Engineering Commons^™

Cutting-Edge Technologies To Achieve A Higher Level Of Modular Construction – Literature Review, Seungtaek Lee, Jin Ouk Choi, Seung Song

Civil and Environmental Engineering and Construction Faculty Research

Cost overruns, schedule delays, and a shortage of skilled labor are common problems the construction industry is currently experiencing. Modularization and standardization strategies have the potential to resolve the various problems mentioned above and have been applied for various construction applications for a long time. However, the level of modularization remains low, and modular construction projects have not been getting the full benefits. Thus, this review investigated the cutting-edge technologies currently being utilized to develop the modular construction field. For this paper, qualified research papers were identified using predetermined keywords from previous related research papers. Identified literature was then filtered …

The Current State And Future Directions Of Industrial Robotic Arms In Modular Construction, Seung Ho Song, Jin Ouk Choi, Seungtaek Lee

Civil and Environmental Engineering and Construction Faculty Research

Industrial robotic arms are widely adopted in numerous industries for manufacturing automation under factory settings, which eliminates the limitations of manual labor and provides significant productivity and quality benefits. The U.S. modular construction industry, despite having similar controlled factory environments, still heavily relies on manual labor. Thus, this study investigates the U.S., Canada, and Europe-based leading modular construction companies and research labs implementing industrial robotic arms for manufacturing automation. The investigation mainly considered the current research scope, industry state, and constraints, as well as identifying the types and specifications of the robotic arms in use. First, the study investigated well-recognized …

A Human-Embodied Drone For Dexterous Aerial Manipulation, Dongbin Kim

UNLV Theses, Dissertations, Professional Papers, and Capstones

Current drones perform a wide variety of tasks in surveillance, photography, agriculture, package delivery, etc. However, these tasks are performed passively without the use of human interaction. Aerial manipulation shifts this paradigm and implements drones with robotic arms that allow interaction with the environment rather than simply sensing it. For example, in construction, aerial manipulation in conjunction with human interaction could allow operators to perform several tasks, such as hosing decks, drill into surfaces, and sealing cracks via a drone. This integration with drones will henceforth be known as dexterous aerial manipulation.

Our recent work integrated the worker’s experience into …

Factors Influencing Service Robot Adoption: A Comparative Analysis Of Hotel-Specific Service Robot Acceptance Models, Ying Dong

UNLV Theses, Dissertations, Professional Papers, and Capstones

The market for service robots is expected to expand significantly owing to the increasing relevance of service automation under the outbreak of the COVID-19 pandemic. Despite the growing managerial interest in robotic applications in the hotel industry, current robotic research has been mostly conceptual with limited robot data on hand. In light of this issue, this paper will conduct a comparative analysis of hotel-specific service robot acceptance models between the Service Robot Acceptance Model (sRAM) and the Service Robot Integration Willingness (SRIW) framework. By identifying key elements of each service robot acceptance model, this paper puts an emphasis on investigating …

Material Handling With Embodied Loco-Manipulation, Jean Chagas Vaz

UNLV Theses, Dissertations, Professional Papers, and Capstones

Material handling is an intrinsic component of disaster response. Typically, first responders, such as firefighters and/or paramedics, must carry, push, pull, and handle objects, facilitating the transportation of goods. For many years, researchers from around the globe have sought to enable full-sized humanoid robots to perform such essential material handling tasks. This work aims to tackle current limitations of humanoids in the realm of interaction with common objects such as carts, wheelbarrows, etc. Throughout this research, many methods will be applied to ensure a stable Zero Moment Point (ZMP) trajectory to allow a robust gait while loco-manipulating a cart. The …

A Hyperelastic Porous Media Framework For Ionic Polymer-Metal Composites And Characterization Of Transduction Phenomena Via Dimensional Analysis And Nonlinear Regression, Zakai J. Olsen

UNLV Theses, Dissertations, Professional Papers, and Capstones

Ionic polymer-metal composites (IPMC) are smart materials that exhibit large deformation in response to small applied voltages, and conversely generate detectable electrical signals in response to mechanical deformations. The study of IPMC materials is a rich field of research, and an interesting intersection of material science, electrochemistry, continuum mechanics, and thermodynamics. Due to their electromechanical and mechanoelectrical transduction capabilities, IPMCs find many applications in robotics, soft robotics, artificial muscles, and biomimetics. This study aims to investigate the dominating physical phenomena that underly the actuation and sensing behavior of IPMC materials. This analysis is made possible by developing a new, hyperelastic …

Efficient Algorithms For Clustering Polygonal Obstacles, Sabbir Kumar Manandhar

UNLV Theses, Dissertations, Professional Papers, and Capstones

Clustering a set of points in Euclidean space is a well-known problem having applications in pattern recognition, document image analysis, big-data analytics, and robotics. While there are a lot of research publications for clustering point objects, only a few articles have been reported for clustering a given distribution of obstacles. In this thesis we examine the development of efficient algorithms for clustering a given set of convex obstacles in the 2D plane. One of the methods presented in this work uses a Voronoi diagram to extract obstacle clusters. We also consider the implementation issues of point/obstacle clustering algorithms.

Designing A Biomimetic Testing Platform For Actuators In A Series-Elastic Co-Contraction System, Ryan Tyler Schroeder

UNLV Theses, Dissertations, Professional Papers, and Capstones

Actuators determine the performance of robotic systems at the most intimate of levels. As a result, much work has been done to assess the performance of different actuator systems. However, biomimetics has not previously been utilized as a pretext for tuning a series elastic actuator system with the purpose of designing an empirical testing platform. Thus, an artificial muscle tendon system has been developed in order to assess the performance of two distinct actuator types: (1) direct current electromagnetic motors and (2) ultrasonic rotary piezoelectric motors. Because the design of the system takes advantage of biomimetic operating principles such as …

Computer-Based Stereoscopic Parts Recognition For Robotic Applications, Ahmad A. Fayed

UNLV Theses, Dissertations, Professional Papers, and Capstones

Most of robotic handling and assembly operations are based on sensors such as range and touch sensors. In certain circumstances, such as in the presence of ionizing radiation where most customary sensors will degrade over time due to radiation exposure, these sensors won't function properly. Utilizing two or more cameras (stereo vision) located outside the target zone and analyzing their images to identify location and dimensions of parts within the robot workspace is an alternative for using sensors. Object Recognition is affected by the light condition which oftentimes causes the gray-scale or red, green, and blue values to have a …

A Study Of A Novel Modular Variable Geometry Frame Arranged As A Robotic Surface, Christopher James Salisbury

UNLV Theses, Dissertations, Professional Papers, and Capstones

The novel concept of a "variable geometry frame" is introduced and explored through a three-dimensional robotic surface which is devised and implemented using triangular modules. The link design is optimized using surplus motor dimensions as firm constraints, and round numbers for further arbitrary constraints. Each module is connected by a passive six-bar mechanism that mimics the constraints of a spherical joint at each triangle intersection. A three dimensional inkjet printer is used to create a six-module prototype designed around surplus stepper motors powered by an old computer power supply as a proof-of-concept example.

The finite element method is applied to …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing, Georg F. Mauer

Fuels Campaign (TRP)

The safe and effective manufacturing of actinide-bearing fuels for any transmutation strategy requires that the entire manufacturing process be contained within a shielded hot cell environment. To ensure that the fabrication process is feasible, the entire process must be designed for remote operation. The equipment must be reliable enough to perform over several decades, and also easy to maintain or repair remotely. The facility must also be designed to facilitate its own decontamination and decommissioning. In addition to these design factors, the potential viability of any fuel fabrication process will also be impacted by a number of variables, such as …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing, Georg F. Mauer

Fuels Campaign (TRP)

The safe and effective manufacturing of actinide-bearing fuels for any transmutation strategy requires that the entire manufacturing process be contained within a shielded hot cell environment. To ensure that the fabrication process is feasible, the entire process must be designed for remote operation. The equipment must be reliable enough to perform over several decades, and also easy to maintain or repair remotely. The facility must also be designed to facilitate its own decontamination and decommissioning. In addition to these design factors, the potential viability of any fuel fabrication process will also be impacted by a number of variables, such as …

A Fuzzy Logic Controller For Autonomous Wheeled Vehicles, Mohamed Trabia, Linda Z. Shi, Neil Eugene Hodge

Mechanical Engineering Faculty Research

Autonomous vehicles have potential applications in many fields, such as replacing humans in hazardous environments, conducting military missions, and performing routine tasks for industry. Driving ground vehicles is an area where human performance has proven to be reliable. Drivers typically respond quickly to sudden changes in their environment. While other control techniques may be used to control a vehicle, fuzzy logic has certain advantages in this area; one of them is its ability to incorporate human knowledge and experience, via language, into relationships among the given quantities. Fuzzy logic controllers for autonomous vehicles have been successfully applied to address various …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing: Quarterly Progress Report #6, Kamalakar Alluri, Georg F. Mauer

Fuels Campaign (TRP)

Project Milestones

• Completed a systematic study seeking to arrive at an optimized plant configuration, using value engineering techniques in January 2006.

• Vision-based robot serving and automated plant safety monitoring is currently in progress.

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing, Georg F. Mauer

Fuels Campaign (TRP)

The safe and effective manufacturing of actinide-bearing fuels for any transmutation strategy requires that the entire manufacturing process be contained within a shielded hot cell environment. To ensure that the fabrication process is feasible, the entire process must be designed for remote operation. The equipment must be reliable enough to perform over several decades, and also easy to maintain or repair remotely. The facility must also be designed to facilitate its own decontamination and decommissioning. In addition to these design factors, the potential viability of any fuel fabrication process will also be impacted by a number of variables, such as …

Design Concepts And Process Analysis For Transmuter Fuel Manufacturing: Quarterly Progress Report #1, Jamil M. Renno, Georg F. Mauer

Fuels Campaign (TRP)

A Hot Cell robotic assembly: Pick and place dynamic simulation, including feedback control with Matlab, was developed for dispersion fuel manufacture.

The deployment of remote manufacturing of transmuter fuel is a necessity for the transmutation applications. In the reporting period, a virtual hot cell for the manufacturing of dispersion fuel was designed using MSC.visualNastran^©, ProEngineer^© and MATLAB^©. Atypical events were successfully simulated. Relevant physical quantities arising during such events were monitored as well.

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

The goal of this research project was to provide technical support to process designers working on the development of the fuel cycles for transmutation applications. Detailed process models were developed to better define the impact of fuel choice on the transmuter fuel cycle, including relative process losses, waste generation, and plant capital cost. These process models provide insight regarding required plant size and number of plants needed to mesh with the fuel recycling line. They also determine requirements for automation.

Manufacturing models for large-scale production in a hot cell environment were also developed. Combined, these two models allow the assessment …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #11, Georg F. Mauer

Fuels Campaign (TRP)

The eleventh quarter of the project covered the following:

• Mr. Richard Silva successfully defended his thesis in April 2004 and graduated from the MEG Master’s program.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Graduate Jae-Kyu Lee). Ms. Caroline Wiejak, an exchange student from the ESIEE in Marne-la-Vallee, France is continuing with the image analysis effort. To date, she has transferred Jae-Kyu’s code to Matlab, and is presently expanding its application to more complex 3D shapes.

• Graduate student Jamil Renno refined and detailed his simulations of …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #10, Georg F. Mauer

Fuels Campaign (TRP)

The tenth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot, and is close to completing his M.Sc. thesis project. Rich will likely defend his thesis in April 2004.

• A project review meeting with Dr. Mitch Meyer and other ANL scientists was held in December 2003 at ANL West, Idaho Falls, ID. Dr. Meyer described ANL long term research objectives with regard to transmuter fuel manufacturing.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #10, Georg F. Mauer

Fuels Campaign (TRP)

The tenth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot, and is close to completing his M.Sc. thesis project. Rich will likely defend his thesis in April 2004.

• A project review meeting with Dr. Mitch Meyer and other ANL scientists was held in December 2003 at ANL West, Idaho Falls, ID. Dr. Meyer described ANL long term research objectives with regard to transmuter fuel manufacturing.

• Further refinements on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object …

Design And Evaluation Of Processes For Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

The goal of this research project is to provide technical support to process designers working on the development of the fuel cycles for transmutation applications. Detailed process models are developed to better define the impact of fuel choice on the transmuter fuel cycle, including relative process losses, waste generation, and plant capital cost. These process models provide insight regarding required plant size and number of plants needed to mesh with the fuel recycling line. They also determine requirements for automation.

Manufacturing models for large-scale production in a hot cell environment are also developed. Combined, these two models allow the assessment …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #9, Georg F. Mauer

Fuels Campaign (TRP)

The ninth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• A paper on hot cell robotics was presented at the ANS Winter Annual Meeting and published in the ANS 2003 conference proceedings.

• Further advances on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

• Graduate student Jamil Renno created simulations of more complex fuel manufacturing and …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #8, Georg F. Mauer

Fuels Campaign (TRP)

The eighth quarter of the project covered the following:

· Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

· A paper submitted for ANS for the Winter Annual Meeting on hot cell robotics was accepted for presentation and publication.

· Further advances on Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

· Undergraduate student Jamil Renno created simulations of fuel pin assembly (robotic insertion of pellets …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #7, Georg F. Mauer

Fuels Campaign (TRP)

The seventh quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• Mr. Richard Silva presented a paper on hot cell robotics at the ANS student conference in Berkeley, CA.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control, focusing on rule-based object recognition (Ph.D. Student Jae-Kyu Lee)

• Undergraduate student Jamil Renno, developed better control algorithms, and created simulations of pick and place actions for the hot …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #6, Georg F. Mauer

Fuels Campaign (TRP)

The sixth quarter of the project covered the following:

• Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project. Rich is employed with Bechtel at the Yucca Mountain project.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

• An undergraduate senior student in mechanical engineering, Mr. Jamil Renno, was hired to develop the simulation model for the hot cell manipulator.

Design And Evaluation Of Processes For Transmuter Fuel Fabrication, Georg F. Mauer

Fuels Campaign (TRP)

• Project Objective: examine autonomous robotic fuel fabrication processes with regard to hot cell and equipment design, operations, and costs.

• Fabrication processes for different fuel types differ in terms of equipment types, throughput, and cost.

• Design options are restricted by the requirement to employ only radiation-hardened machinery and components

• Benefit to Department of Energy: decision support for the selection of the most suitable manufacturing process.

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #5, Georg F. Mauer

Fuels Campaign (TRP)

The fifth quarter of the project covered the following:

· Literature Search: The process of evaluating the pertinent literature continued.

· Mr. Richard Silva continued the development of a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

· Dr. Mauer presented a paper at the ANS Winter annual meeting in Washington, D.C. titled: “Design and Evaluation of Processes for Transmuter Fuel Fabrication.”

· Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

· Dr. Mauer presented a paper at …

Design And Evaluation Of Processes For Fuel Fabrication: Quarterly Progress Report #4, Georg F. Mauer

Fuels Campaign (TRP)

The fourth quarter of the project covered the following:

• Literature Search: The process of evaluating the pertinent literature continued. Results are summarized.

• Mr. Richard Silva developed a simulation model with a Waelischmiller hot cell robot. Rich will continue to develop detailed 3-D process simulation models as his M.Sc. thesis project.

• Dr. Mauer visited CEA Cadarache and CEA Marcoule in France, the institute for transuranics in Karlsruhe, and the Framatome manufacturing plant in Lingen, Germany.

• Concepts and Methods for Vision-Based Hot Cell Supervision and control (Ph.D. Student Jae-Kyu Lee )

Design And Evaluation Of Processes For Fuel Fabrication: Year 1 Final Report, Georg F. Mauer

Fuels Campaign (TRP)

The project objective is the design and evaluation of manufacturing processes for transmuter fuel fabrication. The large-scale deployment of remote fabrication and refabrication processes will be required for all transmutation scenarios. Current program emphasis is on a five-year effort to determine the feasibility of transmutation as a technology to limit the need for repository storage of spent commercial fuel. The evaluation of the fabrication processes will create a decision support data base to document design, operations, and costs. Fabrication processes required for different fuel types differ in terms of equipment types, throughput, and cost. The year 1 project was focused …

Design And Evaluation Of Processes For Fuel Fabrication: Year 1 Final Report, Georg F. Mauer

Fuels Campaign (TRP)

The project objective is the design and evaluation of manufacturing processes for transmuter fuel fabrication. The large-scale deployment of remote fabrication and refabrication processes will be required for all transmutation scenarios. Current program emphasis is on a five-year effort to determine the feasibility of transmutation as a technology to limit the need for repository storage of spent commercial fuel. The evaluation of the fabrication processes will create a decision support data base to document design, operations, and costs. Fabrication processes required for different fuel types differ in terms of equipment types, throughput, and cost. The year 1 project was focused …