Engineering Commons^™

Dynamic Analysis And Control Of A Quadruped Robotic System Based On Newton-Euler Formulation, Vyshak Sureshkumar

Thesis/ Dissertation Defenses

Despite advancements in legged robotics, comprehensive dynamic analyses remain limited in the literature. This research presents kinematic and dynamic modeling of a quadruped robot using the Newton-Euler approach to improve computational efficiency in high degree of freedom systems. The formulation leverages system over-constraints with assumed ground reaction forces and focuses on simulating two primary gait patterns: static walking and dynamic trotting. The research explores reaction wheel-based roll stabilization for a quadruped with 8 actuators, omitting the conventional Hip Abduction/Adduction (HAA) joints. This approach addresses roll control limitations by compensating for the reduced actuation. This research presents a brief overview of …

Unraveling The Impact Of Vessel Geometry In Resonant Acoustic Mixing, Jefferson Guthrie

Graduate Theses & Non-Theses

This study aimed to advance the understanding of ResonantAcoustic® Mixing (RAM) and its application in industrial powder processing. RAM, which consists of vertically oscillating boundaries operating at nominally 60 Hz with accelerations up to 100 g’s, is particularly effective for mixing fine powders and materials. RAM is able to complete mixing processes 10 to 100 times faster than traditional methods without the risk of cross contamination. Despite RAM’s growing potential, the underlying mechanisms of RAM are not fully understood, limiting its optimization and broader adoption. Research in this study sought to bridge existing gaps in understanding by investigating the influence …

Gradient Fibro-Porous Materials For Tailored Sound Absorption, William Johnston, Janith Godakawela, Bhisham Sharma

Michigan Tech Publications

Reducing the pore size of bulk sound absorbers often increases weight and introduces manufacturing challenges, limiting their practical use. To address these issues, a class of materials is introduced that uses 3D printing to seamlessly integrate fibers within porous scaffolds, allowing improved sound absorption performance without a significant weight addition. The reliance on 3D printing enables the creation of gradient fibro-porous structures with customizable acoustic properties. This study explores the effect of through-thickness gradients in the scaffold’s relative density, fiber thickness, and fiber density on the acoustical performance with the goal of identifying the optimal strategy to obtain broader and …

Estimating Pedestrian Crossing Times At Scramble Crossings Via Machine Learning And Agent-Based Modeling, Sho Takami

Honors Capstones

Scramble crosswalks differ from conventional crosswalks in their ability for pedestrians to cross diagonally. This research compares the average crossing times and investigates the walking behaviors that pedestrians adopt to produce the speediest times in the two crosswalk configurations. Identification of the most efficient set of walking behaviors is done through an agent-based model, whereas producing polynomials relating crossing times to the most prominent walking behaviors is done through regression algorithms in machine learning. With the combination of these two approaches, it is revealed that pedestrians must adopt a relaxed walking style to make each crosswalk configuration efficient. Additionally, between …

Design Of Real-Flight-Path Tracking Control Of Quadrotor, Moataz Aly Sabry

Thesis/ Dissertation Defenses

This thesis presents the design and development of an advanced real-time flight path tracking control system for a quadrotor, specifically aimed at accurately following a moving ground object such as a rover. The primary focus is on addressing challenges associated with precise tracking in dynamic and unpredictable environments, including real-time communication between the drone and the rover, rapid response to environmental changes, and maintaining control of the quadrotor’s altitude, yaw, pitch, and roll.
To achieve these objectives, the study explores the application of mathematical models based on ordinary differential equations, incorporating delay elements to simulate the real-time behaviour of the …

Pressure Switch Tester, Michael Starasinich, Andrew Dobson, Jordan Huschen, Mitchell Smith, Melvin Brown Iii

Honors Capstones

Abstract—- The Pressure Switch Test Stand is a comprehensive and automated testing solution designed to streamline the actuation and validation of simultaneously. At the core of the system is a PLC-controlled architecture that enables precise control and simulation of pressure conditions, replicating real-world scenarios to ensure accurate and reliable switch performance.

This test stand integrates robust mechanical fixtures, a reliable pneumatic control system, custom-designed electrical circuits, and a modular software interface, working in unison to deliver consistent and high-fidelity testing outcomes. Each pressure switch undergoes a sequence of pressure ramps and holds, with the system continuously monitoring switch states, activation …

The Effect Of Boom Leveling On Spray Dispersion, Miguel Bustamante, Juan F. Vivanco, Travis A. Burgers

Mechanical Engineering Faculty Publications

Automatic boom height systems reduce the variability of agricultural sprayer boom height. When a boom is not at its target height, this can lead to uneven spray dispersion from the nozzles. Boom heights and sprayer position were previously measured in time for three commercially-available boom leveling systems for three test runs for at least three speeds over each of a mild, medium and rough terrain course. A computational model was created to use measured spray dispersion from a nozzle, measured boom heights in time, and measured sprayer position in time to calculate a spray coverage map. The model was used …

Autonomous Agricultural Equipment Evaluation For Broad-Acre Crop Production, Sofia Bahmutsky, Ashutosh Singh, Travis A. Burgers, Roy Maki

Mechanical Engineering Faculty Publications

No abstract provided.

A Review Of Disassembly Systems For Circular Product Design, Giovanni Formentini, Joao Pj. Prioli, Junwon Ko, Buddhika M. Hapuwatte, Vincenzo Ferrero, Fazleena Badurdeen, Jeremy L. Rickli, Devarajan Ramanujan

Mechanical Engineering Faculty Publications

Circular Economy (CE) is described as a means for maintaining products and materials in circulation while regenerating nature. This shift requires considering aspects at the product design phase that were not previously prioritized. One such aspect, disassembly, is a key enabler for CE. Design for Disassembly methodologies have been deployed for several years to enhance disassembly performance. However, when CE is of interest, it is essential to consider how disassembly affects the entire product life cycle system. In this regard, this paper proposes a literature review of relevant DfD methods from a system engineering perspective to evaluate their effects on …

Collecting Human Subject Data For Modeling Maximum Potential Power At Specific Cadence And Fatigue Levels, Alexander John Minnich

Honors College Theses

The overarching goal of this research project was to investigate the relationship between a participant's maximum power (Watts) at a given cadence (RPM) on a specific fatigue level. Before conducting any experiments, we hypothesized that maximum power and cadence would decay linearly with fatigue. To do this, six days of testing for each of 4 human subjects were split across two phases. The first 4 days were devoted to Phase one, which focuses on determining the physical abilities of each unique participant and finding metabolic constants such as Critical Power and Anaerobic Work Capacity. Phase two then tests maximal power …

Novel Atomic Layer Deposition Processes Of Silver For Battery Applications, Darlington Ehijie Imhanzuaria

Graduate Theses and Dissertations

This thesis presents a novel approach to enhance the performance and stability of anode-free lithium-ion batteries (AFLBs) by employing atomic layer deposition (ALD) to coat copper (Cu) current collectors with a silver-aluminum oxide (AgAlO_x) layer. Leveraging the unique capabilities of ALD for precise and conformal deposition, the AgAlO_x coating was achieved using triethyl phosphine-(6,6,7,7,8,8,8-heptafluoro-2,2-dimethyl-3,5-octanedionato)-silver(I) (Ag(fod)(PEt₃)), trimethylaluminum (TMA), and de-ionized water (H₂O) as precursors. This innovative coating method significantly enhanced the cycling stability and Coulombic efficiency (CE) of both Li||Cu and Cu||NMC811 cells, as evidenced by improved electrochemical performance metrics. The AgAlO_x layer …

Sample Archival System For Quantum Device Manufacturing: Design, Construction, And Integration, Corbin Russ

Graduate Theses and Dissertations

In the manufacturing of quantum devices using 2-dimentional (2D) materials, current processes rely on manual operations of production. MonArk Quantum Foundry is developing a facility to semi-automatically, and ultimately automatically, produce 2D materials. One crucial step in the experimentation process is archiving these materials and completed chips for future access. The sample archival system robot was produced to fulfill this need. The system is a 4 Degree-of-freedom (DOF) cartesian storage system that stores custom aluminum chip trays of sixty samples, having a total storage capacity of 14,400 samples. The sample archive system meets key goals from: it integrates with the …

Using Scaffolding, Gamification, And Self Awareness To Create Responsive Ux/Ui In Cad Software To Nurture Metacognition In Novice Users, Obed Ibrahim Gonzalez

Graduate Theses and Dissertations

Computer-aided Design (CAD) software represents a significant shift from manual and analog design processes to digital workflows, offering substantial utility, accuracy, and productivity benefits. However, CAD software often presents a steep learning curve, particularly for novice users who are new to the software or possess only basic knowledge. Traditional CAD curricula have predominantly focused on technical problem-solving—teaching tools and systems—while often neglecting strategic knowledge that encompasses reflection, planning, and refining, which are essential components of metacognition. Metacognition is crucial for transforming novices into experts who use fewer and more complex commands, employ sophisticated planning, and achieve their goals more efficiently. …

Development And Investigation Of A Novel Near-Wall Methodology For Large-Eddy Simulation Based On Dynamic Hybrid Rans-Les, Michael Tullis

Graduate Theses and Dissertations

The use of computational fluid dynamics (CFD) to test engineering designs with reduced cost and time compared to physical testing has become increasingly common in a range of industries and research fields. While numerical methods exist that can accurately solve the equations that govern the flow of fluids, these methods are computationally expensive for practical engineering problems due to the large amount of computational power needed to resolve the fluid flow over the entire range of length and time scales. Several different approaches have been introduced to address this computational cost issue, namely Reynolds-averaged Navier-Stokes (RANS) modeling and scale resolving …

Development Of A Cost-Effective Daq For Measuring Brake Performance In Race Cars, Adrin Alias

2025 Spring Honors Capstone Projects - Archive

This project explores the feasibility of creating a cost-effective data acquisition (DAQ) system for high-speed, real-time brake performance testing of Formula SAE racecars. The research addresses the limitations of the current MoTeC DAQ system currently employed by the team, which is costly and time-consuming to set up for on-car testing. The team will use a brake dynamometer for steady-state comparisons of different brake pad compounds (senior design project), but evaluating real-world performance requires on-car testing. By systematically comparing various hardware platforms, sensors, communication protocols, and storage solutions, this project aims to balance cost-efficiency with reliability and performance. The research evaluates …

Computational Modeling Of Torque Arm And Load Cell Interactions In Uta Racing Brake Dynamometer, Anthony A. Aiyedun

2025 Spring Honors Capstone Projects - Archive

The UTA Racing Team is developing a brake dynamometer to measure the coefficients of friction of various brake pads and calipers under controlled conditions. The dynamometer simulates on-track braking scenarios, testing brake pads at temperatures up to 1300ºF and pressures similar to racing environments. Its primary goal is to generate accurate friction vs. temperature graphs for various brake pad and rotor combinations, addressing the need for dedicated testing equipment. This project creates an ANSYS simulation of the torque arm and load cell interaction. The computational model accurately represents the relationship between applied torque and measured load cell force, incorporating precise …

Design Of A Helical-Type Rotor For Enhanced Energy Harvesting In Smallscale Vertical Axis Wind Turbines, Aadee M. Mitee

2025 Spring Honors Capstone Projects - Archive

This research investigates the design optimization of a small-scale Vertical Axis Wind Turbine (VAWT) utilizing helical rotor blades fabricated from graphene-reinforced polyethylene terephthalate. While previous studies have largely concentrated on largescale turbines for rural environments or on high-performance composite materials that often compromise recyclability, this research addresses the specific challenges associated with small-scale VAWTs intended for urban and populated areas. The study identified tip speed ratio, helical angle, and blade length as critical design parameters. Optimization of these parameters was achieved through systematic evaluation of their impact on the turbine’s aerodynamic performance, quantified by the coefficient of performance. Structural and …

Bayesian Model Updating Of Structural Parameters Using Temperature Variation Data., Ujjwal Adhikari

Electronic Theses and Dissertations

Physical digital twins have now emerged as a technology in structural health monitoring and other domains of structural modeling. A Finite Element Model can be a tool for digital twin technology in conjunction with measured physical data. Developing an accurate digital model requires the integration of various parameters to replicate the real structure; however, temperature is dynamically changing, resulting in difficulty in the identification of structural parameters. Typically, temperature is considered noise or filtered out. Limited research has addressed the physics-based model using temperature variation related to structural modal properties. Finite Element Model Updating (FEMU) is a typical inverse problem-solving …

Integrity Assessment Of Shipping Line Pipelines Using Risk-Based Analysis To Determine Risk And Maintenance Strategies, Ade Ratih Anggraini, Dwi Marta Nurjaya

Journal of Materials Exploration and Findings

Pipeline Shipping Lines X, Y & Z are classified as critical infrastructure, being the only transportation through the crude oil lifting from P and R location to the transfer station in NM Area. To maintain the workflow of the Shipping Line, integrity assessments and risk evaluation are required to ensure the operational and safety. Anomalies were found by analysing inspection, monitoring, and repair data, while the pipelines' future integrity was assessed by calculating the remaining life. Risk-Based Analysis (RBA), which is a modification of Kent Muhlbaeur's method, is employed to conduct the risk assessment using the Probability of Failure (POF) …

Assessment Of H2s-Induced Cracking Susceptibility In Steam Line Pipes And Weld Zones During Geothermal Well Construction, Riene Kaelamanda Pragitta, Yudha Pratesa

Journal of Materials Exploration and Findings

The susceptibility of steam line pipes, especially in the HAZ (heat-affected zone) and weldment areas, to hydrogen sulfide in the geothermal industry is crucial to understand from the early stages, particularly during construction. The combination of tensile stress from residual stresses after welding and metallurgical phase transformation makes the joint areas vulnerable to sulfide stress cracking. This condition becomes even more extreme when the equipment operates during the well stimulation phase. This research assesses the severity of H₂S-induced cracking using NACE MR0175 and ISO 15156-1 standards, focusing on the effects of pH and partial pressure of H₂S (p_{H₂S …}

Cloud-Native Mucad For Design Reviews, Emily C. Petty

All Theses

This research explores the potential of a cloud-native multi-user computer-aided design (MUCAD) system to improve communication and efficiency during engineering design reviews and shorten the design timeline for military tools. First, a literature review is used to generate a list of thirty-five collaboration-oriented requirements that aim to ensure concurrency, annotations, heterogeneity, security, IP protection, version control, and viewing within a MUCAD system. A comparative evaluation of existing collaborative CAD system architectures, including cloud-native, cloud-enabled, and a single-user system with external file sharing, is conducted to determine how well each system architecture fulfills the generated collaboration-oriented requirements. Following this, a survey …

Effects Of Thermal Interface Materials On Thermal Conductivity Measurement Using A Modified Astm D5470 Thermal Resistance Tester, Chinmaya Joshi

Mechanical Engineering Undergraduate Honors Theses

In this paper, we have investigated the effect of thermal interface materials (TIMs) on the accuracy and uncertainty of thermal conductivity measurements. A modified ASTM D5470 thermal resistance tester (TRT) is developed to measure the out-of-plane thermal conductivity of pyrolytic graphite (PG) and grade 2 titanium (TiG2) with and without TIMs. Compared to the ASTM D5470 standard, this modified design uses three thermocouples per side to support regressive analysis and explores the use of TIMs.s Nine PG samples and four TiG2 samples of varying thickness have been tested to obtain thermal resistance as a function of sample thickness. The steady-state …

Tradespace Exploration With Statistical Modeling Techniques And Immersive Visual Representation In Virtual Environments, Nikhil Raj

All Theses

Statistical modeling techniques combined with virtual reality (VR) visualization offer powerful new approaches to tradespace exploration in engineering design. The research presented addresses the challenge of analyzing and communicating insights from complex multidimensional datasets, particularly for autonomous ground vehicle systems.

Beginning with a review of statistical methods—including Principal Component Analysis (PCA), Analysis of Variance (ANOVA), and correlation analysis—the study examines their applications in tradespace exploration. Building on this foundation, three distinct visualization pathways connecting MATLAB data to virtual environments are developed and evaluated: VRML representation, STL conversion, and Blender integration. Each approach is assessed for its ability to maintain data …

Investigation Of Plm Utilities And Concepts In Engineering Curriculum: Challenges And Opportunities, Frederick Rowell

All Theses

The implementation of Product Lifecycle Management (PLM) tools and concepts in engineering education has gained increasing significance as manufacturing and engineering industry shifts towards digital engineering workflows to enhance collaboration, efficiency, and innovation. Despite its typical application in engineering industries, many mechanical engineering programs have not integrated PLM software into their curriculums. The Product Lifecycle Management Center (PLMC) at Clemson University offers PLM workshops and research opportunities to students. Despite these initiatives, PLM education remains largely extracurricular and is not fully incorporated into required coursework within the mechanical engineering curriculum. The objective of this thesis is to explore the role …

Wide Lock-In Energy Harvesting From Vortexinduced Vibrations Of A Deformable Cylinder, Ahmed Raafat Mostafa

Theses

Energy harvesting from ambient sources has gained attention due to increasing energy demands. Despite VIV-based harvesters showing significant potential, their lock-in region, where significant power is generated, is narrow. Given the continuously varying ambient conditions of fluid currents, harvesters can easily fall into de-synchronization, yielding low energy output. Existing solutions like tunable masses or multiple degrees of freedom systems increase complexity and weight, limiting practical applications. This work introduces a novel variable diameter cylinder mechanism—a practical technique that actively tunes the cylinder’s geometry in real time to enhance energy harvesting efficiency from VIV. The mechanism employs an expanding pulley system …

Experimental Study Of Process Parameter Effects On Internal Defects In Titanium Coaxial Wire-Based Laser Metal Deposition, Remy Mathenia, Braden Mclain, Todd Sparks, Frank Liou

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Wire-based laser metal deposition is an additive manufacturing process that can be used in the efficient manufacturing of complex structures. This paper utilizes a three-beam coaxial laser wire system to explore the effect of process parameters on the resultant deposition density. The reduction in or elimination of defects is important to the mechanical properties of the additively manufactured material and the widespread adoption of additive manufacturing processes. In this work, two-bead-wide walls were deposited under varying experimental conditions, including the traverse feed rate and workpiece illumination proportion. A method for calculating the bead pitch and layer height increment based on …

Ultrafast Laser Surface Structuring For Wettability Control On Copper, Akshay Arvind Nagvenkar

All Theses

Wettability is a crucial surface property influencing various phenomena, including heat transfer, cell adhesion, and corrosion. Engineering devices can achieve superior performance by precisely manipulating surface wettability. As a result, extensive research has focused on developing surfaces that exhibit either extreme water attraction (superhydrophilic) or strong water repellency (superhydrophobic). Tailoring surface wettability paves the way for numerous applications, such as drag reduction in marine vessels, controlled drug delivery, efficient water collection, advanced liquid transport systems, oil-water separation, anti-corrosion coatings, friction reduction, and self-cleaning materials. Ultrafast laser surface structuring is a promising approach for engineering multifunctional surfaces, effectively modifying material properties …

Tsunamigenesis On A Buoyant Granular Layer As A Model Of Ice Mélange In Ice-Choked Fjords, Nathan F. Reyner

All Theses

Glacial calving events can often create destructive tsunami waves in ice-choked fjords in the arctic region, posing a threat to local inhabitants and damaging coastlines. Here the sea is covered by a polydisperse granular material called ice mélange, whose properties can affect the wave characteristics. To investigate the role of a buoyant granular layer, as a model of ice mélange, on tsunami generation, or tsunamigenesis, a series of laboratory experiments were conducted by collapsing a column of dense granular material into a body of water with a layer of buoyant particles distributed across the liquid surface. Experiments were performed over …

Design And Optimization Of Aquaculture Gear: Development Of A Cage-Integrated Reeling Mechanism For Oyster Farming, Felicity Bryant

Honors Theses

This project encompasses the design, fabrication, and testing of a cage-integrated reeling system aimed at reducing the physical labor required in oyster aquaculture at Bama Bay Oyster Farm, the last operational oyster farm in Mobile Bay. The proposed system includes two primary components: lightweight, modular oyster cages and a dual-winch reeling device for automated retrieval. Three cage prototypes—rectangular, oval, and hexagonal—were evaluated for structural performance and fabrication feasibility. The oval design was ultimately excluded due to practical fabrication limitations. The rectangular and hexagonal designs were fabricated using recycled materials and tested under the most extreme environmental conditions derived from years …

Graphics Processing Unit-Enabled Path Planning Based On Global Evolutionary Dynamic Programming And Local Genetic Algorithm Optimization, Junlin Ou, Ge Song, Yi Wang

Faculty Publications

This paper presents a novel path planning method for real-time robotic path planning in a dynamic environment involving moving obstacles. It combines on a holistic platform a global approach to rapidly generate initial paths of prominent diversity and a heuristic approach to enable local path refinement for enhanced computational efficiency, exploration, and robustness. The global approach innovates a formulation that treats a path planning problem with a visibility graph as a Markov decision process and decomposes the process into many subproblems. A new evolutionary dynamic programming approach (EDP) is proposed to solve these subproblems in an iterative manner using …