Engineering Commons^™

Adaptive Robotic Chassis (Arc): Robocrop A Smart Agricultural Robot Toolset, Steven Bucher, Krissy Ikeda, Brooke Broszus, Alejandro Gutierrez, Ariana Low

Interdisciplinary Design Senior Theses

RoboCrop is a payload system that attaches to an existing modular drivetrain to support the agriculture industry with their primary challenge of labor shortages. ARC: RoboCrop features three degrees of freedom as an XYZ Cartesian robot and is intended specifically for pruning strawberry flowers. The image bay camera attached to RoboCrop’s frame identifies the strawberry flowers, communicates their XYZ coordinates, and then the Cartesian robot moves to the desired locations. The snipping toolhead is interfaced at the bottom of the Z-stroke and performs the snipping process. RoboCrop has a proven success rate of at least 70% of flowers pruned in …

Rehology And Electrical Conductivity Of Particulate Composites In Additive Manufacturing, Bin Xia

Mechanical Engineering Research Theses and Dissertations

Extrusion-based multi-functional additive manufacturing (AM) has been a rapidly developing area in AM recently. Particulate composites are widely used in this area to provide different functionalities with different types of particulate additives. However, there is no systematic understanding of the behavior of particulate composites during extrusion (especially in small nozzles) or of their properties once deposited in the build. This work investigates the properties of the type of particulate composites usually used in additive manufacturing, composed of a polymer matrix material and particulate additives within the micrometer scale. The focus is on the material rheology in the nozzle/capillary (for the …

Actuation And Control Methods For Individual And Swarm Multiscale Mechanical Systems, Pouria Razzaghi

Mechanical Engineering Research Theses and Dissertations

Robotic mechanisms can be driven by different internally and externally applied inertial and magnetic actuations. These actuations are utilized to regulate the dynamics of robots and move them in different locomotion modes. The first part of this dissertation is about using an external magnetic actuation to move a simple-in-design, small-scale robot for biomedical applications. The robots can be steered in different locomotion modes such as pivot walking and tumbling. The control design of this system consists of a swarm algorithm under a global control input, and a vision-based closed-loop controller to navigate in 2D environments.

Secondly, I propose a new …

Magnetic Gradient-Based Magnetic Tweezer System For 3d And Swarm Control Of Microswimmer, Xiao Zhang

Mechanical Engineering Research Theses and Dissertations

Microscale manipulation has very promising potential in medical applications such as drug delivery, minimal and invasion surgery. Contactless control is preferable as remote manipulation is necessary for in vivo applications. Among different control methods, magnetic power source is more suitable and robust for the applications mentioned above. Presented here is a magnetic tweezer system, which manipulates microscale magnetic particles using magnetic forces created by magnetic field gradient. The proposed system has three advantages: First, force applied by the magnetic tweezer system does not contact with the target object and can be generated in different directions. Second, the magnetic tweezer system …

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Graduate Student Wins Excellence in Graduate Research Award

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Faculty and Students Mentor High School Design Competition

Mobile Nanogrid, Daniel Mendoza, Ben Mahony, Charles Ju, Michael Batshon

Interdisciplinary Design Senior Theses

The mobile nanogrid is a standalone mobile power solution which uses a combination of automatic and manual tracking mechanisms to maintain a solar panel's perpendicularity to the sun over the course of the day in order to maximize energy generation. The power can then be consumed by a user or stored. It is designed to be placed on the roof of a vehicle for the recreational camping market to meet the need for mobile power generation. A scaled-down functional prototype was designed in SolidWorks, modeled in MATLAB Simulink, fabricated in the machine shop using a combination of off-the-shelf and custom …

Marine Robot Deployment And Control System, Nicky Castillo, Nick Ellis, Trent Kelsall, Matt Kiyama

Interdisciplinary Design Senior Theses

A full operations package for underwater research, including the mid-sized ROV Nautilus with a distributed control system, a topside graphical user interface (GUI), and a dedicated launch and recovery system (LARS), was developed to increase the operational efficiency of scientific exploration and experimentation missions through Santa Clara University’s (SCU’s) Robotics Systems Laboratory (RSL). Design of the mechanical subsystems on Nautilus added flexibility of usage and protection of components. The new GUI improved pilot control of Nautilus with an added heads-up display and easy access to sensor readouts. The simulated Nautilus altitude control system has an error of ±1% and a …

Project Shearwater Ground Effect Uav, Duncan Clark, Justin Cole, Zachary Karat, Aidan Nickels, Cole Wolfe

Interdisciplinary Design Senior Theses

The Shearwater unmanned aerial vehicle is a maritime fixed-wing drone that is designed to use ground effect force generated between the aircraft and a body of water to efficiently propel itself near the surface of a body of water. Shearwater features a virtual reality pilot interface and will act as a hybrid underwater vehicle that will eventually be able to operate both above and beneath the ocean’s surface. The Shearwater team developed existing design work to produce major subsystems that culminated in a flyable functioning prototype. An existing airframe was updated with working control surfaces tested in simulation and in …

Damage Evolution And High-Rate Response Of High-Strength Concrete Under Triaxial Loading, Brett Williams

Mechanical Engineering Research Theses and Dissertations

The research presented in this study focuses on understanding fundamental mechanisms that drive material response under dynamic loading conditions. The objectives of the research were to: (1) to understand damage initiation and propagation in the bulk geomaterial under a variety of loading conditions and (2) to systematically investigate the strain rate effects on the triaxial compressive response of cementitious materials through the development of an innovative, first of its kind large-diameter (50 mm) triaxial Kolsky bar system.

The triaxial compressive response of high-strength concrete is needed to understand pressure-dependent material behavior, which is important for modeling extreme loading events. However, …

The Modular Oceanic Autonomous Underwater Vehicle For Novel Actuation, Bryan Gilbertson, John Elstad, Matthew Holmes, Sean Even, Robert Percell, Andrew Kambe, Gregor Limstrom

Interdisciplinary Design Senior Theses

A low-drag, high endurance, and high efficiency Long Range Autonomous Underwater Vehicle is a desired asset to Santa Clara University to aid future underwater vehicle development efforts. Such an vehicle will demonstrate novel actuation methods and provide the on-campus Robotics Systems Laboratory with a modular prototype to aid research and academic efforts. In this paper, we document the construction of a low cost, modular, demonstration vehicle that satisfies the requirements for high-efficiency operation and modular interfaces. The completed vehicle features standard actuation abilities utilizing low-drag methods that qualify it for shallow water operation. Furthermore, the vehicle demonstrates the feasibility of …

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Graduate Student to Present at Posters on the Hill

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• 2021 Engineering Design Challenge

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Graduate Student Lands Position as Race Engineer

Development Of A Combined Thermal Management And Power Generation System Using A Multi-Mode Rankine Cycle, Nathaniel M. Payne

Browse all Theses and Dissertations

Two sub-systems that present a significant challenge in the development of high performance air vehicle exceeding speeds of Mach 5 are the power generation and thermal management sub-systems. The air friction experienced at high speeds, particularly around the engine, generates large thermal loads that need to be managed. In addition, traditional jet engines do not operate at speeds greater than Mach 3, therefore eliminating the possibility of a rotating power generator. A multi-mode water-based Rankine cycle is an innovative method to address both of these constraints of generating power and providing cooling. Implementing a Rankine cycle-based system allows for the …

Pulse Decay Thermal Conductivity Device, Matthew Schrenk

All Undergraduate Projects

Currently, there are several ways in which thermal conductivity can be calculated or assessed on a given material. However, with each method of testing comes potential limitations such as size, material state, complexity, and time. The goal of this study was to develop a pulse heated thermistor that would reduce all four limitations, thus provide precise and timely results regardless of the material state and size. A thermistor is resistor which changes resistance in accordance to temperature. To achieve the design, heat transfer and electrical methods were applied. As with all resistors, heat is dissipated across the element and released …

Development Of A Robust And Tunable Aircraft Guidance Algorithm, Jacob R. Spangenberg

Browse all Theses and Dissertations

A set of guidance control laws is developed for application to a reduced order dynamic aircraft model. A feedback control formulation utilizing a linear quadratic regulator (LQR) is developed, together with methods for easing the design burden associated with gain tuning. Metrics are developed to assess the stability margin of the controller over the full flight envelope of a notional unmanned aerial vehicle (UAV) model. A feedforward control path is then added to the architecture. The performance of the guidance control laws is assessed through time domain step response metrics as well as through execution of a design mission. The …

Development Of A Robust And Tunable Aircraft Guidance Algorithm, Jacob R. Spangenberg

Browse all Theses and Dissertations

A set of guidance control laws is developed for application to a reduced order dynamic aircraft model. A feedback control formulation utilizing a linear quadratic regulator (LQR) is developed, together with methods for easing the design burden associated with gain tuning. Metrics are developed to assess the stability margin of the controller over the full flight envelope of a notional unmanned aerial vehicle (UAV) model. A feedforward control path is then added to the architecture. The performance of the guidance control laws is assessed through time domain step response metrics as well as through execution of a design mission. The …

Performance Of A Dual Plane Airfoil Model With Varying Gap, Stagger, And Decalage Using Pressure Measurements And Particle Image Velocimetry, Salome Kenneth Nunes

Browse all Theses and Dissertations

The dual-plane airfoil has been adopted in the design of aircraft wings, wind turbine blades, and propellers. The purpose of this research is to investigate the most important design parameters of a dual-plane airfoil model for the best aerodynamic performance, such as gap, stagger, and decalage. The dual-plane airfoil model was designed using the S826 profile. A mechanical mechanism with electrical actuator control is particularly designed to alter the gap and stagger smoothly, as well as the angle of attack (AOA) for each airfoil. It results in a gap range of 1.38c to 2.17c, a stagger range of -0.75c to …

Contact Fatigue Of Spur Gear Operating Under Starved Lubrication Condition, Aparna Udthala

Browse all Theses and Dissertations

This study describes contact fatigue behavior of spur gear contacts operating under mixed elastohydrodynamic condition. The focus is placed on the starvation effect on fatigue crack initiation. With the model, parametric simulations are carried out with different contact parameters. In the process, the lubricant supply is varied to alter the lubrication condition from fully flooded to severely starved circumstance. Multi-axial stress fields induced by surface normal and tangential tractions are evaluated, whose amplitudes and means are used in a multi-axial fatigue criterion to determine the crack initiation life. It is found a lower lubricant viscosity elongates fatigue life when severe …

Numerical Investigation Of Flow Around A Deformed Vacuum Lighter-Than-Air Vehicle, Jared N. Kerestes

Browse all Theses and Dissertations

This study characterizes the functional dependence of drag on Reynolds number for a deformed vacuum lighter-than-air vehicle. The commercial computational fluid dynamics (CFD) code, FLUENT, is used to preform large eddy simulations (LES) over a range of Reynolds numbers; only Reynolds numbers less than 310,000 are considered. While the overarching goal is drag characterization, general flow-field physics are also discussed, including basic turbulence spectra. All large eddy simulations are preceded by a Reynolds-averaged Navier-Stokes (RANS) simulation using Menter’s shear stress transport (SST) model. The precursor RANS simulation serves to (1) provide realistic initial conditions, (2) decrease the time needed to …

Detection Of Nucleotides In Hydrated Ssdna Via 2-D H-Bn Nanopore With Ionic-Liquid/Salt-Water Interface, Jungsoo Lee

Multidisciplinary Studies Theses and Dissertations

Accomplishing slow translocation speed with high sensitivity has been the greatest mission for solid-state nanopore (SSN) to electrically detect nucleobases in single-stranded DNA (ssDNA). In this study, a method to detect nucleobases in ssDNA using a SSN is introduced by considerably slowing down the translocation speed and effectively increasing its sensitivity. The ultra-thin titanium dioxide (TiO₂) coated hexagonal boron nitride (h-BN) nanopore was fabricated, along with an ionic-liquid [bmim][PF₆]/2.0 M KCl aqueous (cis/trans) interfacial system, to increase both the spatial and the temporal resolutions. As the ssDNA molecules entered the nanopore, a …

Advanced Thermal Characterization And Temperature Control To Enable The Next Generation Of Micro-Electronic Technologies, Assaad El Helou

Mechanical Engineering Research Theses and Dissertations

In the electronics world, self-heating is an inevitable by-product of electrical activation that has a major impact on device performance and reliability. Thermal technologies have been in constant development to effectively dissipate the generated heat and keep device operation temperatures within reliable limits. Moreover, thermal characterization technologies have been implemented to understand the thermal performance within microelectronic sys- tems, but not without facing experimental and numerical challenges. This work presents ad- vanced thermal investigations, both experimental and numerical, that are adapted and most suited for emerging micro-electronic technologies. Initially, the main experimental and numerical modeling challenges faced in the thermal …

Microparticle Propulsion For In Vivo Navigation, Louis Rogowski

Mechanical Engineering Research Theses and Dissertations

Microscale propulsion impacts a diverse array of fields, with simplistic microrobots allowing for novel innovations in microscale surgery and drug delivery. Propulsion at the microscale is constrained by physics, with time-reversal and geometric symmetries limiting available propulsion mechanisms. However, certain fluid environments and surface coatings allow for the propulsion of microparticles through externally applied magnetic fields. Presented here is a detailed analysis of microparticles propelling using spontaneous symmetry breaking, flagella surface coatings, and multi-modal actuation mechanisms. Spontaneous symmetry breaking in nonlinearly viscoelastic fluids is presented for the first time in literature, with two equal and opposite propulsion states existing along …

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Engineering Design Conference Held Virtually

Modeling, Simulation, And Testing Of Sweeping Convection, Amir Kiaee

Mechanical Engineering Research Theses and Dissertations

In this study, the new convection heat transfer concept of sweeping convection, using large particles flowing with a fluid in a channel, is considered. This novel concept is inspired by the gas exchange process in alveolar capillaries, where red blood cells (RBCs) flow with blood plasma, yielding very high gas transfer efficiency. An important characteristic of alveolar capillary blood flow, believed to be related to the high efficiency of the lungs, is the snug fitting of the RBCs into the capillaries. This tight fitting sets the RBCs (particles) acting like pistons as they flow downstream with the plasma (fluid), facilitating …

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Dr. Cesmeci Awarded DOE Grant

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Dr. M. Xu Receives Faculty Award from AIST

Mechanical Engineering News, Georgia Southern University

Mechanical Engineering News (2013-2023)

• Computer Lab Availability for Commuting Students

Wireless Wearable System For The Assessment Of Gait, Abdallah Jabr

Mechanical Engineering Research Theses and Dissertations

This work investigates the development and use of a wireless wearable system for the assessment of gait. The system proposed consists of a sensor module that is attached to the foot. The sensor proposed is an inertial measurement unit, often abbreviated as IMU - a 9-axis System in Package (SiP) including a 3-axis accelerometer, a 3-axis gyroscope, and a 3-axis magnetometer, as well as a fusion engine for signal processing. While the focus of this work is on evaluating gait metrics, the performance of the proposed IMU in evaluating orientation is quantified. In doing this work, we try to address …