Engineering Commons^™

Surface Autonomous Vehicle For Emergency Rescue, Max Emerick, Ryan Shields, Christopher Feickert, Raymond Impara

Mechanical Engineering

The goal of this document is to clearly define the problem parameters and project objectives and to clearly describe the design process, planned final design, and manufacturing and testing procedures for the senior design project of Team 26: SAVER -- the Surface Autonomous Vehicle for Emergency Rescue. This is both for the purpose of project planning and for clear communication between all parties involved in the project.

The objective of the SAVER project is to develop a proof of concept for an autonomous maritime search and rescue vehicle for aiding in man-overboard missions. To accomplish this goal, a list of …

Autonomous Butter Robot, David Chau, Michael Hegglin

Computer Engineering

Don’t you wish your butter would come to you? Well now it can with the patented Michael and David butter robot! Based on an idea from a TV show, our team set out to see if a similar robot was possible to make in real life. The objective was simple. Can we make a small table sized robot that can bring a person butter using image detection software? With that question in mind we set out buying our components. We wanted to keep it small, so we looked up devices that could do simple image processing and from there we …

Design And Implementation Of Spatial Augmented Reality In Large Scene, Shuiying Ge, Shuman Liu, Shibiao Xu, Xiaopeng Zhang

Journal of System Simulation

Abstract: To get long distance marker recognition in Augmented Reality, three software development toolkits were used to construct the long distance marker-less registration technology based on depth sensor, and develop a new augmented reality system based on PC platform. The tracking system was constructed by Kinect and camera. Defects in the single camera tracking system for long distance tracking were improved, and human-computer interaction in Augmented Reality was realized. By the detailed description of the main function modules, such as position calibration module, maker-less virtual-real registration module, and natural interaction module, the system design concept was introduced. Experiment results show …

Solving Flexible Job-Shop Scheduling Problem By Improved Chicken Swarm Optimization Algorithm, Shipeng Xu, Dinghui Wu, Kong Fei, Zhicheng Ji

Journal of System Simulation

Abstract: To solve the flexible job-shop scheduling problem (FJSP) more effectively, an improved chicken swarm optimization (ICSO) algorithm was proposed. A flexible job-shop scheduling model was established for the purpose of minimizing the machine makespan. The improved chicken swarm optimization algorithm was presented. Algorithm improved the update formula of chicks and combined the advantages of simulated annealing algorithm and dynamic inertia cosine weight strategy, which achieved an effective balance of global search and local exploration. According to simulating and testing four standard functions and a flexible job shop scheduling model and compared with particle swarm optimization (PSO) and chicken swarm …

Study On Balanced Energy-Consumption Routing Protocol Of Airfield Single-Lamp Monitoring System, Gao Mei, Bingyuan Wang, Dandan Zhang, Zhaorong Sun

Journal of System Simulation

Abstract: To extend the sensor node lifetime and balance the energy consumption of the wireless sensor network, on the basis of the protocols AL-CAME (Airfield lighting-clustering algorithm based on max energy) and ECOMP (Efficient cluster-based communication protocol), a clustered hierarchy protocol of balanced energy-consumption was proposed for the airfield single-lamp monitoring system. According to the protocol, every two sensor nodes formed a cluster, and the node with the highest remaining energy was elected to be cluster head which was responsible for data aggregation within the cluster. The balanced routing algorithm was adopted in data-transmission from cluster head to …

Study For Solar Seasonal Storage System In Transition Season, Liu Long

Journal of System Simulation

Abstract: The COP (Coefficient of Performance) of the GSHP system has decreased gradually year after year caused by imbalance energy loads especially in heating-dominated climate zones. The solar thermal energy storage system in transition season can solve the problems effectively. The practice of solar seasonal storage was carried out and supplied by a practical project. TRNSYS 16 was used to simulate the solar energy storage experiment process. The correctness of the model was verified by the experimental data and the simulation results were corrected. Results shows that the simulated results and the measured data were well matched with …

Robotic Manipulator's Visual Servo Control Based On Echo State Networks, Guoyou Li, Xiafei Su, Xiaolei Qin, Xiangxue Shi

Journal of System Simulation

Abstract: The inaccuracy in robotic manipulator modeling, which due to the nonlinear and strong coupling of robotic manipulator itself, cannot be ignored on the study of the robotic manipulator control problem. Aiming at the inaccuracy in robotic manipulator modeling, this study led echo state network in the visual servo control system of robotic manipulator. In order to achieve the robotic manipulator positioning control, this study used the echo state network to identify inaccurate item and compensates the uncertainties of the model in the control law. The simulation model of the simulated system was built with MATLAB simulation software. The …

Flexible Fault Tolerance For The Robot Operating System, Sukhman S. Marok

Master's Theses

The introduction of autonomous vehicles has the potential to reduce the number of accidents and save countless lives. These benefits can only be realized if autonomous vehicles can prove to be safer than human drivers. There is a large amount of active research around developing robust algorithms for all parts of the autonomous vehicle stack including sensing, localization, mapping, perception, prediction, planning, and control. Additionally, some of these research projects have involved the use of the Robot Operating System (ROS). However, another key aspect of realizing an autonomous vehicle is a fault-tolerant design that can ensure the safe operation of …

Curriculum Development For Robotics Technology Program, Sanjeevi Chitikeshi, Shirshak K. Dhali, Betsey Odell, Vukica Jovanovic, Cheng Y. Lin

Engineering Technology Faculty Publications

With a growing need for a more skilled workforce, providing industry-driven and employment centric training services is an important national priority. Over 3.4 million manufacturing jobs will need to be filled across the United Sates over the next decade. The skills gap is becoming greater based on the statistics provided by the Global Robotics Technology Market: Forecast, 2014-2020 published by Research and Markets, reporting that the worldwide robotics market is forecast to grow from the 2015 level of $26.98B to $82.78B in 2020. This 11 % compounded average growth in the next five years is unprecedented. Given the anticipated growth …

Deep Learning Methods For Efficient Image Coding, Zachary Daniel Bellay

Computer Science and Engineering Master's Theses

Video data makes up 58% of all internet traffic and is growing as self-driving car cameras, 4K televisions, and video surveillance systems continue to come online. Traditional heuristics based image and video codecs such as JPEG and HEVC have been successful thus far, however, these approaches lack the ability to leverage big data to gain massive insights. Six deep learning based approaches are proposed to tackle efficient image/video compression and image compression for machine classification.

Multi-Robots Global Path Planning Based On Pso Algorithm And Cubic Spline, Qiang Ning, Gao Jie, Fengju Kang

Journal of System Simulation

Abstract: There are shortcomings such as premature convergence, high encoding dimension and unsmooth path for particle swarm optimization (PSO) algorithm to solve the robot path planning problem under free space. The particle coding is coordinates of several path nodes in the environment. The number of spline curves and the maximum turnings of path were determined by the number of path nodes. The cubic spline function was used to interpolate on the path of the starting point, path nodes and target point, thus a full path which was formed by connecting all interpolation points was obtained. Simulation results show that …

Improved Marching Cubes Algorithmand Its Three-Dimensional Meteorological Simulation, Shuoben Bi, Lu Yuan, Xiaowen Zeng, Mingyue Lu, Yonghua Zhang

Journal of System Simulation

Abstract: Methodof obtaining intersection points of isosurface and vowex by linear interpolation in original Marching Cubes algorithm has been replaced by the method of trisecting element boundaries. The problem of linear interpolation not suitable for meteorological data simulation is therefore solved and the number of triangular facets in isosurfacemapping is effectively reduced. While reducing redundancy and improving mapping speed, the quality of isosurface mapping is further improved. The improved Marching Cubes algorithm is applied to the simulation of meteorological model data, i.e., the isosurface of WRF data, and good results are obtained in both the speed of image rendering and …

Simulation On Psychosocial Adaption Of Urban New Migrants Based On Catastrophe Theory, Zhao Xu, Chuanchao Huang, Bin Hu

Journal of System Simulation

Abstract: Based on the mental recovery and adaptive behavior translation of the new urban migrants, a two system decision-making model for psychological adaption was built. The simulation research of psychosocial adaption process was studied through the stochastic catastrophe theory and the specific artificial social environment. Simulation experiments indicate that the sustained pressure-bearing suffers from outside situation and the policy system result in the fluctuation of migrants' psychosocial adaption with the former more significant. In the translation of adaptive psychology to adaptive behavior, the attitude orientation and psychological cognition of migrants are critical. The duration or degree of the adaptive process …

Simulation Of Joint Power Control Routing Algorithm For Interference And Energy Consumption In Crahns, Zhufang Kuang, Zhigang Chen

Journal of System Simulation

Abstract: Problems of interference power to primary user by secondary userand the secondary user's running out of energy under underlay spectrum access model in cognitive radio ad hoc networks (CRAHNs) were investigated. Joint power control, routing and spectrum (channel) allocation algorithm (PRSA) based on particle swarm optimization were proposed. The goal of PRSA was to minimize interference power to primary user and prolong lifetime of CRAHNs. Particle encoding, particle initialization, fitness function, particle flight were included in PRSA. An Adjacency matrix with two-tuples containing allocated channel and power level was designed, and three operation rules for particle were redefined. …

Improved Design Scheme And Simulation Analysis Of Non-Valve Controlled Hydraulic Impact System, Liu Zhong, Zou Yu, Zhang Kai, Zhao Fei, Junjun Liu

Journal of System Simulation

Abstract: Due to valve port commutation of traditional hydraulic impact system caused valve leakage. For the above shortcomings, an improved structure principle of the new type of non-valve controlled hydraulic impact system was proposed establishing dynamic equations of impact system andconducting simulation analysis based on AMESim. Due to the simulation results which was inconsistent with design goal, two improvement schemes were proposed adding throttle device and controlling inlet and outlet circuit. The simulation results suggest that the working performance of impact system has been improved by adding throttle device, and its efficiency has been increased from 11.8% to 18.3% …

Inertia Effect In Dynamic Tensile Tests Of Concrete-Like Materials, Zhang Shu, Yubin Lu, Dongmei Zhao, Chen Xing

Journal of System Simulation

Abstract: The different understanding on the influential degree of the inertial effect does exist among researchers, and it has not been uniformly defined in dynamic tensile tests. The finite element numerical simulation method was employed to analyze the three typical dynamic tensile tests, without considering the real strain-rate effect in these models, where a constitutive model only considered the influence of hydrostatic pressure was used for modeling the specimen in these models. It is found that the dynamic tensile strength of concrete specimens in the three models mentioned is strengthened with the increase of loading strain-rate, owing to the …

Weld Trajectory Measurement Based On Stripe Type Laser Sensor, Li Lin, Weijie Chen, Yanbiao Zou

Journal of System Simulation

Abstract: Teaching and playback are usually used on welding robot to weld a part. To make sure the implementation of this mode, it is needed to locate the part using artificial sport welding in the front process, which could cause location error and make the actual track deviate from the teaching track. A welding track offline detection device using stripe type laser sensor was proposed for solving the problem. The laser sensor was mounted at the end of the robot. The robot moved along the weld trajectory before welding. The information of the weld track section was gotten and the …

Novel Power Control Algorithm For Cognitive Radio Network, Long Min, Juanjuan Lei

Journal of System Simulation

Abstract: For the problems of near-far effect, large path loss, and stability of algorithm, etc., in the cognitive radio, a new power control algorithm was proposed. Utility function was improved effectively, where punishment factors, such as, link quality and the interference capacity limit of the primary users (PUs) were considered. Signal-to-interference radio (SINR) of cognitive users (CUs) was controlled above the minimum threshold, and the interference value of the CUs was controlled below the capacity tolerance of PUs. The existence of Nash equilibrium was given. Simulation results show that the new algorithm has better stability; the loss of path …

Research On Feedback Compensation Control For Aircraft Electric Antiskid Brake System Based On Il, Gao Jie, Gao Bing, Jianying Liu

Journal of System Simulation

Abstract: Safety, efficiency and comfort of aircraft are all determined by antiskid braking system. Because of the problem of inadequate control in the anti-skid braking system, the nonlinear model of the aircraft electric braking system was built by the analysis of aircraft landing process, and the iterative learning algorithm was introduced for reciprocating characteristics of anti-skid control. The groups in different speeds and road conditions were trained using the PD type learning rate. The knowledge base on the relationship among the optimal slip ratio and velocity and road conditions was built. The feed-forward control knowledge system for identifying the different …

Survey Of Studies On Numerical Simulations Of Optical-Wave Propagation In Atmospheric Turbulence, Bin Ren, Chunyi Chen, Huamin Yang

Journal of System Simulation

Abstract: The complicated random behavior of atmospheric turbulence makes it difficult to verify the theories of optical-wave propagation in atmospheric turbulence by conducting experimental measurements. The parameters used in numerical simulations can be easily controlled; therefore numerical simulations have been used as another important tool to investigate the optical-wave propagation in atmospheric turbulence. Based on the existing literature, both the theoretical models and numerical generating methods for random phase screens of atmospheric turbulence are surveyed, and the spatial sampling constraints for numerical simulations of optical propagation in atmospheric turbulence were summarized. By comprehending the existing results, it has been pointed …

Genetic Algorithm For Solving Multi-Objective Dynamic Flexible Job Shop Scheduling, Wang Chun, Zhang Ming, Zhicheng Ji, Wang Yan

Journal of System Simulation

Abstract: To solve the scheduling problem of mold workshop in a toy factory with dynamic and flexible features, a mathematical model was established by introducing virtual operation and virtual working hours. Based on the strategies of periodic scheduling combined with dynamic event scheduling as well as the rolling window scheduling operation technology, dynamic scheduling was transformed into several continuous static scheduling windows, under which multi-objective genetic algorithm was used to solve the model. The priority of operation scheduling was given in different dynamic events. In addition, the encoding and anti-encoding of chromosome's operation sequence were made based on the proposed …

Fast Tree Modeling Method Based On Simple Freehand Sketch, Ma Ling, Xiaoping Liu, Xiaoping Liu

Journal of System Simulation

Abstract: Aiming at problems such as complicated process and professional knowledge requirements in tree modeling, a quick tree modeling method for non-experts was proposed, combining branch library with simple sketch to make non-experts create tree model quickly. The method preprocessed the sketch to eliminate noise and error points and identify the strokes, the trunk and branch were reconstructed, child three-dimensional profile was built through the two-dimensional canopy profile, under the constraint of the child profile, suitable branches from library and insert were extracted into the branches, consequently the whole tree model was completed. Experimental results show that this method …

Research On Natural Gas Explosion Rules For Cuboid Obstacles In Offshore Oil Platform, Pengcheng Wang, Yuqing Sun

Journal of System Simulation

Abstract: Quantities and blockage ratios of equipment on the platform has a great effect on the peak overpressure and temperature. The loss caused by explosion can be reduced to the minimum through the reasonable distribution of equipment, and the finite element method has been widely used in the simulation of gas cloud explosion. Offshore oil platform models with different cuboid obstacles were established by the finite element method and cuboid obstacles were distributed in 15 different situations. Mathematical relationships between overpressure and cuboid obstacles' quantities and blockage ratios were obtained. The results show that with the increase of quantities and …

Research On Picking Robot Vision Localization Based On Semi-Physical Simulation, Keyin Chen, Xiangjun Zou, Hongxing Peng, Haiying Liang, Yuanchuang Hu

Journal of System Simulation

Abstract: Aiming at the problems of accuracy and stability of the vision localization based on physical picking robot, which were easy to make mistakes, long cycle, and not easy to be carried out indoors, a picking robot vision localization method based on the semi-physical simulation technology was proposed combining with the robot vision localization mechanism and robot kinematics. This method adopted the virtual picking robot to instead of the physical robot, and studied the vision localization of the fruit target in the virtual simulated environment, which was as the vision localization based on semi-physical simulation. The test results show that: …

Improved Threshold Function Simulation Research In Vibration Signal Denoising, Hongxing Sun, Zhang Yang

Journal of System Simulation

Abstract: Filtering noise component of mechanical vibration signal effectively can observe the characteristics of vibration signal more clearly. So based on the wavelet threshold de-noising method, a new improved threshold function was proposed. The coefficient of wavelet transform mechanical vibration signals were estimated by the threshold selection method based on kurtosis value. Not only new threshold function conforms to the distribution characteristics of the vibration signal, but also new threshold function is continuous in the threshold point. And the new threshold function overcomes the inherent deviation which traditional threshold function brings. The research of noise reduction on the simulation signal …

Simulation And Analysis Of Ultra High Frequency Induction Heating Circuit Based On Current Source, Mangyuan Ma, Xinchun Shi, Wang Hui, Jianhui Meng

Journal of System Simulation

Abstract: The operating frequency range, operating mode and output power are determined by the circuit. A suitable circuit is very important for induction heating power supply. On the basis of Class-E and Boost Chopper circuit, a new current source was analyzed with parallel resonant load circuit by energy conservation law and Fourier decomposition, which derived mathematical relation among the parameters and provided application theory. This circuit was studied by using Matlab/Simulink with variable parameters, which obtained the operating waves with different parameters and values. Comparing the operating waves with the theoretical analysis, the simulation results are completely consistent with the …

Modeling Method Of Air Command And Security Work Process Service Oriented, Yongliang Luo, Yuanhui Qin

Journal of System Simulation

Abstract: A modeling method of air command and security work process service oriented was proposed combined with the typical process equipment air command and support building requirements. Air command and process characteristics was analyzed systematically. On this basis, a complex process modeling method was proposed. From the concept of process meta-model, process formalized description mechanism was studied. A prototype flow modeling tool was developed, and the rationality of the proposed method was analyzed combined with the application example.

Learning From Digital Failures? The Effectiveness Of Firms’ Divestiture And Management Turnover Responses To Data Breaches, Gui-Deng Say, Gurneeta Vasudeva

Research Collection Lee Kong Chian School Of Business

We examine whether firms learn from digital technology failures in the form of data breach events, based on the effectiveness of their failure responses. We argue that firms experiencing such technological failures interpret them broadly as organizational problems, and undertake unrelated divestitures and top management turnover to achieve better standardization and to remove dysfunctional routines. We test our hypotheses on unrelated subsidiary divestitures and chief technology officer (CTO) turnovers undertaken by 8,760 publicly traded U.S. firms that were at risk of experiencing data breaches in- volving the loss of personally identifiable information during the period 2005–2016. We find that data …

Otter Debugger, Keefe Johnson

Computer Engineering

This project is a debugger and programmer for the OTTER CPU, the implementation of the RISC-V ISA used by Cal Poly to teach computer architecture and assembly language in CPE 233/333 and usually implemented on the Basys3 FPGA development board. With this tool, students can quickly program their OTTER with a new/revised RISC-V program binary without resynthesizing the entire FPGA design. They can then use the debugger from a PC to pause/continue/single-step execution and set breakpoints, while inspecting and modifying register and memory contents. This enables real-time debugging of OTTER projects involving custom hardware such as a keyboard and VGA …

Reading Robot, Gillian Watts, Andrew Myers, Sabrinna Tan, Taylor Klein, Omeed Djassemi

General Engineering

Presently, there is an insufficient availability of human experts to assist students in reading competency and comprehension. Our team’s goal was to create an improved socially assistive robot for use by therapists, teachers, and parents to help children and adults develop reading skills while they do not have access to specialists. HAPI is a socially assistive robot that we created with the goal of helping students practice their reading comprehension skills. HAPI enables a student to improve their reading skills without an educator present, while enabling educators to review the student's performance remotely. Design constraints included: physical size, weight, duration …