Mechanical Engineering Commons^™

Improved Microrobotic Control Through Image Processing And Automated Hardware Interfacing, Archit R. Aggarwal, Wuming Jing, David J. Cappelleri

The Summer Undergraduate Research Fellowship (SURF) Symposium

Untethered submilliliter-sized robots (microrobots) are showing potential use in different industrial, manufacturing and medical applications. A particular type of these microrobots, magnetic robots, have shown improved performance in power and control capabilities compared to the other thermal and electrostatic based robots. However, the magnetic robot designs have not been assessed in a robust manner to understand the degree of control in different environments and their application feasibility. This research project seeks to develop a custom control software interface to provide a holistic tool for researchers to evaluate the microrobotic performance through advance control features. The software deliverable involved two main …

Adjustable Resonance Frequency Of Rf-Mems Capacitor By Using Comb- Drive Actuators: A Design Approaches, Agus Santoso Tamsir, Sandy Tannu Wijaya, Dato’ Burhanuddin Yeop Majlis

Makara Journal of Technology

The needs of smaller size RF varactor is a must today, and MEMS comes to be the potential one. In this paper we proposed an adjustable resonance RF-MEMS varactor by using comb-drive actuators placing in each side of the square movable plate. In our preliminary simulation, we found that the device can work properly but some constraints comes such as the dominancies of harmonic resonance frequencies that influences into the nominal capacitances. Therefore for the next step of development we have to find out the window of the structural dimension for a certain spans and a certain operating frequencies.

Make Or Buy Analysis Model Based On Tolerance Design To Minimize Manufacturing Cost And Quality Loss, Cucuk Nur Rosyidi, Reza Rizkichani Akbar, Wakhid Ahmad Jauhari

Makara Journal of Technology

In a manufacturing company, manufacturing costs, or component prices, and tolerance will affect the price and the quality of a product. Companies must produce high-quality products with low manufacturing costs in order to keep their products competitive in the market; however, it is difficult to produce a high-quality product with a low manufacturing cost. Companies have difficulties in determining the components to be produced using their own manufacturing facilities (make) or outsourced to their suppliers (buy). Hence, a make or buy analysis is needed to minimize the manufacturing costs and quality loss and to determine the optimum alternative regarding make …

Observation Of Tunneling Effects In Lateral Nanowire Pn Junctions, Sri Purwiyanti, Arief Udhiarto, Daniel Moraru, Takeshi Mizuno, Djoko Hartanto, Michiharu Tabe

Makara Journal of Technology

As electronic device dimensions are continuously reduced, applied bias conditions significantly change and the transport mechanisms must be reconsidered. Tunneling devices are promising for scaled-down electronics because of expected high-speed operation and relatively low bias. In this work, we investigated the tunneling features in silicon-oninsulator lateral nanowire pn junction and pin junction devices. By controlling the substrate voltage, tunneling features can be observed in the electrical characteristics. We found that the minimum substrate voltage required for tunneling to occur in pn junctions is higher as compared with pin junctions. The main cause of these effects relies in the difference between …

Argon Ion Irradiation Effect On The Magnetic Properties Of Fe-Al2o3 Nano Granular Film, Setyo Purwanto, Isao Sakamoto

Makara Journal of Technology

We studied the effect of Argon (Ar) ion irradiation on Fe-Al2O3 nanogranular thin film. X-ray diffraction (XRD) patterns show that the ion dose might promote the growth of the Fe2O3 phase from an amorphous phase to a crystalline phase. The magnetic and magnetoresistance properties were investigated using a vibrating sample magnetometer (VSM) and a four point probe (FPP). The results suggest that percolation concentration occurred at the 0.55 Fe volume fraction and with a maximum magnetoresistance (MR) ratio of 3%. The present MR ratio was lower than that of previous results, which might be related to the existence of the …

Digestibility Of Betung Bamboo Fiber Following Fungal Pretreatment, Widya Fatriasari, Wasrin Syafii, Nyoman J. Wistara, Khaswar Syamsu, Bambang Prasetya

Makara Journal of Technology

This research evaluated the effect of fungal pretreatment of betung bamboo fibers and enzymatic- and microwaveassisted hydrolysis on the reducing sugar yield. The enzymatic hydrolysis of the pretreated biomass was carried out with cellulase and 10 and 20 FPU/g of substrate in a shaking incubator at 50 °C and 150 rpm for 48 h. The sulfuric acid concentration used in the microwave-assisted acid hydrolysis was 1.0, 2.5, and 5%, either with or without the addition of activated carbon. Microwave irradiation (330 Watt) was applied for 5–12.5 min. The yield of reducing sugar was better with the microwave-assisted acid hydrolysis, and …

Electron Emission Characteristics Of Multi-Gated Field Emitters, Hidenori Mimura, Yoichiro Neo, Toru Aoki, Tomoya Yoshida, Masayoshi Nagao

Makara Journal of Technology

We have developed a multi-gated field emitter (FE) such as a quadruple-gated FE with a three-stacked electrode lens and a quintuple-gated FE with a four-stacked electrode lens. Both the FEs can focus the electron beam. However, the quintuple-gated FE has a stronger electron convergence than the quadruple-gated FE, and a beam crossover is clearly observed for the quintuple-gated FE.

Properties Of Lignin From Oil Palm Empty Fruit Bunch And Its Application For Plywood Adhesive, Lucky Risanto, Euis Hermiati, Yanni Sudiyani

Makara Journal of Technology

Lignin from lignocellulosic biomass is a potential biopolymer for wood adhesive. The aims of this study were to characterize lignin isolated from the black liquor of oil palm empty fruit bunch fiber pretreated with steam explosion in alkaline conditions and to examine the bond quality of aqueous polymer isocyanate (API) adhesive prepared from lignin, natural rubber latex (NRL), and polyvinyl alcohol (PVA) as base polymers with isocyanate crosslinkers. Lignin was precipitated from the black liquor by adding hydrochloric acid; then the precipitate was separated by filtration, thoroughly washed with water up to pH 2 and pH 5, and dried. The …

The Gaussian Orthogonal Laplacianfaces Modelling In Feature Space For Facial Image Recognition, Arif Muntasa

Makara Journal of Technology

Dimensionality reduction based on appearance has been interesting issue on the face image research fields. Eigenface and Fisherface are linear techniques based on full spectral features, for both Eigenface and Fisherface produce global manifold structure. Inability of them in yielding local manifold structure have been solved by Laplacianfaces and further improved by Orthogonal Laplacianfaces, so it can yield orthogonal feature vectors. However, they have also a weakness, when training set samples have non-linear distribution. To overcome this weakness, feature extraction through data mapping from input to feature space using Gaussian kernel function is proposed. To avoid singularity, the Eigenface decomposition …

Series-Interconnected Plastic Dye-Sensitized Solar Cells Prepared By Low- Temperature Binder-Free Titania Paste, Erlyta Septa Rosa, Lia Muliani, Shobih Shobih, Jojo Hidayat, Brian Yuliarto

Makara Journal of Technology

The aim of this research is to study dye-sensitized solar cells (DSSC). This was implemented on a flexible polyethylene terephthalate (PET) substrate using a mixture of transparent and scattered mesoporous anatase-titania as the electron transport layer for the photoelectrode. This mixture of anatase titania performed a dual function of light scattering and efficient dye absorption. In this study, a porous nano-TiO2 film was prepared on indium tin oxide (ITO) coated polyethylene terephthalate (PET) by using a binder-free titania paste; on it, a DSSC was fabricated. The paste which contained a mixture of TiO2 nanoparticles, acid chloride, and ethanol was printed …

Foss Big Data Storage Solution, Nurdeen Salami

STAR Program Research Presentations

NASA projects require a reliable approach to store large volumes of data. Accordingly, it is crucial to adopt a lightweight, reliable, and scalable database. Current NASA databases bear costly license fees with undesirable speed and flexibility. The purpose of utilizing the AERO Institute as an IT test bed, or “Sandbox,” is to design, build, test, and implement software solutions prior to transfer to NASA projects. Cassandra coupled with the Astyanax API is a viable solution for storing big data. Store a minimum of 2GB of C-FOSS data in multiple file formats (.csv, .log, .xml, and .jpg). Use benchmark tests to …

Development And Applications Of The Expanded Equivalent Fluid Method, Bharath Kumar Kandula

Dissertations

Ocean acoustics is the study of sound in the oceans. Electromagnetic waves attenuate rapidly in the water medium. Sound is the best means to transmit information underwater. Computational numerical simulations play an important role in ocean acoustics. Simulations of acoustic propagation in the oceans are challenging due to the complexities involved in the ocean environment. Different methods have been developed to simulate underwater sound propagation. The Parabolic-Equation (PE) method is the best choice in several ocean acoustic problems. In shallow water acoustic experiments, sound loses some of its energy when it interacts with the bottom. An equivalent fluid technique was …

Legacy Borehole Project, Maza Brady, Luke Cashman, Erin Hicks, Meghan Richey

Interdisciplinary Design Senior Theses

The Legacy Borehole Project is a three-year effort to design and build a sensor package that will be used to explore the geological and chemical conditions of the ocean floor. Over the course of three years, a mechanical structure and a robotic system will be constructed to lower sensors into previously drilled boreholes. As the team responsible for the development of the first year of this project, we have constructed a prototype sensor package and mock mechanical structure to test a communication interface between the sensors and a graphical user interface. The sensors were tested by lowering the sensor package …

Automated Foosball Table, Jim R. Stefani, Alex J. Herpy, Brett Gordon Jaeger, Kevin S. Haydon, Derek Alan Hamel

Mechanical Engineering

This project is the second iteration of an automated foosball table for Yaskawa America as a trade show display. The table is meant to provide an interactive experience which highlights the speed and precision of the Yaskawa hardware. The first iteration of the project was mainly focused on creating the physical hardware for the system and to begin the basic programming for the system. This phase of the project was focused on finalizing the physical hardware of the system, implementing the vision system and to continue the basic programing of the system AI. A third team will be assigned to …

Cnc Torch, Steven Chiu

Computer Engineering

This CNC Torch cuts steel plate. It can cut up to a maximum area of 3x3 feet. The user builds a cut list on the touchscreen from a selection of predefined shapes and enters the parameters need for each shape. When the user is ready, the cut list is sent to an Arduino that will move each motors accordingly to the shapes desired.

The Design Of A Mobile, Animatronic Bald Eagle, Eric Burns

Phi Kappa Phi Research Symposium (Archived)

Modern animatronics are used as a tool to help engage audiences in realistic and entertaining experiences. Many animatronic figures are dynamic in movement, but static in mobility. The research presented covers the beginnings of mobile animatronic research. An animatronic bald eagle, Opportunity, was designed for that purpose. Animations for Opportunity are generated by integration of Arduino, Pololu Mini Maestro, and Hitec Servo Motors. Arduino receives signals from flex sensors which cause voltage variations when “flexed”. The 1:1 scale, animatronic eagle can be perched on the arm of an “actor” who simulates an eagle’s caretaker. The flex sensors are located within …

Dynamic Characteristic Identification Of Seismic-Excited Multi-Story Buildings Through Response-Only Technique, Agung Budipriyanto, Priyo Suprobo

Makara Journal of Technology

Identifying dynamic characteristics of civil engineering structures is still a challenging task. It intends to assess behavior of the structures under time-dependent loads. This paper discusses a methodology suitable for identifying the characteristics of multi-story buildings using only their measured response under earthquake ground excitations. Appropriateness of technique used for structural identification was corroborated through coherence of the structure’s responses. The methodology was applied for identifying the characteristics of 14-story and 20-story office buildings located in a high seismic region. Responses of these two buildings recorded during three different seismic ground motions were investigated. The buildings’ response spectral densities and …

Synthesis And Characterization Of Soy-Based Polyurethane Foam With Utilization Of Ethylene Glycol In Polyol, Flora Elvistia Firdaus

Makara Journal of Technology

The use of vegetable oils on replacing petroleum has attracted attention of many researchers. The chemical structure of vegetable oils are different from petrochemicals, so the structure of soybean oil has to be chemically modified through its unsaturated fatty acid chain in triglyceride. A two step process was conducted for the preparation of soy-polyol in designated temperatures; 50 °C, 60 °C, and 70 °C. Ethylene glycol (EG) as co-reagent was taking part in soy-polyol synthesis, and the soy-polyol was used as a sole polyol for polyurethane synthesis. Referred to the previous study, the existence of EG in polyurethane synthesis can …

Performances Of Free-Space Optical Communication System Over Strong Turbulence, Ucuk Darusalam, Purnomo Sidi Priambodo, Harry Sudibyo, Eko Tjipto Rahardjo

Makara Journal of Technology

We report an experimental of free-space optical communication (FSOC) system that use tube propagation simulator (TPS) as the turbulence medium. The FSOC system use wavelength of 1550 nm at the rate transmission of 1000 Mbps and amplified with EDFA at the output of +23 dBm. Index structure of 10-15–10-13 as the representation of atmosphere index turbulences are used for simulation of intensity distribution model or scintillation. The simulation use gammagamma and K model as well. The beam wave propagation models used in simulation are plane wave, spherical wave and Gaussian wave. Spherical wave achieves highest performance via gamma-gamma in strong …

Preparations Of Nanostructured Silicide Bundles And Oxide Arrays, Hirokazu Tatsuoka, Wen Li, Erchao Meng, Daisuke Ishikwa, Kaito Nakane, Shingo Oda, Tomoji Matsushita, Natsuki Kurebayashi

Makara Journal of Technology

A variety of nanostructured silicide bundles and oxide nanowire arrays with abundant, non-toxic materials we are prepared. The CrSi2 nanowire and Mg2Si/MgO composite nanowire bundles were synthesized using a Si substrate and a SiOx nanofiber bundle, respectively. The hexagonal MoSi2 nanosheet bundles were also synthesized using a MoS2 layered material as a template. In addition, ZnO, CuO/Cu2O and a-Fe2O3 nanowire arrays were prepared on semiconductor or metallic substrates. The growth phenomena and the structural properties of the nanostructured materials awere investigated. In addition, the preparations of axial and radial nanowire structures weare examined.

Bioethanol Production From Iles-Iles And Sorghum Starch As Raw Materials (Effect Of Cacl 2 Addition And Saccharification Time), Kusmiyati Kusmiyati, Ali Mahmudi

Makara Journal of Technology

Bioethanol produced from agricultural sources is one alternative energy that has been developed to substitute for petroleum. However, the use of food sources such as corn and cassava to produce bioethanol still face obstacles that lead to the scarcity of food and an increase in food prices. The aim of this study was to produce bioethanol from sorghum and iles-iles, which are not used by humans as food, especially in Indonesia. For both materials, the variables studied were saccharification time (4, 8, 24, and 48 h) and concentration of CaCl2 added to the liquefaction slurry (0, 100, 200, 300, and …

The Effect Of Zephyr Layer Orientation On Zephyrboard Made From Oil Palm Petiole, Lusita Wardani, Muhamad Yusram Massijaya, Yusuf Sudo Hadi, I Wayan Darmawan

Makara Journal of Technology

It is very important to utilize oil palm petiole for the production of zephyr boards. This study aimed to analyze the effect of layer orientation on zephyr board quality. Zephyr boards were made with three coating patterns (A = cross perpendicular, B= combine A and C, and C= paralell) and five zephyr layers using urea formaldehyde adhesive. They were pressed for 20 min at a pressure of 25 kgf/cm² and a temperature 120 ºC, to a target density of 0.80 g/cm³ and a size of 300 mm X 300 mm X 12 mm. Our results showed that the physical and …

Performance Evaluation Of An Optimized Floating Breakwater In Oblique Waves With A Higher-Order Boundary Element Method, Faisal Mahmuddin, Masashi Kashiwagi

Makara Journal of Technology

In the previous study, the optimal performance of a two-dimensional (2D) floating breakwater shape was obtained. The performance of this shape was also confirmed with a model experiment in a towing tank. Moreover, the shape’s performance in three dimensions (3D) was investigated in a subsequent study. However, to predict the shape’s performance in a real application more accurately, the shape’s characteristics in oblique waves must also be evaluated. In this study, the performance and characteristics of the model (hydrodynamic forces, body motions, wave elevations, and drift forces) are computed using a higher-order boundary element method (HOBEM). The HOBEM, which is …

Towards A Sustainable Modular Robot System For Planetary Exploration, S. G. M. Hossain

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual …

2014 (Spring) Ensi Informer Magazine, Morehead State University. Engineering Sciences Department

ENSI Informer Magazine Archive

The ENSI Informer Magazine published in the spring of 2014.

Semiactive Virtual Control Method For Robots With Regenerative Energy-Storing Joints, Hanz Richter, Daniel J. Simon, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

A framework for modeling and control is introduced for robotic manipulators with a number of energetically self-contained semiactive joints. The control approach consists of three steps. First, a virtual control design is conducted by any suitable means, assuming a fully-actuated system. Then, virtual control inputs are matched by a parameter modulation law. Finally, the storage dynamics are shaped using design parameters. Storage dynamics coincide with the system's internal dynamics under exact virtual control matching. An internal energy balance equation and associated self-powered operation condition are given for the semiactive joints. This condition is a structural characteristic of the system and …

Implementing Mechatronics Design Methodology In Mechanical Engineering Technology Senior Design Projects At The Old Dominion University, Vukica M. Jovanovic, Jennifer G. Michaeli, Otilia Popescu, Moustafa R. Moustafa, Mileta Tomovic, Alok K. Verma, Cheng Y. Lin

Engineering Technology Faculty Publications

In recent years, the nature of engineering design has changed due to advances in embedded system design and computer technologies. It is rare to engineer a purely mechanical design that does not incorporate electrical and electronic components. Mechanical engineers and mechanical engineering technologists must possess a multi-disciplinary knowledge with the understanding of both mechanical and electrical systems. For this purpose, undergraduate programs in engineering technology have added mechatronics courses to their curriculum. Mechatronics is a design process that is multi-disciplinary in nature and integrates principles of many engineering disciplines including, but not limited to, mechanical engineering, electrical engineering, and controls …

Analysis Of A Dual Scissored-Pair,Variable-Speed, Control Moment Gyroscope Driven Spherical Robot, Richard Chase

Wayne State University Dissertations

The objective of this research is to compare barycenter offset based designs of spherical robots to control moment gyroscope (CMG) based designs in order to determine which approach is most effective. The first objective was to develop a list of current state of the art designs in order to gain an overall understanding of what the obstacles in this area of research were. The investigation showed that barycenter offset designs can produce a low, continuous output torque, whereas CMG based designs can usually only produce a high, momentary output torque. The second objective was to develop a CMG based design …

Communication Protocol Design Considerations For Highway Vehicle Platoons And Enhanced Networked Robustness By Stochastic Dithers, Lijian Xu

Wayne State University Dissertations

Highway platooning of vehicles has been identified as a promising framework in

developing intelligent transportation systems. By autonomous or semi-autonomous

vehicle control and inter-vehicle coordination, an appropriately managed platoon can

potentially offer enhanced safety, improved highway utility, increased fuel economy,

and reduced emission. This thesis is focused on quantitative characterization of impact

of communication information structures and contents on platoon safety. By

comparing different information structures which combine front sensors, rear sensors,

and wireless communication channels, and different information contents such

as distances, speeds, and drivers' actions, we reveal a number of intrinsic relationships

between vehicle coordination and communications in …

Virtualized Welding Based Learning Of Human Welder Behaviors For Intelligent Robotic Welding, Yukang Liu

Theses and Dissertations--Electrical and Computer Engineering

Combining human welder (with intelligence and sensing versatility) and automated welding robots (with precision and consistency) can lead to next generation intelligent welding systems. In this dissertation intelligent welding robots are developed by process modeling / control method and learning the human welder behavior.

Weld penetration and 3D weld pool surface are first accurately controlled for an automated Gas Tungsten Arc Welding (GTAW) machine. Closed-form model predictive control (MPC) algorithm is derived for real-time welding applications. Skilled welder response to 3D weld pool surface by adjusting the welding current is then modeled using Adaptive Neuro-Fuzzy Inference System (ANFIS), and compared …