Electrical and Electronics Commons^™

8 Dof Quadrupedal Hopping Robot, Clayton T. Elwell, John Bennett, Tyler Mccue, Daniel Munic

Mechanical Engineering

The goal of our senior project was to fabricate an eight degree of freedom (DOF) prototypical quadrupedal robot, develop a controller than commands the quadruped to repeatedly jump 10 cm in the air, and fabricate a modular test stand to safely deploy our controller on the quadruped. The creation of a functional quadruped will bring attention to Dr. Siyuan Xing and Charlie Refvem’s research group, Cal Poly Legged Robots, and will give future Cal Poly undergraduate and graduate students a learning tool to explore dynamic control of biomimetic robotic systems.

Over the course of our senior project, we successfully manufactured …

Multifamily Complex Smart Locks For Property Management And Tenant Security, April Mills, Allen Chen, Dana Kumamoto, Michael Cook

Mechanical Engineering

Maintaining and managing hundreds of locks and physical keys for an apartment complex can be time consuming and costly, especially when the apartments turn over to new tenants. Our goal was to develop a smart door lock that is compatible with Obodo’s management app for apartment complexes to make accessing apartments secure and simpler for tenants and easier to manage for owners.

We designed and manufactured one smart door lock that is powered with four AA batteries and utilizes a dynamic NFC device and Bluetooth technology. The board can enter a sleep mode which reduces power consumption. The dynamic NFC …

Challenges And Signal Processing Of High Strain Rate Mechanical Testing, Barae Lamdini

Theses and Dissertations

Dynamic testing provides valuable insight into the behavior of materials undergoing fast deformation. During Split-Hopkinson Pressure Bar testing, stress waves are measured using strain gauges as voltage variations that are usually very small. Therefore, an amplifier is required to amplify the data and analyze it. One of the few available amplifiers designed for this purpose is provided by Vishay Micro-Measurements which limits the user’s options when it comes to research or industry. Among the challenges of implementing the Hopkinson technology in the industry are the size and cost of the amplifier. In this work, we propose a novel design of …

Automated Robotic Light Bulb Testing Platform, Agha I. Akram, Muhammad Ali Ummy

Publications and Research

The main purpose of this project is to create a functional prototype of a multilayered system that incorporates aspects of electrical, mechanical, and computer engineering technology. The main objective of the system is to be able to determine whether a light bulb is working or not. The building blocks of this system are a robotic arm that is able to slide along a rail (for added mobility), a conveyor belt, and an electromechanical device that holds and tests light bulbs. Initially, the robot arm picks up a light bulb and places it into the holder which then tests it. A …

Autonomous Navigator Mobile Robot Upgrade, David Sansoucy

Thinking Matters Symposium

The mobile robot platform has been developed over the course of 10 years at USM. In Spring 2020, Belle-Isle and Werner updated the previous framework by rewriting the software to use the ROS framework running on an on-board Raspberry Pi 3. They also implemented navigation using an A* motion planning algorithm and image processing. In Summer 2021, Ames incorporated Lidar and Kinect sensors onto the robot to improve its real-time navigation capabilities. He also made improvements to the power distribution systems. This project aimed to build on the ROS frameworks developed by the previous 2 teams with the main goal …

Complete Neighbourhood Search Heuristic Algorithm For Portfolio Optimization, Collether John

Tanzania Journal of Engineering and Technology (TJET)

In portfolio optimization, the fundamental goal of an investor is to optimally allocate investments between different assets. Mean-variance optimization methods make unrealistic assumptions to solve the problem of optimal allocation. On the other hand, when realistic constraints like holding size and cardinality are introduced it leads to optimal asset allocation which differ from the mean variance optimization. The resulting optimization problem become quite complex as it exhibits multiple local extrema and discontinuities. Heuristic algorithms work well for the complex problem. Therefore, a heuristic algorithm is developed which is based on hill climbing complete (HC-C). It is utilized to solve the …

Assembly Of Alumina Particles In Aqueous Suspensions Induced By High‐Frequency Ac Electric Field, James E. John, Shizhi Qian, Dipankar Ghosh

Mechanical & Aerospace Engineering Faculty Publications

The role of high-frequency alternating current (AC) electric field in the assembly of alumina particles in aqueous media was investigated. Field–particle interactions were in situ investigated for coarse and fine powder particles in very dilute suspensions. For both coarse and fine particles, AC field-induced assembly led to the formation of chains of particles within a minute, which were aligned in the field direction. However, a much finer network of particle chains evolved in fine particle suspensions. Threshold field strength for chain formation was also lower for fine particles (28 V/mm) than for coarse particles (50 V/mm), suggesting stronger interactions for …

Chemical Clean Automated Loader, Jordyn Bryner

Williams Honors College, Honors Research Projects

TTM Technologies (TTM) is a global printed circuit board (PCB) manufacturer. The work described in this report was completed in the TTM North Jackson, Ohio location. This plant focuses primarily on the manufacturing of rigid and rigid-flex PCBs for the aerospace and defense industry. TTM North Jackson has an ongoing labor dependency issue due to the shortage of workers the nation is facing. To solve this problem, TTM has focused the efforts of their new engineers and interns on automating processes that are labor dependent. The goal is to provide design guidance to be used later by TTM to automate …

Assessment Of The Impacts Of Climate Variability On Hydropower Generation: A Case Study Of The New Pangani Falls, Tanzania, Dativa Byarufu

Tanzania Journal of Engineering and Technology (TJET)

Climate change poses potential impacts on hydropower generation either positively by increasing or negatively by decreasing river flow. This study assessed the impacts of climate variability on hydropower with a focus on the New Pangani Falls in Tanzania. Rainfall and temperature time series data from 1980-2014 were analyzed in relation to river discharge and associated impacts to hydropower generation. The Man-Kendall test was used to detect trend in both annual and seasonal time series. The results showed a negative trend in annual rainfall with Z= -2.41 at α = 0.05 and the slope Q = -0.964. Seasonal trend analysis showed …

Socio-Technical Perspective For Electronic Tax Information System In Tanzania, Lucas Ngowi, Ellen Kalinga

Tanzania Journal of Engineering and Technology (TJET)

Socio-technical systems theory has rarely been used by system architects in setting up computing systems. However, the role of socio-technical concepts in computing, which is becoming social in nature, has made the concepts more relevant and commercial. Tax information systems are examples of such systems because they are influenced by external variables such as the political environment, technological trends, and social environment, introducing complexity in their deployment and determining the type of e-services and their delivery to a diverse group of people. It was observed that in Tanzania there is resistance, reluctance and minimal use of electronic tax system because …

Performance Of Calcium Chloride- Ammonia Adsorption Refrigeration System, Michael John

Tanzania Journal of Engineering and Technology (TJET)

An experimental study on the performance of calcium chloride-ammonia adsorption system is described. A single bed water cooled condenser adsorption refrigerator prototype, which utilises calcium chloride-ammonia pair has been developed and tested in the laboratory. Experiments have been conducted for desorption temperatures of 100 °C with desorption time varying from 1 to 4 hours. An electric tape heater and a timer were used to perform the experiments. The adsorption temperature profile, adsorption rate and prototype performance have been analysed and discussed. The tested heating and desorption temperature of 100 °C and heating and desorption time of 1 to 4 hours …

Autonomous Navigation Of The Surface Autonomous Vehicle For Emergency Rescue (Saver), Andrew Skow

ENGS 88 Honors Thesis (AB Students)

Once dropped into the ocean, SAVER will autonomously navigate towards the Advanced Next-Generation Emergency Locator beacon, worn by every NASA astronaut, that emits a 121.5 MHz distress signal. Using a rotating directional loop antenna SAVER is able to detect and identify the direction of the distress beacon and navigate itself towards the signal source. The autonomous navigation system is dependent on several electrical, and mechanical systems to function properly and presents a novel systems engineering problem. Given testing limitations, NASA requires that SAVER is designed to operate indoors and with an umbilical power supply. The radio direction finding (RDF) system …

Feasibility Study Of Radio Frequency Microelectromechanical Filters For Space Operation, Karanvir Singh

Theses and Dissertations

Piezoelectric contour mode resonator technology has the unique advantage of combining low motional resistance with the ability to define multiple frequencies on the same substrate. Contour mode resonators can be mechanically coupled together to form robust band-pass filters for the next generation of GPS satellites with extreme size reduction compared to electrically coupled filters. Piezoelectric zinc oxide (ZnO) contour mode resonators have the potential for monolithic integration with current ZnO transistor further reducing size, power consumption, and cost of filter modules. Barium strontium titanate (BST) contour mode resonators have incredible frequency tunability due to the fundamental nature of the thin …

Automated Bottling Station - Packaging System, Lauren Nicole Zinzilieta

Honors College Theses

This report focuses on the packaging system used at the end of the FESTO bottling station that is located in EP 2355. The system will be made up of an x-y 300 mm x 300 mm gantry system, an Arduino, two micro-stepping stepper drivers, and two 152.4 mm (6 in) single acting cylinders with a 3D printed bracket attached to both. The gantry system will be located at the end of the conveyor belt and will be programmed to pick up three bottles at a time and then will move a specified number of steps in both the x and …

Husky Hand: A Low-Cost Electro-Mechanical Prosthetic Arm For The Underprivileged, Adam Robert

Thinking Matters Symposium

A continuation of a low-cost prosthetic upper limb prototype design which was investigated in EGN 301. The prosthetic is specifically designed for the needs and requirements of under privileged individuals in the Dominican Republic with upper limb amputations. The project focuses on the creation of an open-source computer aided prosthetic hand/arm model. The design allows consumer-grade fused filament fabrication (FFF) 3-D printers to be used. The improved design allows for the integration of the PQ-12 linear actuator for grasp and finger control. This simplifies the assembly, while, also reducing the size and mass of the whole unit. Producing a low-cost …

Kennesaw State University And United Alloy Corporation Robotic Pick And Place Project, Kathryn Bharadwaj, Logan Spencer, Tharkun Hudlow

Senior Design Project For Engineers

United Alloy Corporation (UAC), a company specializing in unique aluminum parts for aeronautics, needed a fix to their error prone, labor-intensive billet press operation. The process has a problem of adding the wrong size or wrong alloy billet to the induction oven, which results in a waste of raw materials. The billets range from ten to thirty-seven inches in length and weigh up to three hundred pounds. Currently, an operator uses a gantry crane to check and lift the billets from a rack onto the magazine of an induction oven. The magazine can hold up to three billets safely and …

Robust Scandium Aluminum Nitride Mems Resonators For L Band Operation In Orbital Environments, Israel W. Dunk

Theses and Dissertations

This thesis investigates AlN alloyed with scandium in a variety of resonator architectures including WEM, overtone WEM, LEM, and SAW that have the potential to achieve high levels of electrical performance and environmental robustness. SAW resonators operating near 370 MHz are fabricated on polycrystalline Sc_.37Al_.63N, and AlN with the resulting devices compared and conclusions drawn as to the merits of each material. The design and fabrication of SAW devices is discussed in detail, with the operating characteristics of these resonators then tested both electrically and mechanically. Mechanical characterisation includes analysis of vibration and shock effects on …

A Feedback-Based Pneumatic Compression System For Effective Lymphedema Management, Mohammad Imrul Kayes

LSU Master's Theses

Bioimpedance analysis (BIA) is a method of detecting lymphedema- a debilitating medical condition involving swelling of the extremities. Pneumatic compression devices are frequently used in the compression treatment of lymphedema. Although existing compression technology provides relief of symptoms, it has limitations in terms of ease-of-use, portability, and monitoring of treatment progress. Currently, there are no BIA analyzers in the market that run on a low-power microcontroller and a rechargeable battery. Moreover, no such device currently exists that integrate the BIA analysis with pneumatic compression system to offer a feedback-based solution for lymphedema treatment. This work represents the first steps towards …

Direct Predictive Speed Control Of Salient Pmsm Drives In Constant Torque And Constant Power Regimes For Electric Vehicles Applications, Francis Mwasilu

Tanzania Journal of Engineering and Technology (TJET)

A direct speed control of salient permanent magnet synchronous motor (PMSM) drives in constant torque and constant power regimes for electric vehicles applications is presented. The proposed speed control scheme is derived from model predictive control approach where both rotor speed and stator current are formulated in a single objective function that is periodically computed to attain the PMSM drive optimum switching states. The dynamic model of the PMSM intrinsically encompasses the unknown disturbance, which should be rejected for high-performance speed control especially in transient conditions. Consequently, the extended modified augmented state Kalman filter (ASKF) is incorporated in the proposed …

Experimental Investigation Of The Wind Energy Harvesting Potential Of A Stand-Alone Piezoelectric Strip, Phillip Christopher Scott

Mechanical Engineering ETDs

The purpose of the study was to investigate the feasibility of harvesting wind energy on a small scale in residential areas. The method investigated was the initiation of movement-induced excitation (MIE), a type of aeroelastic flutter, within samples of polyvinylidine fluoride (PVDF), a piezoelectric polymer. Single samples of PVDF were secured in a wind tunnel and sample voltage was measured over a broad range of wind speeds. Power was calculated then via the addition of ohmic resistance matched to the magnitude of the capacitive impedances of the samples. The geometry of the PVDF samples studied was maintained as a simple …

Performance Analysis Of Renewable Energy Resources In Rural Areas: A Case Study Of Solar Energy, Jackson Justo

Tanzania Journal of Engineering and Technology (TJET)

This paper presents an overview of the recent development trends of solar photovoltaic (PV) systems and the performance in the Tanzanian context. The two types of solar power generation that are considered in this paper are: i) solar PV systems and ii) concentrated solar power (CSP). The two are compared in terms of cost of energy and energy storage mechanism. Moreover, the effect of ambient temperature on the solar PV module is analyzed. In addition, a detailed analysis on using solar axis tracking to increase the power generation is also presented. The extent to which the cell surface temperature and …

Engineering Design I, Hao Su

Open Educational Resources

Introduction to robotics

Dartmouth Formula Racing: Full Electric Battery System Design, Matt Gardner, Jacob Hagler, Ruthie Nordhoff, Otto Salmi

ENGS 89/90 Reports

Dartmouth Formula Racing (DFR) lacked an electrical energy storage system that was Formula Hybrid rules-compliant, optimized for FH events, safe, reliable, and integrated with the rest of their vehicle. Additionally, the team lacked the academic and professional resources required to bring a thorough, analytical approach to the design, testing, and documentation of the new storage system. Our team designed and built a Lithium-Ion battery pack (accumulator) containing energy storage, active cooling, battery management and temperature monitoring systems, and control circuitry compatible with DFR’s vehicle. Collaboration throughout design, fabrication, assembly and testing processes ensured effective knowledge transfer to the DFR team.

Dual-Axis Solar Tracker, Bryan Kennedy

All Undergraduate Projects

Renewable energies, and fuels that are not fossil fuel-based, are one of the prolific topics of debate in modern society. With climate change now becoming a primary focus for scientists and innovators of today, one of the areas for the largest amount of potential and growth is that of the capturing and utilization of Solar Energy. This method involves using a mechanical system to track the progression of the sun as it traverses the sky throughout the day. A dual-axis solar tracker such as the one designed and built for this project, can follow the sun both azimuthally and in …

Sensor Fusion And Non-Linear Mpc Controller Development Studies For Intelligent Autonomous Vehicular Systems, Ahammad Basha Dudekula

Dissertations, Master's Theses and Master's Reports

The demand for safety and fuel efficiency on ground vehicles and advancement in embedded systems created the opportunity to develop Autonomous controller. The present thesis work is three fold and it encompasses all elements that are required to prototype the autonomous intelligent system including simulation, state handling and real time implementation. The Autonomous vehicle operation is mainly dependent upon accurate state estimation and thus a major concern of implementing the autonomous navigation is obtaining robust and accurate data from sensors. This is especially true, in case of Inertial Measurement Unit (IMU) sensor data. The IMU consists of a 3-axis gyro, …

The Potentials Of Faecal Sludge Treatment Using Local Conditioners In Tanzania: A Review, Doglas Benjamin1

Tanzania Journal of Engineering and Technology (TJET)

Worldwide, every day human beings generate millions of tons of Faecal Sludge (FS), which is rich in water, nutrients, energy, and organic compounds. Yet FS is not being managed in a way that permits us to derive value from its reuse, while at the same time, millions of farmers struggle with depleted soils and lack of water. In most of the developing countries, energy for cooking is mainly derived from cutting of trees, either as wood or charcoal. Resource recovery and reuse from FS can create livelihoods, enhance food security, support green economies, reduce waste and contribute to cost recovery …

Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem

Master's Theses

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …

Nonlinear Direct Torque Control Of Interior Permanent Magnet Synchronous Motor Drive, Jackson Justo

Tanzania Journal of Engineering and Technology (TJET)

This paper presents a nonlinear direct torque control (NDTC) strategy of interior permanent magnet synchronous motors (IPMSMs) for electric vehicle (EV) propulsion. The proposed NDTC scheme applies a nonlinear model of IPMSM to dynamically determine the optimal switching states that optimize the EV drivers’ decision to reduce the workload. Moreover, the proposed NDTC method has a simple control structure and can explicitly handle system constraints and nonlinearities. The performance evaluation is conducted via a prototype IPMSM test-bed with a TMS320F28335 DSP. Comparative experimental results provide the evidence of improvements of the proposed NDTC strategy over the conventional DTC strategy by …

A Low-Cost Experimental Testbed For Multi-Agent System Coordination Control, Victor Fernandez-Kim

LSU Master's Theses

A multi-agent system can be defined as a coordinated network of mobile, physical agents that execute complex tasks beyond their individual capabilities. Observations of biological multi-agent systems in nature reveal that these ``super-organisms” accomplish large scale tasks by leveraging the inherent advantages of a coordinated group. With this in mind, such systems have the potential to positively impact a wide variety of engineering applications (e.g. surveillance, self-driving cars, and mobile sensor networks). The current state of research in the area of multi-agent systems is quickly evolving from the theoretical development of coordination control algorithms and their computer simulations to experimental …

Danny’S Recumbent Bike Accessibility Device Final Design Report, Joseph J. Lee, Huy Nguyen, Jack Mcatee, John Kulick

Mechanical Engineering

The purpose of this document is to fully define our design solution and explain our manufacturing and testing results. Our project’s goal is to find a way to allow Danny Knutson, a retired Navy pilot and incomplete quadriplegic with limited use of his arms and an impaired sense of balance, to enter and exit his recumbent tricycle without any discomfort for him or his aide. We completed multiple interviews with Danny, patent research, existing product research, and other technical literature research in order to fully understand the problem. We synthesized this information to create a concrete list of customer wants …