Engineering Commons^™

Verification And Validation Of Robot Manipulator Adaptive Control With Actuator Deficiency, Sebastian Comeaux

Doctoral Dissertations and Master's Theses

This work addresses the joint tracking problem of robotic manipulators with uncertain dynamical parameters and actuator deficiencies, in the form of an uncertain control effectiveness matrix, through adaptive control design, simulation, and experimentation. Specifically, two novel adaptive controller formulations are implemented and tested via simulation and experimentation. The proposed adaptive control formulations are designed to compensate for uncertainties in the dynamical system parameters as well as uncertainties in the control effectiveness matrix that pre-multiplies the control input. The uncertainty compensation of the dynamical parameters is achieved via the use of the desired model compensation–based adaptation, while the uncertainties related to …

Reliability Modeling And Improvement Of Critical Infrastructures: Theory, Simulation, And Computational Methods, José Carlos Hernández Azucena

Graduate Theses and Dissertations

This dissertation presents a framework for developing data-driven tools to model and improve the performance of Interconnected Critical Infrastructures (ICIs) in multiple contexts. The importance of ICIs for daily human activities and the large volumes of data in continuous generation in modern industries grant relevance to research efforts in this direction. Chapter 2 focuses on the impact of disruptions in Multimodal Transportation Networks, which I explored from an application perspective. The outlined research directions propose exploring the combination of simulation for decision-making with data-driven optimization paradigms to create tools that may provide stakeholders with optimal policies for a wide array …

Student Reliance On Simulations: The Extent That Engineering Students Rely On The Outcomes Of Their Simulations, Jonathan Anderson

All Graduate Theses and Dissertations, Fall 2023 to Present

The purpose of this research was to investigate the factors that contributed to engineering education students’ reliance on technology while learning new concepts. The researcher hypothesized that students would give reliance to their technology, even in the face of evidence that the technology was not working as intended. This research used a mixed-methods approach to answer the research questions. Three questions guided the research: (1) How are the participant’s level of automation complacency and the correctness of the simulation that participant is using related?; (2) How is automation bias related to a participant’s ability to recognize errors in a simulation?; …

Estimated Aerodynamic Forces And Moments And Optimal Orientation Of The V-Bat Airframe During Vertical Landing In Gusty Conditions, Parker C. Carter

All Graduate Theses and Dissertations, Fall 2023 to Present

Ship based Unmanned Air Systems (UAS) are an important tool used by the United States Navy for situational awareness and short-range operations. Naval UAS are used to provide real-time intelligence, surveillance, reconnaissance, and target-acquisition while being low cost, mission flexible, and safe. Unfortunately UAS suffer disadvantages with respect to adverse environmental conditions caused by the air being displaced by the ship. The accumulation of one or more adverse conditions is known as airwake. To counteract the effects of airwake, the objectives of this work are to first evaluate the effect of forces and moments during the vertical landing phase of …

Improving Multi-Crane Planning On Construction Sites, Ali Khodabandelu

UNLV Theses, Dissertations, Professional Papers, and Capstones

Designing the configuration of tower cranes, managing their operations, and coordinating material logistics are intricate processes that wield significant influence over the time, cost, productivity, and safety of construction projects. This complexity stems from the multitude of layout configurations, diverse crane types, varied tasks, and material supply points, all interacting within a dynamic environment. Collisions pose a heightened risk due to overlapping crane areas, further adding complexity to the planning of crane layouts and operations. Optimizing crane layout and operational planning while ensuring safety requires establishing effective connections between tasks, cranes, and material supply locations. Traditionally, research and industry practices …

Equation-Based And Data-Driven Modeling: Open-Source Software Current State And Future Directions, Lagrande Gunnell, Bethany Nicholson, John Hedengren

Faculty Publications

A review of current trends in scientific computing reveals a broad shift to open-source and higher-level programming languages such as Python and growing career opportunities over the next decade. Open-source modeling tools accelerate innovation in equation-based and data-driven applications. Significant resources have been deployed to develop data-driven tools (PyTorch, TensorFlow, Scikit-learn) from tech companies that rely on machine learning services to meet business needs while keeping the foundational tools open. Open-source equation-based tools such as Pyomo, CasADi, Gekko, and JuMP are also gaining momentum according to user community and development pace metrics. Integration of data-driven and principles-based tools is emerging. …

Dc Grid Power Congestion Management Laboratory Experiments, Holly Engelbrecht, Diego Zuidervliet, Peter Van Duijsen

Research Papers

In the process of the electrical energy transition, a new curriculum for bachelor electrical engineering is developed. A new development is DC grids, as they are shown to be promising in solving the power congestion management problem. Particularly when adding solar power, battery storage, and load appliances including power electronics, DC grids are replacing AC grids, especially in micro-grids. The development of new laboratory experiments using three educational methods is described in this paper. First, theory combined with online calculation tools is used to prepare the students for the subject. Second, the experiment has to be prepared using simulation tools, …

Multi-Factor Optimization Of Bio-Methanol Production Through Gasification Process Via Statistical Methodology Coupled With Genetic Algorithm, Amin Hedayati Moghaddam, Morteza Esfandyari, Dariush Jafari, Hossein Sakhaeinia

Department of Civil and Environmental Engineering: Faculty Publications

This work innovatively explores the bio-methanol production process, conducts comprehensive analyses, develops statistical models, and optimizes operational conditions, contributing valuable insights to the field of sustainable energy production from biomass. Accordingly, bio-methanol production from biomass through gasification route was investigated and simulated using Aspen Plus software. The effects of operational parameters on energy duty of gasification reactor and the methanol production rate in syngas to methanol reactor were investigated. The parameters affecting the process performance including temperature, pressure, and steam/feed ratio were examined using the response surface methodology (RSM) by central composite design (CCD) technique. Analysis of variance (ANOVA) was …

Multi-Factor Optimization Of Bio-Methanol Production Through Gasification Process Via Statistical Methodology Coupled With Genetic Algorithm, Amin Hedayati Moghaddam, Morteza Esfandyari, Dariush Jafari, Hossein Sakhaeinia

Department of Civil and Environmental Engineering: Faculty Publications

This work innovatively explores the bio-methanol production process, conducts comprehensive analyses, develops statistical models, and optimizes operational conditions, contributing valuable insights to the field of sustainable energy production from biomass. Accordingly, bio-methanol production from biomass through gasification route was investigated and simulated using Aspen Plus software. The effects of operational parameters on energy duty of gasification reactor and the methanol production rate in syngas to methanol reactor were investigated. The parameters affecting the process performance including temperature, pressure, and steam/feed ratio were examined using the response surface methodology (RSM) by central composite design (CCD) technique. Analysis of variance (ANOVA) was …

Understanding Melt Pool Characteristics In Laser Powder Bed Fusion: An Overview Of Single- And Multi-Track Melt Pools For Process Optimization, Jincheng Wang, Rui Zhu, Yujing Liu, Laichang Zhang

Research outputs 2022 to 2026

Laser powder bed fusion (LPBF) has made significant progress in producing solid and porous metal parts with complex shapes and geometries. However, LPBF produced parts often have defects (e.g., porosity, residual stress, and incomplete melting) that hinder its large-scale industrial commercialization. The LPBF process involves complex heat transfer and fluid flow, and the melt pool is a critical component of the process. The melt pool stability is a critical factor in determining the microstructure, mechanical properties, and corrosion resistance of LPBF produced metal parts. Furthermore, optimizing process parameters for new materials and designed structures is challenging due to the complexity …

Cloud-Edge Collaborative Service Architecture For Lvc Training System, Peng Yong, Miao Zhang, Yue Hu

Journal of System Simulation

Abstract: LVC training, an important means of military training, has received great attention from military and M&S experts. As the virtual and physical elements become more abundant and deeply integrated, LVC training systems become increasingly complex. Aiming at physical-virtual connection, information interaction, simulation computation, run-time control, etc., this paper designs a cloud-edge collaborative service architecture for LVC training systems (CESA-LVC) by reference to cyber-physical systems and cloud-edge computing architectures. CESA-LVC standardizes the structures of LVC training systems from several aspects of intelligent real-time interconnection, joint simulation computation, training auxiliary service, training cognitive decision, and dynamic configuration optimization. It provides a …

Virtual Prototyping Of Pebb Based Power Electronics System For Ground Vehicles, Yi Li

All Theses

Power electronics are heavily involved in power and energy systems in plenty of applications nowadays. The increase of demand brings more challenges into simulations for development. Considering the complexity of the systems and high frequency operational conditions, this paper presents comprehensive research on modeling, simulating, and validation on ground vehicle propulsion system applications.

To reduce the computational burden, the Power Electronics Building Blocks concept is utilized to simplify the structure of modeling under different conversion scenarios in ground vehicle systems. In addition, the Average and Switching versions models are included. To speedup the simulation, the engagement of advanced computing technique …

Improved Vehicle-Bridge Interaction Modeling And Automation Of Bridge System Identification Techniques, Omar Abuodeh

All Dissertations

The Federal Highway Administration (FHWA) recognizes the necessity for cost-effective and practical system identification (SI) techniques within structural health monitoring (SHM) frameworks for asset management applications. Indirect health monitoring (IHM), a promising SHM approach, utilizes accelerometer-equipped vehicles to measure bridge modal properties (e.g., natural frequencies, damping ratios, mode shapes) through bridge vibration data to assess the bridge's condition. However, engineers and researchers often encounter noise from road roughness, environmental factors, and vehicular components in collected vehicle signals. This noise contaminates the vehicle signal with spurious modes corresponding to stochastic frequencies, impacting damage monitoring assessments. Thus, an efficient and reliable SI …

A Cohesive Simulation And Testing Platform For Civil Autonomous Aerial Sensing And Operations, Stockton G. Slack

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Drones (also known as sUAS or small Uncrewed Aerial Systems) are often flown with cameras to take images of an area of land. These images can then be used to create a map by stitching these images together. This map can then be analyzed using scientific principles to learn things about the land and make decisions or take action based on the information.

The scientific application of drones is very advantageous, but flying a drone is inherently dangerous, impacting the safety of the airspace (particularly in the event of a crash), and drones are more dangerous the bigger they are. …

A Review On Membrane Fouling Prediction Using Artificial Neural Networks (Anns), Waad H. Abuwatfa, Nour Al Sawaftah, Naif Darwish, William G. Pitt, Ghaleb A. Husseini

Faculty Publications

Membrane fouling is a major hurdle to effective pressure-driven membrane processes, such as microfiltration (MF), ultrafiltration (UF), nanofiltration (NF), and reverse osmosis (RO). Fouling refers to the accumulation of particles, organic and inorganic matter, and microbial cells on the membrane’s external and internal surface, which reduces the permeate flux and increases the needed transmembrane pressure. Various factors affect membrane fouling, including feed water quality, membrane characteristics, operating conditions, and cleaning protocols. Several models have been developed to predict membrane fouling in pressure-driven processes. These models can be divided into traditional empirical, mechanistic, and artificial intelligence (AI)-based models. Artificial neural networks …

Numerical Design And Optimization Of Near-Infrared Band- Pass Filter, Hafiza Syeeda Faiza, Ghazi Aman Nowsherwan, Basem A. Abu Izneid, Muhammad Azhar, Saira Riaz, Syed Sajjad Hussain, Saira Ikram, Mohsin Khan, Shahzad Naseem, Mohammad Kanan, Ibrahim M. Mansour

Applied Mathematics & Information Sciences

Band-pass filters functioning in the near-infrared (IR) range are desired for laser technology, multi-photon fluorescence, and IR imaging applications. In this study, we have designed four band-pass filters in the near Infrared spectrum (900-1200 nm) by vertically stacking different high and low-index materials. The band-pass filters are modelled by Essential Macleod software with different thicknesses. The layer’s thicknesses were optimized in such a way to provide the negligible reflectance and maximum transmission on the front side. All the simulated band-pass filters exhibit high transmittance, but TiO2/Al2O3 and Ta2O5/Al2O3 outperforms other modelled structure in terms of performance due to the better …

Topological Interpolation Method For Modeling Dynamic Systems, Isamiddin Xakimovich Siddikov, Dilnoza Maxamadjanovna Umurzakova

Chemical Technology, Control and Management

The method of simulation structural-complex continuous-discrete control systems is discussed. For simulation and calculation of dynamic processes in continuous-discrete systems topological interpolation method is proposed, based on application of hybrid methods of space of state variables and interpolation of signals. The essence of the method is that the dynamics of the investigated system, considered at the final interval, is broken down into subintervals, on each of which the processes are described by linear ordinary system differential equations. The computational efficiency of the proposed method was evaluated by comparison with standard methods such as the Runge-Kutta-Merson method. The use of this …

A Fluid Flow Queuing Network Model For Performance Analysis Of Bulk Liquid Terminals, Debjit Roy, Werner Scheinhardt, Jan-Kees Van Ommeren

International Material Handling Research Colloquium

No abstract provided.

Decision Rules For The Robotic Mobile Fulfillment System Of A Pcb Assembly Factory Warehouse, Ching-Jung Ting, Hendra Permana, Hsien-Mi Meng

International Material Handling Research Colloquium

No abstract provided.

Warehouse Robotization With Wheel.Me Genius: A Puzzle-Based Movable Racks System, Fabio Sgarbossa, Martin Amaral Halseide, Atle Timenes

International Material Handling Research Colloquium

No abstract provided.

Resources Based Planning Framework For Infrastructure Maintenance And Rehabilitation Projects, Heba Gad

Theses and Dissertations

Infrastructure maintenance and rehabilitation projects involve activities scattered over a large geographical area (e.g., scattered road segments maintenance, telecom towers maintenance program, etc.). Planning such projects require a resource-based approach that accounts for the implications of resource mobility between activities’ locations in terms of time & cost. Existing scheduling techniques fall short of addressing the unique challenges of the scattered nature of these projects in combination with organization's limited resources availability. To address this need, this research presents a resources-based planning framework for infrastructure maintenance and rehabilitation scattered projects with the objective of enhancing resources utilization achieving time and cost …

Unlocking Road Stability: Machine Learning-Powered Prediction Of Bitumen Distortion Under Traffic Flow Influence, Sabahudin Vrtagic, Milan Dordevic, Fatih Dogan, Muhammed Codur, Mario Hoxha, Edis Softic

Materials Science and Engineering Faculty Research & Creative Works

Road intersections are made of asphalt pavement, a popular road surface material used worldwide. The pavement may suffer deformities and deterioration, resulting in higher maintenance expenses and an elevated likelihood of road accidents, due to factors such as heavy vehicles and environmental variables like temperature and rainfall. To tackle these obstacles, researchers have devised several machine-learning algorithms and optimization techniques. These tools aim to forecast and scrutinize pavement deformation, with the goal of refining pavement design and maintenance approaches, as well as obtaining a more comprehensive comprehension of the factors that impact pavement effectiveness. This paper shows that heavy vehicles …

Numerical Simulation Of Concrete Beams With Discontinuity Regions Reinforced With Nonmetallic Reinforcing Bars, Amena Mohammad Ousama

Theses

Nonmetallic Glass Fiber-Reinforced Polymer (GFRP) reinforcing bars are considered a viable alternative to the conventional steel reinforcement because of their high strength-to-weight ratio and noncorrosive nature. This research aimed to investigate the nonlinear structural behavior of GFRP-reinforced concrete beams with discontinuity regions (D-regions) through numerical analysis. Three-dimensional (3D) numerical models were developed to simulate the nonlinear structural behavior of GFRP-reinforced deep beams with and without web openings. The models adopted realistic constitutive laws that accounted for the nonlinear behavior of the materials used. Predictions of the numerical models were validated against published experimental data. A parametric study was conducted to …

Refactoring Dependency Loading And Standardizing Factory Patterns In The Horizon Simulation Framework, Jack W. Kelly

Master's Theses

The Horizon Simulation Framework (HSF) is an open-source community driven mod- eling and simulation tool developed over 15 years by a lineage of Cal Poly graduate students. The tool excels in its flexibility to model an assortment of complex systems, with prebuilt modeling elements available for the simulation of space missions. A high-level simulation tool like HSF lends itself to an agile development cycle as system constraints can be quickly identified through day in the life simulation of the modeled system. The objective of the work presented in this thesis is to refactor the way in which several modeling elements …

Opensim-Based Musculoskeletal Modeling: Foundation For Interactive Obstetric Simulator, Bahador Dodge

Electrical & Computer Engineering Theses & Dissertations

The use of mathematical and computational models to understand complex biological systems, such as the human birth process, is a rapidly growing field in medicine. These models can be used to optimize and personalize medical treatments for individual patients, enhance training, and aid in educational efforts. While recent advancements in healthcare, particularly in obstetrics, have improved care for mothers and babies, studies and government reports indicate a rising rate of maternal mortality in the United States.

Despite this rising trend, there is a lack of detailed studies concerning the use of modeling and simulation to develop an interactive obstetrics simulator …

Formation Control Of Multiple Quadrotors, Miguel Alejandro Garcia

Theses and Dissertations

This thesis studies formation control of multiple quadrotors under different conditions. Two controller design approaches are proposed. In the first approach, it is assumed that the dynamics of each quadrotor is unknown and there is disturbance. With the aid of distributed estimation and the universal approximation property of neural networks, distributed tracking controllers are proposed. Simulation shows the effectiveness of the proposed controllers. In the second approach, it is assumed that the inertia parameters are unknown. With the aid of distributed estimation, online data estimation, and optimal control theory, distributed sub-optimal tracking controllers are proposed. Simulation results show the effectiveness …

Procedural City Generation With Combined Architectures For Real-Time Visualization, Griffin Poyck

All Theses

The work and research of this paper sought to build upon traditional city generation and simulation in creating a tool that both realistically simulates cities and their prominent features and also creates aesthetic and artistically rich cities using assets that combine several contemporary or near contemporary architectural styles. The major city features simulated are the surrounding terrain, road networks, individual buildings, and building placement. The tools used to both create and integrate these features were created in Houdini with Unreal Engine 5 as the intended final destination. This research was influenced by the city, town, and road networking of Ghost …

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Dpd Guided Insight On The Formation Process Of Polyethersulfone Membranes By Nonsolvent Induced Phase Separation And The Effects Of Additives, Eric Ledieu

Graduate Theses and Dissertations

Dissipative particle dynamics (DPD), a coarse grain simulation method, was applied to the membrane formation process of non-solvent induced phase separation (NIPS) to gain further insight on the mechanism of certain variables and how they affect the final morphology. NIPS involves two solutions, an organic polymer dissolved in an organic solvent colloquially called the dope and an aqueous coagulation bath, brought into contact with one another. The solvents then mix, causing the polymer to fall out of solution as an asymmetric membrane with a dense surface layer and a more open subsurface layer in response to the decreasing solubility. Polyethersulfone …

Vanet Applications Under Loss Scenarios & Evolving Wireless Technology, Adil Alsuhaim

All Dissertations

In this work we study the impact of wireless network impairment on the performance of VANET applications such as Cooperative Adaptive Cruise Control (CACC), and other VANET applications that periodically broadcast messages. We also study the future of VANET application in light of the evolution of radio access technologies (RAT) that are used to exchange messages. Previous work in the literature proposed fallback strategies that utilizes on-board sensors to recover in case of wireless network impairment, those methods assume a fixed time headway value, and do not achieve string stability. In this work, we study the string stability of a …