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Articles 1 - 29 of 29
Full-Text Articles in Controls and Control Theory
Applications Of Supercapacitors In Robotic Systems, Charles Davis, Zachary Giese, Joseph Gober, Samuel Grisham, Avery Mahan
Applications Of Supercapacitors In Robotic Systems, Charles Davis, Zachary Giese, Joseph Gober, Samuel Grisham, Avery Mahan
ATU Research Symposium
This project explores the utilization of a bespoke supercapacitor system to energize and propel a robot across various challenging courses. The custom supercapacitor setup serves as the primary power source, providing rapid charging capabilities and high energy density. The research investigates the integration of this innovative power solution into the robot's design, aiming to optimize its performance and endurance in competitive environments.
Optimal And Robust Control Problems Of Microalgae Cultivation, Mariana Rodriguez-Jara, Luis A. Ricardez-Sandoval, Carlos E. Ramirez-Castelan, Hector Puebla
Optimal And Robust Control Problems Of Microalgae Cultivation, Mariana Rodriguez-Jara, Luis A. Ricardez-Sandoval, Carlos E. Ramirez-Castelan, Hector Puebla
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton
Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton
2023 Symposium
Quadcopters (quad) are used widely in many industries with crucial applications such as infrastructure inspection or package delivery. The Crazyflie 2.1 quad from Bitcraze provides an excellent platform for research and development. In this project, our goal is to perform system identification on the Crazyflie to propose a complete model. A gray box method is explored, which includes leveraging the parameters that are already known, to develop a set of equations. Through theory, simulations, and measurements, a complete quadcopter model is developed.
Using An Embedded System For A Quality Cup Of Coffee, Evan Powers, Joshua Stermer, Tsion Yohannes
Using An Embedded System For A Quality Cup Of Coffee, Evan Powers, Joshua Stermer, Tsion Yohannes
2023 Symposium
Many coffee lovers spend up to $5 on a cup of coffee everyday. To save money one could make them at home, but a quality machine with PIDs start at $1000. Using an embedded system one could spend less than $50 and a few hours implement PIDs into an existing $400 machine that will last a lifetime. microcontroller. Learning C language combined with hardware implementation applied to cheap and simple everyday objects can improve everyday quality of life and save money.
This is challenging because we have to incorporate the additional circuitry into a pre established circuit with limited space, …
Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam
Development Of A Fish Robot Equipped With Novel 3d-Printed Soft Bending Actuators, Steven Steele, Jorge Diaz Rodriguez, Sharun Sripathy, Turaj Ashuri, Saleh Gharaie, Yusun Chang, Amir Ali Amiri Moghadam
Symposium of Student Scholars
This paper reports on design and fabrication of a novel soft fish robot. Application of soft actuators for the fish tail will generates continuum bending motion which resembles the natural motion of the fish. However, most soft actuator mechanisms are complex and have low efficiency. Thus, to address this issue we have developed a 3D printed soft bending actuator which can be actuated with an electromotor. The basic design idea of the soft bending actuator is explained, and iteration of the design showed to create the desired motion for the soft tail. The soft actuator has been successfully integrated with …
Project Khepri: Mining Asteroid Bennu For Water, Erika Frost, Gowtham Boyala, Adam Gremm, Ahmet Gungor, Amirhossein Taghipour, Massimo Biella, Jiawei "Jackson" Qiu, Athip Thirupathi Raj, Arjun Chhabra, Adam Gee, Saanjali Maharaj, Erin Richardson, Julia Empey, Haidar Ali Abdul-Nabi, Lindsay Richards, Ariyaan Talukder, Aaron Groh, Brie Miklaucic, Jd Carlson, Kristina Kim, Maverick Cue
Project Khepri: Mining Asteroid Bennu For Water, Erika Frost, Gowtham Boyala, Adam Gremm, Ahmet Gungor, Amirhossein Taghipour, Massimo Biella, Jiawei "Jackson" Qiu, Athip Thirupathi Raj, Arjun Chhabra, Adam Gee, Saanjali Maharaj, Erin Richardson, Julia Empey, Haidar Ali Abdul-Nabi, Lindsay Richards, Ariyaan Talukder, Aaron Groh, Brie Miklaucic, Jd Carlson, Kristina Kim, Maverick Cue
Undergraduate Student Research Internships Conference
Deep space asteroid mining presents the opportunity for the collection of critical resources required to establish a cis-lunar infrastructure. In specific, the Project Khepri team has focused on the collection of water from asteroid Bennu. This water has the potential to provide a source of clean-energy propellant as well as an essential consumable for humans or agriculture on crewed trips to the Moon or Mars. This would avoid the high costs of launching from Earth - making it a highly desirable element for the future of cis-lunar infrastructure. The OSIRIS-REx mission provided a complete survey of asteroid Bennu and is …
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran
Development Of A Compliant Gripper Driven By 3 Dof Soft Robot, Derek M. Price Ii, Ricardo Ramirez, Pt Angel Tran
Symposium of Student Scholars
Industrial robots are moving toward automation, which makes it increasingly necessary to replace the functions traditionally performed by humans with robotics. Pick and place operation is a prime example of such automation. Robots that pick up and place objects mimic the human action of picking an object up and placing it in a targeted location. It has led to the development of robotic end-effectors that have a human-like feel. Grippers can be articulated in various ways depending on their application area and well-defined desired tasks. As compliant and soft links deflect more under the same load than their rigid body …
Ai Based Optimization Of Odometry Performance On Mobile Robots, Sunny Leveson Jones, Charles Koduru
Ai Based Optimization Of Odometry Performance On Mobile Robots, Sunny Leveson Jones, Charles Koduru
Symposium of Student Scholars
Robots have become a large part of the modern world and have been used to navigate through complex environments, with various optimal speeds and pathing requirements. To improve this, we have developed an AI-based predictive pathing optimizer that takes in data regarding the requested route and implements optimal speeds. The algorithm will compare time lost to the time gained by moving at a higher velocity. This has been developed by implementing continual circular patterns onto a mobile robot, which allows for rapid analysis of both the accuracy and the speed of the cycle. This optimization is proposed to increase the …
Dynamic Between Biomass, Ph And Acid Lactic By Microorganisms In Fermentation Of Fresh Milk, Emmanuel Rodriguez, Aurelio Castillo, Paul A. Valle, Yolocuauhtli Salazar
Dynamic Between Biomass, Ph And Acid Lactic By Microorganisms In Fermentation Of Fresh Milk, Emmanuel Rodriguez, Aurelio Castillo, Paul A. Valle, Yolocuauhtli Salazar
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Tech Comm Eagle Eye-Tracking Control System, Gabiella Lail, Robert Shaw, Hunter Smatla, Matthew Gary
Tech Comm Eagle Eye-Tracking Control System, Gabiella Lail, Robert Shaw, Hunter Smatla, Matthew Gary
Discovery Day - Prescott
Mobile eye-tracking systems provide usability research support as well as access to a wide range of robotics and technical communication research opportunities. Optical tracking systems are often prohibitively expensive and do not provide the mobility or flexibility needed for a variety of research application possibilities. Our team proposes building a simple mobile eye-tracking system to be used in-house at ERAU for heat-mapping, robotics, control systems, and various technical communication applications in a structured research environment. The mobile eyetracking system will become part of a larger research and hands-on technical communication usability lab and research center. The research team intends to …
Residential Thermal Storage And Cooling, Joao Marcelo Rocha Belmonte, Jacob Anderson, Andrew Clarke, Daphne Forester, Bianca Hardtke, Josh Hartman, Marc D. Compere
Residential Thermal Storage And Cooling, Joao Marcelo Rocha Belmonte, Jacob Anderson, Andrew Clarke, Daphne Forester, Bianca Hardtke, Josh Hartman, Marc D. Compere
Sustainability Conference
No abstract provided.
Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang
Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang
Western Research Forum
The development of reliable orientation, position and linear velocity estimation algorithms for the 3D visual-inertial navigation system (VINS) is instrumental in many applications, such as autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs). It is extremely important when the global position system (GPS) is not available in GPS-denied environments. Recently, observers design for VINS using landmark position measurements from Kinect sensors or stereo cameras has been increasingly investigated in the literature.
The aim of this work is to design a nonlinear observer for VINS under the assumption that landmark position measurements are intermittent. In practice, the landmark measurements are …
Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette
Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette
The Research and Scholarship Symposium (2013-2019)
This presentation describes a subset of the systems devised for this year's autonomous golf cart senior design project. Our goal is to explore the possibilities of low cost autonomy using only radar and GPS for environmental sensing and navigation. Although autonomous and semi-autonomous ground vehicles are a relatively new reality, prototypes have been a subject of engineering research for decades, often utilizing an array of sensors and sensor fusion techniques. State of the art autonomous ground vehicle prototypes typically use a combination of LIDAR and other distance sensors (such as radar or sonar) as well as cameras and GPS, sometimes …
Creating A Computational Tool To Simulate Vibration Control For Piezoelectric Devices, Ahmet Ozkan Ozer, Emma J. Moore
Creating A Computational Tool To Simulate Vibration Control For Piezoelectric Devices, Ahmet Ozkan Ozer, Emma J. Moore
Posters-at-the-Capitol
Piezoelectric materials have the unique ability to convert electrical energy to mechanical vibrations and vice versa. This project takes a stab to develop a reliable computational tool to simulate the vibration control of a novel “partial differential equation” model for a piezoelectric device, which is designed by integrating electric conducting piezoelectric layers constraining a viscoelastic layer to provide an active and lightweight intelligent structure. Controlling unwanted vibrations on piezoelectric devices (or harvesting energy from ambient vibrations) through piezoelectric layers has been the major focus in cutting-edge engineering applications such as ultrasonic welders and inchworms. The corresponding mathematical models for piezoelectric …
Estimation Of 3d Orientation From Inertial Sensors With Different/Nonuniform Sampling, Soulaimane Berkane
Estimation Of 3d Orientation From Inertial Sensors With Different/Nonuniform Sampling, Soulaimane Berkane
Western Research Forum
No abstract provided.
Development And Testing Of 3d Printed Prostheses, Orthoses, And Assistive Devices For Children And Adults, Walker Arce
Development And Testing Of 3d Printed Prostheses, Orthoses, And Assistive Devices For Children And Adults, Walker Arce
UNO Student Research and Creative Activity Fair
User controllable interfaces for exoskeletons have consisted of either switch controlled interfaces, for ‘on’ or ‘off’, or elastic powered schemes that allow the user’s wrist flexion to provide the resistance for their therapy. This project aims to develop a hands-free mode of control for the exoskeleton, that uses more advanced electronic components to achieve a more natural user interface. Our approach to this project is the prototyping of a control system that uses the MyoBand Gesture Control Armband (MyoBand), and a simple Arduino based electronic design. The three modes of operation possible for this design is measuring the electrical signals …
Efficient Dynamic Centrality Metrics For Election Advertising - A Case Study, Soheil Eshghi, Leandros Tassiulas
Efficient Dynamic Centrality Metrics For Election Advertising - A Case Study, Soheil Eshghi, Leandros Tassiulas
Yale Day of Data
In prior work [1], we have shown how advertising channels should be chosen by a budget-constrained electoral campaign. In this poster, we apply the resulting proposed algorithm to the MIT Social Evolution [2] data-set (N=84), which captured political discussions, inclinations, and voting behaviors around the 2008 US Presidential Election within a student dorm. We compare the resulting centrality metrics developed from our algorithm (which have a direct mapping to optimal channel choice decisions) against more traditional static centralities, and show how employing them leads to more votes.
[1] Eshghi, S., Preciado, V.M., Sarkar, S., Venkatesh, S.S., Zhao, Q., D'Souza, R. …
Ground Station Tracking System, Garret Hilton, Carter Mciver, Steven Hamby, Trevor Gahl, Casey Coffman, David Schwehr
Ground Station Tracking System, Garret Hilton, Carter Mciver, Steven Hamby, Trevor Gahl, Casey Coffman, David Schwehr
2017 Academic High Altitude Conference
One of the Eclipse Ballooning Project’s main goals was to stream live video of the eclipse to the internet. To accomplish this task a tracking antenna was built to follow the balloon payload. As an added challenge, the task had to be completed on a budget. The “ground station” is the center for communication between the payload and user. This system utilizes GPS position reports from the payload via the iridium network to determine the balloons position. The computer algorithm takes in additional GPS and IMU data from the ground station to determine a relative heading to orientate the antenna …
Co-Existence Of Microbial Ecology In A Chemostat Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Margarita M. Gonzalez-Brambila, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez, Ennio Piceno-Diaz
Co-Existence Of Microbial Ecology In A Chemostat Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Margarita M. Gonzalez-Brambila, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez, Ennio Piceno-Diaz
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Food Web Control And Synchronization Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Cesar S. Lopez-Monsalvo, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez
Food Web Control And Synchronization Using A Robust Feedback, Hector Puebla, Mariana Rodriguez-Jara, Cesar S. Lopez-Monsalvo, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Pursuit Evasion With Multiple Pursuers : Capturing A Ground Vehicle On A Road Network With Multiple Drones, Blake Wilson, Shreyas Sundaram, Amritha Prasad
Pursuit Evasion With Multiple Pursuers : Capturing A Ground Vehicle On A Road Network With Multiple Drones, Blake Wilson, Shreyas Sundaram, Amritha Prasad
The Summer Undergraduate Research Fellowship (SURF) Symposium
Unmanned Aerial Vehicles (UAV) have many military and civilian applications, one of which is monitoring a given area (such as a road network) for threats. An important question in this application is to determine the latest time to dispatch UAVs for the guaranteed capture of threats attempting to travel through the network. In this work, we consider a pursuit evasion scenario with multiple pursuers (UAVs) trying to catch a single evader (ground vehicle), where information about the evader’s path is provided by ground sensors. In this scenario, we consider the problem of finding the maximum delay with which the pursuers …
P26. Global Exponential Stabilization On So(3), Soulaimane Berkane
P26. Global Exponential Stabilization On So(3), Soulaimane Berkane
Western Research Forum
Global Exponential Stabilization on SO(3)
Robust Feedback Control Based On Low Order Models With Uncertainty Estimation For A Class Of Biomedical Problems, Hector Puebla, Miguel A. Gutierrez-Limon, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez
Robust Feedback Control Based On Low Order Models With Uncertainty Estimation For A Class Of Biomedical Problems, Hector Puebla, Miguel A. Gutierrez-Limon, Eliseo Hernandez-Martinez, Alejandra Velasco-Perez
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Synchronization Of Coupled Neurons Via Robust Feedback, Hector Puebla, Ricardo Aguilar-Lopez, Priti Kumar Roy
Synchronization Of Coupled Neurons Via Robust Feedback, Hector Puebla, Ricardo Aguilar-Lopez, Priti Kumar Roy
Annual Symposium on Biomathematics and Ecology Education and Research
No abstract provided.
Control System Research And Development To Support Virtual Prototyping Of Pump And Motors, Rajith Weerasinghe, Monika Ivantysynova, Paul Kalbfleisch
Control System Research And Development To Support Virtual Prototyping Of Pump And Motors, Rajith Weerasinghe, Monika Ivantysynova, Paul Kalbfleisch
The Summer Undergraduate Research Fellowship (SURF) Symposium
Virtual prototyping of positive pumps and motors is incredibly useful, increasing speed of development and lowering cost. The calculations of fluids discharge pressure, displaced by a swashplate-type-axial piston pump/motor is dependent on the load impedance driven by the unit. The load impedance is estimated by a variable orifice found downstream of the unit. Similarly, the suction line impedance is also estimated with an orifice. The current project aims to evaluate the various loading architectures in their ability to quickly and accurately create the desired impedance. The robustness of the loading architectures was tested on a wide range of pump sizes, …
Simulation, Control And Testing Of Advanced Hydraulic Hybrid Transmissions, Italo M. Ramos, Monika Ivantysynova, Michael Sprengel
Simulation, Control And Testing Of Advanced Hydraulic Hybrid Transmissions, Italo M. Ramos, Monika Ivantysynova, Michael Sprengel
The Summer Undergraduate Research Fellowship (SURF) Symposium
Hydraulic hybrids transmissions have the potentially to substantially improve the fuel efficiency of on road vehicles. In fact recent studies have demonstrated that this technology can improve fuel economy by upwards of 30% over competing electric hybrids. To further improve the fuel economy and performance of this technology a novel blended hydraulic hybrid transmission has been constructed at the Maha Fluid Power Research Center. While this novel hybrid architecture created by the Maha lab has many benefits over conventional systems, there are a number of control challenges present due to several discrete modes of operation. And though improving fuel economy …
Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad
Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad
Phi Kappa Phi Research Symposium (2012-2016)
In this paper, simulation of the brain based on an artificial spiking neuron model is used to create a self-learning algorithm. The spiking neuron simulation is used to demonstrate a neuromodulation program in which the reward seeking properties of dopamine, the risk-adverse effects of serotonin, and the attention-focusing effects of the cholinergic and noradrenergic systems are applied to a mobile robotic platform as it moves autonomously throughout an environment. External stimuli is recorded by the program as spiking “events” that result in corresponding amounts of dopamine and serotonin influenced spiking patterns. These spiking patterns affect how the robot adapts to …
Applied Analysis Of Ionic Polymer Metal-Composite Actuators, Siul Ruiz, Benjamin Mead, Woosoon Yim
Applied Analysis Of Ionic Polymer Metal-Composite Actuators, Siul Ruiz, Benjamin Mead, Woosoon Yim
College of Engineering: Graduate Celebration Programs
- IPMC is a type of smart material called an electroactive polymer
- Consists of an ionic polymer such as Nafion or Flemion and a conducive metal such as platinum or gold
- COMSOL multi-physics simulations accurately model the experimental displacement results
- Optimization performed using the multi-physics model to find the maximum deflection, force, and twisting
- Using the closed loop control system accurate IPMC tip location can be achieved
- This control system has been extended to function using a computer mouse as an input
A Consumer Level Simulation Model For Demand Response Analysis On Smart Grid, Sungchul Lee, Yoohwan Kim
A Consumer Level Simulation Model For Demand Response Analysis On Smart Grid, Sungchul Lee, Yoohwan Kim
College of Engineering: Graduate Celebration Programs
With the growing awareness of the need for Smart Grid, various countries are taking initiatives for developing Smart Grid.
However, there is limited research on utilizing Smart Grid for Demand-Response (DR).
This study advances the current system of DR by creating a Smart Grid Simulator that allows an intuitive demand response analysis.
The simulator demonstrates that substantial amount of electric power can be reduced efficiently by selective demand control over Smart Grid.
The graphical interface allows generating the electrical usage data and displays both individual and aggregate usage data over time.
This research employs U.S. census data for accurate estimate …