and security is a major challenge around the world due to the exposure to toxic gases that are frequently released in underground mines. Miners' health is adversely affected primarily by toxic gases, which endanger the workers' lives. Furthermore, human sensory abilities do not detect these dangerous gases. As a result, this paper proposes a safety monitoring system that includes a temperature sensor, humidity sensor, and gas sensors to detect harmful gases and alert miners to those harmful gases using the smart helmet they wear. These gases are transmitted to the control station via the cloud using Internet of …

Classification Of Special Vehicles On The Basis Of Commodity Nomenklature Of Foreign Economic Activity, K M. Karimkulov, U R. Khamroev, G R. Khamroev

Technical science and innovation

This article classifies the types of special vehicles as a commodity due to various technical changes in the technical and specific parameters of special vehicles, insufficient accuracy of attachment and parameters of additional vehicles. detected.As a result of the growing demand for special vehicles, the attachment of additional parts (exterior and interior design changes) by manufacturing plants has led to the classification of this vehicle into another category.As a result of the analysis, we can see in the analysis that from January 1, 2019 to 2022, a total of 11 others (others) CN FEA on 8704 commodity groups imported 8364 …

A Study Of Technology And Equipment For The Mineral Flotation Based On The Interfacial Micro/Nano Bubble Group, S Yang, S T. Matkarimov, D O. Yavkochiva, N S. Yuldasheva

Technical science and innovation

The purpose of this project is to strengthen the slurry mixing efficiency and improve the separation effect, reveal the heterogeneous bubble nucleation mechanism model on the mineral surface, clarify the merger mechanism of micro-nano bubbles at the adjacent interface and the evolution law of bubble groups, explore the hydrophobic coupling and regulation mechanism between micro-nano bubbles at the interface and the mineral surface, and open up a new path for the formation of efficient and environmental friendly flotation slurry mixing means.

Froth flotation is an important method for the beneficiation of copper ores, while the traditional stirring is limited in …

Fiesta And Shock-Driven Flows, Brian E. Romero

Mechanical Engineering ETDs

In this study, the interaction of a shock with various gas and particle interfaces is analyzed through simulations using a new, GPU capable, multi-species flow solver, FIESTA (Fast, Interface Evolution, Shocks, and Transport in the Atmosphere), de- veloped for this research. The cases studied include the interaction between a shock and i) a two-dimensional (2D), circular cloud of a dense gas; ii) a 2D curtain of a dense gas; iii) a three-dimensional (3D) cylinder of a dense gas, and iv) a 3D curtain of solid particles.

In simulations of a 2D gas curtain and a 3D gas column, the curtain …

Introducing Modeling To First-Year Engineering Students For Effective Implementation In The Engineering Design Process, Carolina Barriento, Juan F. Granizo

PanaSoMM

Introducing Modeling to First-Year Engineering Students for Effective Implementation in the Engineering Design Process

Carolina Barriento and Juan Francisco Granizo

Embry-Riddle Aeronautical University

Abstract

Modeling and Simulation are fundamental skills for all engineering students [1]. However, students are usually introduced to these concepts during their junior or even as late as their senior year. Our research aims at familiarizing students with Modeling and Simulation tools in their first year of engineering studies. We consider the fact that proper learning involves using long-term memory (in contrast with working memory) and this is accomplished by the gradual introduction and practice of the …

Control And Planning For Mobile Manipulators Used In Large Scale Manufacturing Processes, Joshua T. Nguyen

LSU Master's Theses

Sanding operations in industry is one of the few manufacturing tasks that has yet to achieve automation. Sanding tasks require skilled operators that have developed a sense of when a work piece is sufficiently sanded. In order to achieve automation in sanding with robotic systems, this developed sense, or intelligence, that human operators have needs to be understood and implemented in order to achieve, at the minimum, the same quality of work. The system will also need to have the equivalent reach of a human operator and not be constrained to a single, small workspace. This thesis developed solutions for …