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Articles 4111 - 4140 of 77545
Full-Text Articles in Engineering
Assessment Of Wave Climate Conditions At An Important Historical And Ecological Site Along The Fort George River In Northeast Florida, Ally O. Kasuwi
Assessment Of Wave Climate Conditions At An Important Historical And Ecological Site Along The Fort George River In Northeast Florida, Ally O. Kasuwi
UNF Graduate Theses and Dissertations
This study investigated wave climate conditions at the Timucuan Preserve in northeast Florida, addressing gaps in previous shoreline erosion research that largely attributed erosion to boat wakes without detailed wave data. Field data were collected using several do-it-yourself water wave gauges. Each data collection event was for approximately one week, with an emphasis on collecting data before, during, and after periods of expected peak wave activity (i.e., holiday weekends and large-scale storms). Data were analyzed in the frequency domain to establish the likely cause of waves. Results suggested that, counterintuitively, watercraft traffic may have produced higher dominant wave periods than …
Connecting Bicyclists And Transit: A Multimodal Routing Tool With Bicycle Facilities Scoring, Raphael Y. Mrema
Connecting Bicyclists And Transit: A Multimodal Routing Tool With Bicycle Facilities Scoring, Raphael Y. Mrema
UNF Graduate Theses and Dissertations
This research develops a comprehensive, data-driven framework for assessing multimodal bicycle accessibility using open-source technologies and real-time routing data. Traditional active transportation studies often depend on proprietary GIS tools and static network datasets, which limit scalability, reproducibility, and integration with live mobility systems. In contrast, this study introduces a Python-based approach that leverages GeoPandas, the Google Maps Directions API, and General Transit Feed Specification (GTFS) data to dynamically evaluate infrastructure quality, operational stress, and multimodal connectivity. The framework was applied to Duval County, Florida, to examine how roadway design, facility type, and transit availability jointly influence bicycle network performance and …
Modeling And Analysis Of Amorphous Steel Transformer For Potential Loss Reduction In Power Systems., Daniel A. Muchow
Modeling And Analysis Of Amorphous Steel Transformer For Potential Loss Reduction In Power Systems., Daniel A. Muchow
Theses and Dissertations--Electrical and Computer Engineering
The energy consumed in power systems can be reduced directly by implementing new technologies and materials. The effort to reduce the carbon emissions expelled from the production of electrical energy has become a major focus. According to the U.S. energy Information Administration approximately 5% of all the electric generated and transmitted in the U.S. electrical grid is lost. The energy profile calculated from the usage of electrical power from all 50 states in 2021 is estimated to be 3.8 billion megawatts per hour, with a state average of just over 11 cents per MWh, producing just over 41.8 billion in …
Analysis And Design Optimization Of Synchronous Machines With Excitation Through Stator Dc Coils Or Magnets And Reluctance Rotors, Oluwaseun A. Badewa
Analysis And Design Optimization Of Synchronous Machines With Excitation Through Stator Dc Coils Or Magnets And Reluctance Rotors, Oluwaseun A. Badewa
Theses and Dissertations--Electrical and Computer Engineering
The design and optimization of electric machines face increasing demands for higher efficiency, improved torque density, manufacturability, and effective utilization of materials, particularly in applications such as electric traction and propulsion, where performance, reliability, and cost are critical. This work explores innovative synchronous machine configurations with reluctance rotors and stator-combined excitation, including permanent magnet and DC-excited topologies, to address these challenges through advanced design methodologies, computational modeling, and experimental validation. This research is relevant to address the growing demand for high-performance electric machines that combine high power density with costeffective manufacturing. The conventional limitations in power and torque density, thermal …
Development Of An Ecg-Based Deep Learning Model For Pediatric Congenital Heart Disease (Chd) Diagnosis, Annbar Mekouar
Development Of An Ecg-Based Deep Learning Model For Pediatric Congenital Heart Disease (Chd) Diagnosis, Annbar Mekouar
Selected Full-Text Master Theses 2021-
Congenital heart disease (CHD) stands as the leading congenital anomaly which affects pediatric populations throughout the world. The effectiveness of treatment depends on both early diagnosis and accurate identification but echocardiography requires manual interpretation which proves time-consuming and inconsistent especially when examining pediatric patients with their distinct cardiac systems. The research aims to create a deep learning-based diagnostic framework which uses ECG data to identify coronary artery disease subtypes in pediatric patients. The model uses high-quality datasets from Dr. Ignacio Lugones to extract R-R intervals and QRS durations through convolutional neural networks (CNNs). The system addresses pediatric-specific challenges while enhancing …
Representation Learning Of Point Cloud Data For Process Mining And Anomaly Detection In Complex Systems, Yujing Yang
Representation Learning Of Point Cloud Data For Process Mining And Anomaly Detection In Complex Systems, Yujing Yang
Industrial, Manufacturing, and Systems Engineering Dissertations - Archive
Complex systems, e.g., advanced manufacturing systems, are largely associated with dynamic and transient behaviors, resulting in condition changes and anomalies. Sensor-based condition monitoring is critical in detecting anomalies and supporting process monitoring and performance improvement for complex manufacturing systems. Traditional sensor-based monitoring approaches primarily focus on one-dimensional (1D) signals and two-dimensional (2D) images, which are limited in their ability to capture high-resolution spatial patterns pertaining to anomalies induced by systems’ condition changes, especially subtle ones. Recent advancements in three-dimensional (3D) sensing present a unique opportunity to address this limitation by enabling the capture of 3D point cloud data with micro-level …
Accelerated Aging System For Pinniped Tags, Sean Shermer, Nathan Vasquez, Deekshitha Garige
Accelerated Aging System For Pinniped Tags, Sean Shermer, Nathan Vasquez, Deekshitha Garige
Undergraduate Scholarship
This project focused on the design of an accelerated aging system intended to evaluate the durability of pinniped identification tags used in marine mammal research. The system was developed in collaboration with the Cal Poly Humboldt Marine Lab and NOAA, under the guidance of Dr. Dawn Goley, to address the limitations of field based durability testing, which is slow, inconsistent, and difficult to reproduce. The primary objective was to create a repeatable laboratory testing framework capable of simulating multiple environmental stressors experienced by pinniped tags. This includes the accelerated tests of UV radiation, mechanical abrasion, temperature cycling and biological fouling. …
The Study Of Knee And Ankle Sagittal Plane Angles For On-Court Versus Off-Court Cutting, Alexi Rebecca Hempe
The Study Of Knee And Ankle Sagittal Plane Angles For On-Court Versus Off-Court Cutting, Alexi Rebecca Hempe
Dissertations and Theses
Lower extremity injuries are common among basketball athletes. Majority of these injuries are non-contact and therefore preventable. While previous research has explored high-risk movements associated with lower extremity injuries, limited research has explored the influence of settings for these movement patterns, particularly on a basketball court. This study aims to examine the knee and ankle joint angles in the sagittal plane of a 90-degree cut for on-court versus off court. Thirteen (13) subjects, four males (19.5 ± 1.0 years of age; 198.8 ± 4.8 cm of height; 198.8 ± 13.8 lbs. of weight) and nine females (19.8 ± 1.5 years …
Optimization Of A Vertical-Axis Wind Turbine Airfoils Using Machine Learning, Numerical And Experimental Methodologies, Leovigildo Torres Angel
Optimization Of A Vertical-Axis Wind Turbine Airfoils Using Machine Learning, Numerical And Experimental Methodologies, Leovigildo Torres Angel
CGU Theses & Dissertations
This study aimed to enhance the aerodynamic performance of a Vertical-Axis Wind Turbine (VAWT) airfoil through a multidisciplinary approach that combines Machine Learning (ML), Computational Fluid Dynamics (CFD), and experimental validation. The focus was on enhancing the lift-to-drag coefficients ratio (퐶 푙 /퐶 퐷 ), particularly at higher Angles of Attack (AoA ≥ 20°), a critical operational regime for VAWTs. A baseline airfoil of 12-inch chord length and 10-inch wingspan was analyzed using ANSYS Fluent across a range of AoA (0°–90°) at a constant freestream velocity of 10 m/s (Re ≈ 2.0 × 10 5 ). This served as a …
Centralized Deep Reinforcement Learning For Homogeneous Multi-Component Maintenance Optimization, Joseph W. Wittrock
Centralized Deep Reinforcement Learning For Homogeneous Multi-Component Maintenance Optimization, Joseph W. Wittrock
Theses and Dissertations
This thesis explores an application of reinforcement learning (RL) in maintenance optimization. Recent advances in hardware-accelerated computation and deep learning have made RL a powerful tool for solving optimization problems which are too complex for traditional methods. Maintenance optimization involves improving the efficiency and effectiveness of maintenance activities through data-driven approaches, ultimately reducing costs and increasing asset availability. Making informed maintenance decisions is crucial to long-term sustainability.
A desirable maintenance policy maximizes a utility signal while minimizing the cost of maintenance. Techniques in sequential decision making such as dynamic programming (DP) and RL have found success in optimizing these maintenance …
Boys Build, Girls Glam: An Examination Of Adult Language Use In Informal Steam Education Settings, Alexandra Horton
Boys Build, Girls Glam: An Examination Of Adult Language Use In Informal Steam Education Settings, Alexandra Horton
Theses and Dissertations
Research on STEAM education has primarily focused on formal education settings such as schools, with more research needed in informal or non-traditional education settings. As children frequently engage with informal and non-traditional education settings, it is important to understand how we can transmit information in these settings to bolster and further the learning process and increase engagement. STEAM fields have been plagued by racial and gender inequities that have led to these groups being marginalized and excluded (Blair et al., 2017; Eaton et al., 2020; Martin, 2018; Martin & Phillips, 2019; Miller et al., 2018; Newall et al., 2018, Sheffield …
แนวทางการบูรณาการโครงการความรับผิดชอบต่อสังคม กรณีศึกษากองทัพอากาศไทย, ศิริกัญญารัตน์ สวนสีดา
แนวทางการบูรณาการโครงการความรับผิดชอบต่อสังคม กรณีศึกษากองทัพอากาศไทย, ศิริกัญญารัตน์ สวนสีดา
Chulalongkorn University Theses and Dissertations (Chula ETD)
การศึกษาครั้งนี้มีวัตถุประสงค์เพื่อเสนอแนวทางการบูรณาการโครงการความรับผิดชอบต่อสังคมขององค์กร (CSR Integration) ของกองทัพอากาศให้เชื่อมโยงกับวิสัยทัศน์ พันธกิจ ภารกิจหลักด้านความมั่นคง ยุทธศาสตร์ชาติ 20 ปีและเป้าหมายการพัฒนาที่ยั่งยืน (SDGs) โดยการทบทวนวรรณกรรมร่วมกับการสัมภาษณ์เชิงลึกกับผู้ที่เกี่ยวข้อง ซึ่งผลการศึกษาพบว่า กองทัพอากาศมีศักยภาพอย่างมากในการดําเนินกิจกรรมความรับผิดชอบต่อสังคมขององค์กรที่มุ่งเน้นการช่วยเหลือ สร้างความเข้าใจและความสัมพันธ์อันดีกับประชาชน แต่มีข้อจํากัดสําคัญ ได้แก่ การขาดความต่อเนื่องของโครงการจากการโยกย้ายกําลังพล ขาดระบบส่งต่องาน การประชาสัมพันธ์ที่ไม่ทั่วถึง ซึ่งแนวทางบูรณาการโครงการความรับผิดชอบต่อสังคมของกองทัพอากาศทั้งหมด 5 โครงการ ได้แก่ (1) โครงการด้านสุขภาพและคุณภาพชีวิต (2) โครงการพัฒนาศักยภาพคนและการศึกษา (3) โครงการสังคมปลอดภัยและวัฒนธรรมรับผิดชอบร่วม (4) โครงการชุมชนสีเขียว และ (5) โครงการพลังงานสีเขียวและการรับมือการเปลี่ยนแปลงสภาพภูมิอากาศ จะช่วยให้กิจกรรมความรับผิดชอบต่อสังคมของกองทัพอากาศที่มีอยู่ได้รับการต่อยอดและเชื่อมโยงกับเป้าหมายการพัฒนาที่ยั่งยืน (SDGs) จากเดิม 6 ด้านเป็น 13 ด้าน อีกทั้งขยายผลกรอบแนวคิด The “5 Ps” เพิ่มเติมใน 4 ด้าน ได้แก่ Planet People Prosperity และPartnership ที่ครอบคลุม ESG ได้ทุกด้าน รวมถึงเสนอการพัฒนาเชิงนโยบาย 4 ระดับ ตั้งแต่ระดับยุทธศาสตร์ องค์กร บุคลากร และสังคม เพื่อขับเคลื่อนกองทัพอากาศไปสู่การบูรณาการเชิงยุทธศาสตร์และการสร้างคุณค่าร่วม (CSV) สามารถพัฒนาเป็น “กองทัพเพื่อความมั่นคงและความยั่งยืนแห่งชาติ” ได้อย่างเป็นรูปธรรม
Study Of Deep Neural Network Trained With Salient, Compressed Medical Video Data For Enhanced Predication, Aileen Sengupta
Study Of Deep Neural Network Trained With Salient, Compressed Medical Video Data For Enhanced Predication, Aileen Sengupta
Electrical Engineering Dissertations - Archive
The rapid growth of surgical video analysis presents a need for efficient deep learning models for surgical training, while reducing the need for excessive image and video image storage. Traditional training approaches typically rely on uniformly compressed video data, instead of selectively preserving the most surgically relevant regions. This dissertation investigates the impact of training deep neural networks (DNNs), both convolutional and transformer-based architectures, on saliency-guided, differentially compressed surgical video sequences. The study systematically evaluates how such compression influences prediction accuracy, computational efficiency and storage requirements. Experimental results demonstrate that models trained on ROI-focused compressed data combined with motion vectors …
Correlation Of Internal Pressure To The Fundamental Aging Mechanism Of Li-Ion Batteries, Kayla Garcia
Correlation Of Internal Pressure To The Fundamental Aging Mechanism Of Li-Ion Batteries, Kayla Garcia
Electrical Engineering Theses - Archive
As technology continues to evolve, the demand for more reliable and longer-lasting batteries is growing rapidly in the electronics industry. Batteries are vital for powering a wide range of technologies, from smartphones and consumer electronics to automotive systems and high-end tools used across multiple sectors. Lithium-ion batteries (LIBs) have helped bridge the power and energy gap that these different technologies require while achieving sufficient efficiency and reliability to make carrying them around feasible and long lasting. To further enhance the performance and longevity of a these devices, a deeper understanding of the degradation mechanisms occurring inside LIBs is crucial. The …
Design And Validation Of A Multiple Axis, Passive 3d-Printed Ankle-Foot Prosthetic For Functional Gait, Brogan Rene Landeen
Design And Validation Of A Multiple Axis, Passive 3d-Printed Ankle-Foot Prosthetic For Functional Gait, Brogan Rene Landeen
Dissertations and Theses
By 2050, an estimated 3.6 million individuals will be living with lower limb loss, with transtibial (below the knee) amputations being the most common type of lower limb surgery. Prosthetic devices are the standard of care for rehabilitating these amputees; each device is explicitly designed to enhance stability, energy storage and release, flexibility, and active propulsion. Prosthetic selection is based on user specifications, including activity level, comfort, and anthropometry. Despite the consensus that prosthetics help to restore impaired gait, traditional, commercial prosthetics fabricated with carbon fiber via injection molding are expensive and often require multiple modifications by a prosthetist before …
Coastal Flooding Along The Lower Brazos During The Landfall Of Hurricane Beryl -A Model-Based Investigation, Sabiha Tasnuva Khan
Coastal Flooding Along The Lower Brazos During The Landfall Of Hurricane Beryl -A Model-Based Investigation, Sabiha Tasnuva Khan
Civil Engineering Theses - Archive
Hurricane Beryl generated a complex hydrodynamic response along the Texas coast and Lower Brazos River, producing storm surge, elevated coastal water levels, intense rainfall, and widespread inundation. Low-gradient coastal rivers such as the lower portion of the Brazos River are particularly sensitive to the interaction of these drivers, yet the inland decay of surge energy and its interplay with watershed runoff remain poorly quantified. This study aims to characterize the physical mechanisms controlling water-level amplification, flow reversal, surge attenuation, and inundation development during Hurricane Beryl along the Lower Brazos and to determine the relative contributions of surge and rainfall to …
Little Problems: Photosynthetic Textile Treatments As A Source Of Oxygen, Morgan Campbell
Little Problems: Photosynthetic Textile Treatments As A Source Of Oxygen, Morgan Campbell
Open Access Master's Theses
During human space travel, oxygen (O2) must be stored and carried aboard the shuttle for the entire journey; compressed O2 is highly flammable and combustible, thus doing so puts the crew’s lives at risk in the event of a fire (Mandel, 2019). By creating O2 onsite, the necessity of compressed O2 canisters and the associated risks can be reduced or erased entirely. Photosynthesis, the process through which plants convert atmospheric carbon dioxide (CO2) into O2, is one method of creating O2 (Lorch, 2020). The National Aeronautics and Space Administration (NASA) has experimented with photosynthetic O2 systems since its inception but …
Strategic Trailing Edge Reinforcement Of Wind Turbine Blades Using Honeycomb Polymer Inserts, Raffaele Cuorvo
Strategic Trailing Edge Reinforcement Of Wind Turbine Blades Using Honeycomb Polymer Inserts, Raffaele Cuorvo
Open Access Master's Theses
The structural integrity of wind turbine blades is critical to their performance and durability, particularly under compressive loads at the trailing edge, which is prone to local buckling and material failure. This study explores a reinforcement strategy of a glass fiber composite blade trailing edge involving the integration of a honeycomb-structured thermoplastic polyurethane (TPU) core spanwise, aiming to enhance compressive strength and mitigate material failure. Finite element analysis was employed to assess the baseline performance of a composite blade and to evaluate the effects of the proposed reinforcement. The results demonstrate a substantial reduction in failure indicators within the critical …
Advancing Wind Turbine Blade Longevity Through Innovative Trailing Edge Reinforcement Using Auxetic Tpu Structures, Gianluca Provvisiero
Advancing Wind Turbine Blade Longevity Through Innovative Trailing Edge Reinforcement Using Auxetic Tpu Structures, Gianluca Provvisiero
Open Access Master's Theses
The trailing edge of wind turbine blades represents one of the most failure prone regions due to local buckling phenomena and repeated mechanical stresses. This thesis explores a specific reinforcement strategy aimed at extending blade longevity by integrating Re-entrant honeycomb structures made of thermoplastic polyurethane (TPU) within the trailing edge. By numerically identifying and targeting high stress zones, the insertion of lightweight auxetic TPU foam enhances local stiffness and mitigates premature failure without compromising aerodynamic performance. Finite Element Analysis (FEA) simulations demonstrate the effectiveness of this approach when compared to blades models without any internal reinforcement. The methodology of this …
Development Of An Autonomous Lab-On-Paper Device For Enzymatic Activity Assays- Proof Of Concept, Cameron Hahn
Development Of An Autonomous Lab-On-Paper Device For Enzymatic Activity Assays- Proof Of Concept, Cameron Hahn
Open Access Master's Theses
This work aims to build on URI’s autonomous Lab on Paper (LoP) platform technology, which was used to conduct enzyme-linked immunosorbent assays (ELISAs), to conducting enzymatic activity assays. This requires new optimizations and designs to accommodate the test. In this work we use alkaline phosphatase (ALP) enzyme as the model analyte for the proof-of-concept. To accompany the new device, new MATLAB analytical tools were written and tested, to aid in robust colorimetric signal analysis. The test fixture was designed to be reusable, when a new paper circuit and reagent vials are supplied, however, it was assumed that an eventual final …
Quantification Of The Effects Of Irradiation On The Dynamic Compressive Properties And Fracture Toughness Of Naval Materials, Keevan Winters
Quantification Of The Effects Of Irradiation On The Dynamic Compressive Properties And Fracture Toughness Of Naval Materials, Keevan Winters
Open Access Master's Theses
The investigation of materials used in naval environments, especially those exposed to radiation, is crucial for ensuring the structural integrity and longevity of naval vessels. This study explores the mechanical properties of high-strength steel (HY-80), two types of epoxy-based syntactic foam (Pink and White), and polyurea, provided by General Dynamics Electric Boat. These materials were tested in both virgin and irradiated states under dynamic and quasi-static loading conditions using a Split-Hopkinson Pressure Bar (SHPB) and an INSTRON 3366 for fracture testing. The study particularly focuses on changes in strain energy density and fracture toughness as indicators of material behavior in …
Finite Element Modeling Of Offshore Wind Monopile Impact Pile Driving In Comsol Multiphysics, Brendan J. Giordano
Finite Element Modeling Of Offshore Wind Monopile Impact Pile Driving In Comsol Multiphysics, Brendan J. Giordano
Open Access Master's Theses
The primary foundation type for offshore wind farms are large-diameter monopiles, which are installed with an impact hammer that produces a high-intensity, broadband impulsive signal that radiates acoustic energy in the water column and seafloor. This signal generates multiple waves such as compressional, shear and Scholte (or interface) waves. Scholte waves travel on the water-sediment interface and contain high-intensity, low-frequency energy that benthic species of fish and invertebrates could possibly detect. COMSOL Multiphysics, which is a finite element modeling software, was used to develop two transient models of impact pile driving to measure Scholte wave particle motion (displacement, velocity, acceleration) …
Implosion Of Aluminum Cylindrical Shells Within Varying Confinement Structures, Samuel Hayden
Implosion Of Aluminum Cylindrical Shells Within Varying Confinement Structures, Samuel Hayden
Open Access Master's Theses
The objective of this work was to further understand the fluid-structure interaction resulting from the instability of aluminum cylindrical shells within underwater pressurized confined environments. A confined environment is defined as a restricted fluid domain in which nearby structures influence fluid motion and limit the potential energy available in the system. This work consisted of multiple experimental implosion investigations involving various confinement structures while systematically varying parameters which influence the implosion event. The first study examined the effects of varying one-dimensional fluid flow into a partially confined cylindrical structure, along with variations in the geometry of the implodable volume, while …
Predicting The State Of Health Of Samsung 25r Lithium Ion Batteries, Matthew O'Donnell
Predicting The State Of Health Of Samsung 25r Lithium Ion Batteries, Matthew O'Donnell
Open Access Master's Theses
This thesis may contain material at the Controlled Unclassified Information (CUI) level. The full document cannot be released.
Flexural Response Of Inflatable Drop-Stitch Panels, Alex J. Watterson
Flexural Response Of Inflatable Drop-Stitch Panels, Alex J. Watterson
Open Access Master's Theses
All CUI (Controlled Unclassified Information) is U.S. government property and has been removed from this thesis.
A System To Test Selective Directional Laser Melting Of 3d Printed Metal Surfaces, Daniel A. Marasco
A System To Test Selective Directional Laser Melting Of 3d Printed Metal Surfaces, Daniel A. Marasco
Open Access Master's Theses
This thesis contains Controlled Unclassified Information (CUI). CUI has been removed from this copy of the thesis.
Hardware Implementation Of An Efficient Frequency Comb Generator For Microwave Kinetic Inductance Detectors, Frank Atobrah Danso
Hardware Implementation Of An Efficient Frequency Comb Generator For Microwave Kinetic Inductance Detectors, Frank Atobrah Danso
Open Access Master's Theses
The frequency comb generator is an essential component in the readout of superconducting detectors. This component is responsible for generating the resonant frequencies necessary to detect photon interaction with the detectors. This component however has not received the much needed attention in terms of readout systems optimization. Conventional implementations rely on either inverse fast Fourier transform (IFFT) engines, which scale poorly in power with increasing frequency resolution requirement but allow flexible tone updates, or lookup tables (LUTs), which demand large memory for high frequency resolution.
Microwave Kinetic Inductance Detectors (MKIDs) are superconducting detectors which have gained significant interest for cryogenic …
Design And Development Of A System That Characterizes Highintensity Gamma Fields From Rinsc Nuclear Fuel, Michael Peters
Design And Development Of A System That Characterizes Highintensity Gamma Fields From Rinsc Nuclear Fuel, Michael Peters
Open Access Master's Theses
Nuclear energy is a form of energy that utilizes the fissile nature of uranium, or other fissionable elements, to produce heat. In a uranium core, this reaction consists of a thermalized neutron being absorbed by the uranium nucleus, splitting the atom, and thus creating two subsequent fission products, along with the release of three neutrons, heat, and gamma radiation. These fission products are randomly generated elements, commonly in the form of isotopes of iodine, cesium, strontium, xenon, and barium. Although the type of fission products is known, much is still unknown about the nature of these isotopes, such as their …
Evaluation Of Polymer Coated Fabrics Subjected To Various Multiaxial Stress States, Shane Marx
Evaluation Of Polymer Coated Fabrics Subjected To Various Multiaxial Stress States, Shane Marx
Open Access Master's Theses
All CUI (Controlled Unclassified Information) is U.S. government property and has been removed from this thesis.
Tracking Control Of A String Actuated Soft Trunk Robot Using State-Space Modeling, Jacob Trivisonno
Tracking Control Of A String Actuated Soft Trunk Robot Using State-Space Modeling, Jacob Trivisonno
Open Access Master's Theses
Soft robots, primarily composed of compliant materials, exhibit highly complex and nonlinear dynamics, making precise control a significant challenge. Traditional control methods often struggle with these complexities, requiring more advanced and data-driven methods. In our previous work, “Automatic Control of a Soft Trunk Robot Actuated by Strings” [1], a proportional controller was developed to drive the steady-state tracking error to zero. While this method was effective, it required time-consuming manual tuning and was not easily adaptable to physical modifications of the robot.
To address these limitations, this research implements gain-scheduled feedback control with state-space models calculated through a multiple linear …