Dynamics and Dynamical Systems Commons^™

Dynamic Perimeter Movement Using Uavs And Robotic Systems, Nayeli Barrett, John Lawson, Billy Kihei

Symposium of Student Scholars

For this study, we propose a Dynamic Perimeter Movement system that has a user-operated UAV to identify GPS coordinate points using land markers such as April Tags. These markers would be used to identify the perimeter of a road work zone. Once the work zone is determined, autonomous robotic traffic cones would disperse to position themselves around the perimeter determined by coordinate points. As the work zone progresses the UAV would periodically update the perimeter to reposition robotic traffic cones. These traffic cones will operate using a Pure Pursuit system as a means to navigate.

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

All Dissertations

Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Machine Learning Approach For Classifying Power Outage In Secondary Electric Distribution Network, Stephan Mgaya, Hellen Maziku

Tanzania Journal of Engineering and Technology (TJET)

Power outage is the problem that hinders social and economic development especially for developing countries like Tanzania. Frequent power outages damage electric equipment, and negatively affect the industrial production process. Power outages cannot be completely eradicated due to uncontrolled cause like natural calamities but technical challenges can be managed and hence reducing power outages. The existing manual methods used to locate power outage like customer calls is inefficient and time consuming. On the other hand, modern method like the Advanced Metering Infrastructure (AMI) still faces a challenge in effectively classifying power line outage due to the nature of imbalanced datasets. …

An Iot Based Worker Safety Helmet Using Cloud Computing Technology, Yuthriya Iddi Khamis, Mahmoud Alawi, Waheed Muhammad Sanya

Tanzania Journal of Engineering and Technology (TJET)

Miner safety and security is a major challenge around the world due to the exposure to toxic gases that are frequently released in underground mines. Miners' health is adversely affected primarily by toxic gases, which endanger the workers' lives. Furthermore, human sensory abilities do not detect these dangerous gases. As a result, this paper proposes a safety monitoring system that includes a temperature sensor, humidity sensor, and gas sensors to detect harmful gases and alert miners to those harmful gases using the smart helmet they wear. These gases are transmitted to the control station via the cloud using Internet of …

Group-Based Data Offloading Techniques Assisted By D2d Communication In 5g Mobile Network, Juma S Ally

Tanzania Journal of Engineering and Technology (TJET)

Machine type communication devices proposed as one of the substantial data collections in the 5G of wireless networks. However, the existing mobile communication network is not designed to handle massive access from the MTC devices instead of human type communication. In this context, we propose the device-to-device communication assisted a mobile terminal (smartphone) on data computing, focusing on data generated from a correlated source of machine type communication devices. We consider the scenario that the MTC devices after collecting the data will transmit to a smartphone for computing. With the limitation of computing resources at the smartphone, some data are …

Real-Time Data Analytics For Monitoring Electricity Consumption Using Iot Technology, Waheed Muhammad Sanya, Gaurav Bajpai, Omar Haji Kombo, Evariste Twahirwa

Tanzania Journal of Engineering and Technology (TJET)

Rising electricity bills as a result of climate variability and new home electrical and electronic appliances are becoming a major source of concern for most end users. Consumers are typically unaware of their household electricity consumption patterns and the costs associated with them, making proper planning and budgeting difficult. Monitoring and controlling energy consumption on appliances can reduce energy costs for end-users. The Internet of Things (IoT) has the potential to provide remote monitoring and control of devices via automated monitoring and control. In this study, we propose an IoT-enabled system for monitoring and controlling energy consumption in homes to …

Cyber Security Challenges, Its Emerging Trends On Latest Information And Communication Technology And Cyber Crime In Mobile Money Transaction Services, Hakeem J. Pallangyo

Tanzania Journal of Engineering and Technology (TJET)

This paper investigates the challenges emerging trends on latest Information and Communication Technology and cybercrime in mobile money transaction services in Tanzania. The objective of this is to evaluate the challenges associated with this rapid growth in ICT and to determine factors influencing Cybersecurity readiness and Cybercrimes in mobile money transaction services. Cyber Security plays a significant role in the field of Information and Communication Technology especially on mobile money transaction services. The study recognizes the provision of mobile money services by both telecommunication companies and local banks, the fact is that whenever we think about the cyber security, the …

Dynamic Response Of Elastic Two-Story Steel Moment Frame Scaled Structure Equipped With Viscous Dampers, Garrett L. Barker, Alexander L. Poirier

Architectural Engineering

The authors of this report are Architectural Engineering undergraduate students at California Polytechnic State University, San Luis Obispo. Damping is a complex, experimentally derived value that is affected by many structural properties and has a profound effect on the dynamic response of structures. Deducing the inherent damping of a steel moment frame and affecting the damping ratio with viscous dampers are two topics explored in this paper. Dampers are commonly implemented in resilient structures that perform better in a design basis earthquake, reducing the seismic cost and downtime. Undergraduate coursework does not delve into the factors that affect damping and …

Real-Time Complex Hand Gestures Recognition Based On Multi- Dimensional Features, Isack Bulugu

Tanzania Journal of Engineering and Technology (TJET)

Gesture recognition is broadly utilized within the field of sensing. There are basically three gesture recognition methods based on computer vision, depth sensor and motion sensor. Motion sensor-based gesture recognition has few input data, fast speed, and direct access to three- dimensional information of the hand. The advantages of traditional motion sensor-based gesture recognition have gradually become a current research hotspot. The essence of traditional motion sensor-based gesture recognition is a pattern recognition problem, and its accuracy depends heavily on the feature dataset extracted from prior experience. Unlike traditional pattern recognition methods, deep learning can be used to a large …

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 …

Design And Control Of A Peristaltic Pump To Simulate Left Atrial Pressure In A Conductive Silicone Model, Jeremy Collins

Mechanical Engineering Undergraduate Honors Theses

According to the CDC, atrial fibrillation is responsible for more than 454,000 hospitalizations and approximately 158,000 deaths per year. A common treatment for atrial fibrillation is catheter ablation, a process in which a long flexible tube is guided through the femoral artery and to the source of arrhythmia in the heart, where it measures the electrical potential at various locations and converts problematic heart tissue to scar tissue via ablation. This paper details the design and control of a low-cost ($400) peristaltic pump system using repetitive control to replicate blood pressure in the left atrium in a conductive silicone model …

Optimal Nonlinear Pid Speed Control Based On Harmony Search For An Electric Vehicle, Mohamed Shamseldin, Mohamed Abdel Ghany, Yahia Hendawey

Future Engineering Journal

the paper presents an efficient scheme for a Nonlinear PID (NPID) controller to improve the dynamic response of the Electric Vehicle (EV). The objective of the proposed controller is to track accurately the reference speed selected by the driver of the EV. A MATLAB/Simulink model is established and validated for the considered EV to study the system performance. The proposed NPID controller has been investigated by comparing it with the traditional PID controller. The optimal parameters of Both the NPID and PID controllers were obtained using the Harmony Search (HS) optimization technique based on a cost function. The desired rise …

Development Of Light Actuated Chemical Delivery Platform On A 2-D Array Of Micropore Structure, Hojjat Rostami Azmand, Hojjat Rostami Azmand

Dissertations and Theses

Localized chemical delivery plays an essential role in the fundamental information transfers within biological systems. Thus, the ability to mimic the natural chemical signal modulation would provide significant contributions to understand the functional signaling pathway of biological cells and develop new prosthetic devices for neurological disorders. In this paper, we demonstrate a light-controlled hydrogel platform that can be used for localized chemical delivery in a high spatial resolution. By utilizing the photothermal behavior of graphene-hydrogel composites confined within micron-sized fluidic channels, patterned light illumination creates the parallel and independent actuation of chemical release in a group of fluidic ports. The …

Quality Assurance Of Lightweight Structures Via Phase-Based Motion Estimation, Ikenna E. Ifekaonwu

College of Graduate Studies: Theses & Dissertations

In recent years, lightweight structures have become mature and adopted in various applications. The importance of quality assurance cannot be overemphasized hence extensive research has been conducted to assess the quality of lightweight structures. This study investigates a novel process that exploits motion magnification to investigate the damage characteristics of lightweight mission-critical parts. The goal is to assure the structural integrity of 3D printed structures and composite structures by determining the inherent defects present in the part by exploiting their vibration characteristics. The minuscule vibration of the structure was recorded with the aid of a high-speed digital camera, and the …

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 …

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. …

Design And Control Of Fiber Encapsulation Additive Manufacturing, Matt Saari

Mechanical Engineering Research Theses and Dissertations

This work presents the design, development, and analysis of the Fiber Encapsulation Additive Manufacturing (FEAM) system developed at the Laboratory for Additive Manufacturing Robotics \& Automation at the Lyle School of Engineering at Southern Methodist University. The innovation introduced by FEAM is the ability to insert a continuous fiber of different material into the flowing extrudate. Correctly positioning the fiber feed inside the extrudate while turning the fiber in arbitrary directions is a critical aspect of the technology. This will allow for the full exploitation of the capabilities of the FEAM technology to produce robotic components that actuate and sense. …

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 …

Kinetic Energy Investigation, Mike Jackson

High School Lesson Plans

Students will build a mouse trap powered car that converts elastic potential energy contained in the trap’s spring to linear kinetic energy of the car. The release of this energy results in a net force which leads to linear acceleration. This acceleration can be measured with Vernier Logger Pro®, and using Newton’s Second Law of Motion, the net force can be calculated. Finally, using the concept of work, the final kinetic energy of the car can be calculated. Once students become familiar with the calculation of work and energy, the teacher will challenge the students to modify their cars to …

Easily Verifiable Controller Design With Application To Automotive Powertrains, Mohammad Reza Amini

Dissertations, Master's Theses and Master's Reports

Bridging the gap between designed and implemented model-based controllers is a major challenge in the design cycle of industrial controllers. This gap is mainly created due to (i) digital implementation of controller software that introduces sampling and quantization imprecisions via analog-to-digital conversion (ADC), and (ii) uncertainties in the modeled plant’s dynamics, which directly propagate through the controller structure. The failure to identify and handle these implementation and model uncertainties results in undesirable controller performance and costly iterative loops for completing the controller verification and validation (V&V) process.

This PhD dissertation develops a novel theoretical framework to design controllers that are …

Nondestructive Testing And Structural Health Monitoring Based On Adams And Svm Techniques, Gang Jiang, Yi Ming Deng, Ji Tai Niu

The 8th International Conference on Physical and Numerical Simulation of Materials Processing

No abstract provided.

Electromechanics Of An Ocean Current Turbine, Vasileios Tzelepis

LSU New Orleans Theses and Dissertations

The development of a numeric simulation for predicting the performance of an Ocean Current Energy Conversion System is presented in this thesis along with a control system development using a PID controller for the achievement of specified rotational velocity set-points. In the beginning, this numeric model is implemented in MATLAB/Simulink® and it is used to predict the performance of a three phase squirrel single-cage type induction motor/generator in two different cases. The first case is a small 3 meter rotor diameter, 20 kW ocean current turbine with fixed pitch blades, and the second case a 20 …

Intensity And Resolution Enhancement Of Local Regions For Object Detection And Tracking In Wide Area Surveillance, Evan Krieger, Vijayan K. Asari, Saibabu Arigela, Theus H. Aspiras

Electrical and Computer Engineering Faculty Publications

Object tracking in wide area motion imagery is a complex problem that consists of object detection and target tracking over time. This challenge can be solved by human analysts who naturally have the ability to keep track of an object in a scene. A computer vision solution for object tracking has the potential to be a much faster and efficient solution. However, a computer vision solution faces certain challenges that do not affect a human analyst. To overcome these challenges, a tracking process is proposed that is inspired by the known advantages of a human analyst.

First, the focus of …

Applying Spiking Neural Network Simulation To Neuromodulatory Autonomous Robot Control, Cameron Muhammad

Phi Kappa Phi Research Symposium (Archived)

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 …

Reward-Driven Training Of Random Boolean Network Reservoirs For Model-Free Environments, Padmashri Gargesa

Dissertations and Theses

Reservoir Computing (RC) is an emerging machine learning paradigm where a fixed kernel, built from a randomly connected "reservoir" with sufficiently rich dynamics, is capable of expanding the problem space in a non-linear fashion to a higher dimensional feature space. These features can then be interpreted by a linear readout layer that is trained by a gradient descent method. In comparison to traditional neural networks, only the output layer needs to be trained, which leads to a significant computational advantage. In addition, the short term memory of the reservoir dynamics has the ability to transform a complex temporal input state …

Active Optimal Control Strategies For Increasing The Efficiency Of Photovoltaic Cells, Sharif Aljoaba

Theses and Dissertations--Electrical and Computer Engineering

Energy consumption has increased drastically during the last century. Currently, the worldwide energy consumption is about 17.4 TW and is predicted to reach 25 TW by 2035. Solar energy has emerged as one of the potential renewable energy sources. Since its first physical recognition in 1887 by Adams and Day till nowadays, research in solar energy is continuously developing. This has lead to many achievements and milestones that introduced it as one of the most reliable and sustainable energy sources. Recently, the International Energy Agency declared that solar energy is predicted to be one of the major electricity production energy …

Molecular Dynamics Study Of Diffusion Of O2 Penetrates In Uncrosslinked Polydimethysiloxane (Pdms), Crosslinked Pdms, And Pdms-Based Nanocomposites, Varun Ullal

Graduate Theses and Dissertations

Molecular dynamics simulations are used to study diffusion of O₂ molecules in pure polydimethysiloxane (PDMS), crosslinked PDMS, and PDMS-based nanocomposites. The PDMS chains and penetrates are modeled using a hybrid interatomic potential which treats the Si-O atoms along the chain backbone explicitly while coarse-graining the methyl side groups and penetrates. By tracking the diffusion of penetrates in the system and subsequently computing their mean-squared displacement, diffusion coefficients are obtained. In pure PDMS models of varying molecular weight, diffusivity of the O₂2 penetrates is found to have an inverse relationship with chain length. Simulation models with longer chains …

Vibration-Based Health Monitoring Of Multiple-Stage Gear Train And Differential Planetary Transmission Involving Teeth Damage And Backlash Nonlinearity, Andrew Patrick Sommer

Master's Theses

The objective of this thesis is to develop vibration-based fault detection strategies for on-line condition monitoring of gear transmission systems. The study divides the thesis into three sections. First of all, the local stresses created by a root fatigue crack on a pinion spur gear are analyzed using a quasi-static finite element model and non-linear contact mechanics simulation. Backlash between gear teeth which is essential to provide better lubrication on tooth surfaces and to eliminate interference is included as a defect and a necessary part of transmission design. The second section is dedicated to fixed axis power trains. Torsional vibration …

Simulation Of Temperature Distributions In Tissue Upon Laser Pulse Irradiation Including Water Mass Transfer, Deepthi Nagulapally

Electrical & Computer Engineering Theses & Dissertations

Lasers, due to their unique characteristics, have tremendous applications in the medical field. Generally all laser applications in hie-medicine involve the propagation of laser energy through tissue. Energy is deposited giving rise to many physical, hie-chemical, and mechanical effects. Among these are dynamical changes in the local temperature distributions within the tissue. Analysis of the temperature changes requires the creation of an appropriate optical transmission and heat flow model that incorporates user specified laser parameters. Here, a numerical simulation model was developed to study both steady state and time dependent temperature distributions due to pulsed laser radiation within user specified …