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Full-Text Articles in Engineering

Motor Control Systems Analysis, Design, And Optimization Strategies For A Lightweight Excavation Robot, Austin Jerold Crawford May 2019

Motor Control Systems Analysis, Design, And Optimization Strategies For A Lightweight Excavation Robot, Austin Jerold Crawford

Theses and Dissertations

This thesis entails motor control system analysis, design, and optimization for the University of Arkansas NASA Robotic Mining Competition robot. The open-loop system is to be modeled and simulated in order to achieve a desired rapid, yet smooth response to a change in input. The initial goal of this work is to find a repeatable, generalized step-by-step process that can be used to tune the gains of a PID controller for multiple different operating points. Then, sensors are to be modeled onto the robot within a feedback loop to develop an error signal and to make the control system self-corrective ...


Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown Jan 2018

Collaborative Robotic Path Planning For Industrial Spraying Operations On Complex Geometries, Steven Brown

Theses and Dissertations

Implementation of automated robotic solutions for complex tasks currently faces a few major hurdles. For instance, lack of effective sensing and task variability – especially in high-mix/low-volume processes – creates too much uncertainty to reliably hard-code a robotic work cell. Current collaborative frameworks generally focus on integrating the sensing required for a physically collaborative implementation. While this paradigm has proven effective for mitigating uncertainty by mixing human cognitive function and fine motor skills with robotic strength and repeatability, there are many instances where physical interaction is impractical but human reasoning and task knowledge is still needed. The proposed framework consists of ...


Automated Pin-Dot Marking Effects On A709-Gr50 Steel Plate Fatigue Capacity, Michael Andrew Noernberg Dec 2017

Automated Pin-Dot Marking Effects On A709-Gr50 Steel Plate Fatigue Capacity, Michael Andrew Noernberg

Theses and Dissertations

During fabrication of multi-piece steel bridge assemblies, markings are often made on the steel surface to identify/track individual pieces or to provide reference for fabrication layout or later erection. Automated marking methods such as computer numerically controlled (CNC) pin-dot marking offer fabrication efficiencies; however, for marked steel sections subjected to frequent or repeated loading (i.e. bridge girders) many code specifications require experimental testing to verify any marking effects on fatigue capacity. In this study, the effects of automated pin-dot markings on the fatigue capacity of A709-Gr50 bridge steel are experimentally investigated from 13 specimens considering 2 marking frequencies ...


Semi-Automated Switching Regulator Modeling Method And Tool, Michael Heath Leonard May 2015

Semi-Automated Switching Regulator Modeling Method And Tool, Michael Heath Leonard

Theses and Dissertations

This thesis presents the results of research targeted at automating the behavioral modeling process for switching voltage regulators. These regulators are commonly used in many application areas including discrete use in larger systems, integrated in a System on a Chip (SoC), or as the primary use case for a design. When used in an integrated system these regulators can be a significant force in slowing down simulations. A common method for removing this slowdown is to use a behavioral model of the switching regulator.

Creating behavioral models can be very time consuming and requires expertise.

The thesis discussion begins by ...