Engineering Commons^™

Development Of A Miniature Pipe Crawler For Application In Fossil Energy Power Plants, Caique C. Lara

FIU Electronic Theses and Dissertations

The power generation of fossil fuel power plants relies on burning coal to generate steam. The heat exchange between the water and burned coal occurs in the combustion chamber, which operates at a high pressure and temperature. Monitoring the integrity of the tubes inside the combustion chamber is a key factor to avoid failures. However, this is not an easy task as some areas are hard to reach and the pipeline commonly has a complex geometry. Moreover, the inspection is typically manual, external and the environment is hazardous for humans. This thesis presents the development and testing of an electrically …

Multi-Robot Coordination And Scheduling For Deactivation & Decommissioning, Sebastian A. Zanlongo

FIU Electronic Theses and Dissertations

Large quantities of high-level radioactive waste were generated during WWII. This waste is being stored in facilities such as double-shell tanks in Washington, and the Waste Isolation Pilot Plant in New Mexico. Due to the dangerous nature of radioactive waste, these facilities must undergo periodic inspections to ensure that leaks are detected quickly. In this work, we provide a set of methodologies to aid in the monitoring and inspection of these hazardous facilities. This allows inspection of dangerous regions without a human operator, and for the inspection of locations where a person would not be physically able to enter.

First, …

A Mathematical Framework On Machine Learning: Theory And Application, Bin Shi

FIU Electronic Theses and Dissertations

The dissertation addresses the research topics of machine learning outlined below. We developed the theory about traditional first-order algorithms from convex opti- mization and provide new insights in nonconvex objective functions from machine learning. Based on the theory analysis, we designed and developed new algorithms to overcome the difficulty of nonconvex objective and to accelerate the speed to obtain the desired result. In this thesis, we answer the two questions: (1) How to design a step size for gradient descent with random initialization? (2) Can we accelerate the current convex optimization algorithms and improve them into nonconvex objective? For application, …

Robot Control For Remote Ophthalmology And Pediatric Physical Rehabilitation, Melissa Morris

FIU Electronic Theses and Dissertations

The development of a robotic slit-lamp for remote ophthalmology is the primary purpose of this work. In addition to novel mechanical designs and implementation, it was also a goal to develop a control system that was flexible enough to be adapted with minimal user adjustment to various styles and configurations of slit-lamps. The system was developed with intentions of commercialization, so common hardware was used for all components to minimize the costs. In order to improve performance using this low-cost hardware, investigations were made to attempt to achieve better performance by applying control theory algorithms in the system software. Ultimately, …

Design And Control Of A Dynamic And Autonomous Trackless Vehicle Using Onboard And Environmental Sensors, Scott R. Jagolinzer

FIU Electronic Theses and Dissertations

The purpose of this thesis is to explore the current state of automated guided vehicles (AGVs), sensors available for the vehicles to be equipped with, control systems for the vehicles to run on, and wireless technology to connect the whole system together. With a technological push towards increasing automation and maximizing the possible throughput of systems, automated technology needs to improve for trackless and wireless systems such as vehicles that can be used to move loads in a vast array of applications.

The goal of this research is to develop and propose improvements in both vehicle and control system design …

Development Of A Body For A Pneumatic Crawler For Radioactive Waste Pipelines, Jose Alfonso Matos

FIU Electronic Theses and Dissertations

The goal of this thesis was to develop a body for a crawler robot to navigate DOE Hanford Site transfer pipelines in a timely fashion. Previous work in pipe crawlers was analyzed and different configurations were studied by this author in order to design a suitable device. Tests were done in CAD to verify the device would fit and be able to travel within the confines of the pipelines’3” inner diameter and 90° elbows with 4.25”radii. Pipelines in Hanford can transition into 2” pipe and this was also taken into consideration when selecting the dimensions for the device. Manufacturing methods …