Mechanical Engineering Commons^™

ผลของการชดเชยแรงโน้มถ่วงแบบลูกเบี้ยวและสปริงบนแขนหุ่นยนต์ 3 องศาอิสระ โดยใช้การควบคุมวงปิด, ปวเรศ ศรีเตชะ

Chulalongkorn University Theses and Dissertations (Chula ETD)

กลไกแขนกลหุ่นยนต์ได้มีการใช้งานหลายหลากทั้งในอุตสาหกรรมการผลิต การใช้งานในด้านสุขภาพและการแพทย์ และงานด้านบริการต่างๆ กลไกแขนกลเหล่านี้ถูกขับเคลื่อนด้วยตัวขับ (Actuators) เพื่อสร้างแรงขับที่ข้อต่อสำหรับขับเคลื่อนแขนกลให้เคลื่อนที่ไปตามที่ต้องการ ตัวขับเหล่านี้ (เช่นมอเตอร์) ต้องมีขนาดใหญ่มีกำลังมากพอเพื่อยกขับเคลื่อนภาระและน้ำหนักของแขนกลเองด้วย การที่มีตัวขับขนาดกำลังสูงทำให้มีแนวโน้มของการการอันตรายสูงขึ้น และ อีกทั้งกำลังงานส่วนใหญ่ไม่ได้ใช้ในการขับเคลื่อนภาระที่ต้องการหากแต่เป็นการขับยกน้ำหนักของแขนกลเองเพื่อต้านแรงโน้มถ่วง เพื่อลดปัญหาดังกล่าวจึงมีการพัฒนาแขนกลที่มีกลไกชดเชยแรงโน้มถ่วง (Gravity Compensation) งานวิจัยนี้เป็นการพัฒนาและทดสอบผลการควบคุมการขับเคลื่อนแขนกลตามเส้นทางที่โปรแกรมไว้ โดยเปรียบเทียบผลการควบคุมระหว่างแขนกลปกติ และ แขนกลเดียวกันที่มีกลไกชดเชยแรงโน้มถ่วง แขนกลต้นแบบที่พัฒนาในงานวิจัยก่อนหน้านี้ มี 3 องศาอิสระ มีกลไกชดเชยแรงโน้มถ่วงผ่านกลไกแบบขนานที่ฐาน เพื่อชดเชยพลังงานศักดิ์ที่เกิดจากการเปลี่ยนแปลงตำแหน่งต่างๆของแขนกล โดยนำเสนอผลการเปรียบเทียบการใช้กำลังงาน ผลสำฤทธิ์ในการควบคุมการเคลื่อนที่ไปตามเส้นทางเดินที่ถูกออกแบบไว้ด้วยความเร็วคงที่ นำเสนอผลลัพธ์ ข้อเสนอแนะที่ได้จากการทดลองและผลการใช้การชดเชยแรงโน้มถ่วงส่งต่อการทำงานของแขนหุ่นยนต์

An Intrinsic Sensing Ram Extruder With Pressure And Volumetric Flow Control For Liquid Deposition Modeling, Kantawatchr Chaiprabha

Chulalongkorn University Theses and Dissertations (Chula ETD)

In this dissertation, a ram extruder for liquid deposition modeling (LDM) with a flexible actuation system is proposed. The system allows the command of flow through either pressure or volumetric modes. A mathematical model of the extruder is implemented. The actuation system enables real-time monitoring of pressure and material flow rate, providing benefits for precise control and adjustment during the printing process. Additionally, the system allows for the classification of material viscosity characteristics, offering in-depth information on the material for further analysis of the printing process. The prototype provides the advantage of both pressure and volumetric flow, as well as …

Sparsity For Gradient-Based Optimization Of Wind Farm Layouts, Benjamin T. Varela, Andrew Ning

Faculty Publications

Optimizing wind farm layouts is an important step in designing an efficient wind farm. Optimizing wind farm layouts is also a difficult task due to computation times increasing with the number of turbines present in the farm. The most computationally expensive part of gradient- based optimization is calculating the gradient. In order to reduce the expense of gradient calculation, we performed a study on the use of sparsity in wind farm layout optimization. This paper presents the findings of the sparsity study and provides a method to use sparsity in wind farm layout optimization. We tested this sparsity method by …

Perceptual Anthropomorphic Walking Robot Platform For Navigation In Unstructured And Undifferentiated Environments, Luige Vladareanu, Mihai Rădulescu, Marius Pandelea, Hongbo Wang, Florentin Smarandache, Yongfei Feng, Ionel-Alexandru Gal, Alexandra C. Ciocîrlan

Branch Mathematics and Statistics Faculty and Staff Publications

This scientific presentation studies the VIPRO Platform for control of Anthropomorphic Walking Robots (AWR), the architecture control system of the SiMeLA MP robot motion, and shows several experimental results.

Pressure Induced By Roll-Down Foam-Earplugs On Earcanal, Ahmed Dalaq, Luiz Melo, Franck Sgard, Olivier Doutres, Éric Wagnac

Études primaires

Physical discomfort of earplug is a common complaint, so much so it jeopardizes the health and safety of workers, resulting in frequent noncompliance to proper wearing of earplugs. A pressing need thus arises to understand the underlying mechanics for the interaction of earplugs with earcanal walls. An idealized cylindrical geometry of earcanal is first treated with computational and analytical modeling to predict the pressure induced by roll-down cylindrical PVC foam earplugs. In order to predict representative pressure values and distribution, we estimated the hyperelastic properties of foam-based earplugs and characterized their behavior using a stent testing machine (J-Crimp^TM machine) …

การออกแบบแกนดามกระดูกต้นขาชนิดยาวที่เหมาะสำหรับคนไทย ด้วยหลักการออกแบบหารูปร่างที่เหมาะสมที่สุด, ดวงกมล สายะบุตร

Chulalongkorn University Theses and Dissertations (Chula ETD)

การรักษากระดูกต้นขาหักมักใช้วิธีผ่าตัดใส่แกนดามกระดูก โดยแกนดามกระดูกที่ใช้ในปัจจุบันถูกออกแบบโดยอิงจากกายวิภาคของชาวคอเคเชียน ซึ่งไม่เหมาะสมสำหรับประชากรชาวเอเชียเนื่องจากความโค้งของโพรงกระดูกไม่เหมาะสมกัน ซึ่งอาจนำไปสู่การทะลุของปลายแกนดามกระดูกได้ งานวิจัยนี้จะนำวิธีการทำ shape optimiztion มาใช้ในการออกแบบแกนดามกระดูกต้นขาชนิดยาวให้เหมาะสมกับกระดูกต้นขาคนไทย โดยจะเลือกกลุ่มตัวอย่างกระดูกต้นขา 10 กระดูกจากกลุ่มประชากรกระดูกต้นขาคนไทย 60 กระดูก โดยเลือกให้ครอบคลุมกลุ่มประชากรกระดูกต้นขาที่มีรูปร่างหลากหลาย โดยใช้วิธีการจัดกลุ่มแบบ k-means clustering แกนดามกระดูกจะถูกทำการ optimize ในกระดูกกลุ่มตัวอย่างทั้ง 10 กระดูกพร้อม ๆ กัน โดยความเค้นที่เกิดในกระดูกทุกชิ้น จะถูกใช้ในการปรับรูปร่างของแกนดามกระดูกดีไซน์ถัดไป ทำวนไปเรื่อย ๆ จนสามารถลดความเค้นในกระดูกทุกชิ้นได้ แกนดามกระดูกที่ออกแบบใหม่นี้ สามารถทำให้ความเค้นที่เกิดขึ้นในกระดูกต้นขาต่ำลงอย่างมีนัยสำคัญ เมื่อเทียบกับแกนดามกระดูกต้นขาในท้องตลาดที่มีรัศมีความโค้ง 1275, 1500, และ 2000 มิลลิเมตร โดยลดลงเฉลี่ย 96.82%, 98.31%, และ 99.15% ตามลำดับ นอกจากนี้ยังทำการทดสอบความแข็งแรงด้วยวิธีไฟไนต์เอลิเมนต์ พบว่าแกนดามกระดูกที่ออกแบบใหม่มีความแข็งแรง สามารถพัฒนาต่อยอดเพื่อไปใช้ในผู้ป่วยจริงได้ในอนาคต

Topologically Optimized Electrodes For Electroosmotic Actuation, Jianwen Sun, Jianyu Zhang, Ce Guan, Teng Zhou, Shizhi Qian, Yongbo Deng

Mechanical & Aerospace Engineering Faculty Publications

Electroosmosis is one of the most used actuation mechanisms for the microfluidics in the current active lab-on-chip devices. It is generated on the induced charged microchannel walls in contact with an electrolyte solution. Electrode distribution plays the key role on providing the external electric field for electroosmosis, and determines the performance of electroosmotic microfluidics. Therefore, this paper proposes a topology optimization approach for the electrodes of electroosmotic microfluidics, where the electrode layout on the microchannel wall can be determined to achieve designer desired microfluidic performance. This topology optimization is carried out by implementing the interpolation of electric insulation and electric …

Effect Of Platelet Length And Stochastic Morphology On Flexural Behavior Of Prepreg Platelet Molded Composites, Siavash Sattar, Benjamin Beltran Laredo, Sergii G. Kravchenko, Oleksandr G. Kravchenko

Mechanical & Aerospace Engineering Faculty Publications

Prepreg platelet molding compound (PPMC) can be used to create structural grade material with a heterogeneous mesoscale morphology. The present work considered various platelet lengths of the prepreg system IM7/8552 to study the effect of platelet length on the flexural behavior of PPMC composite. A progressive failure finite-element analysis was used to understand competing failure modes in PPMC with the different platelet length. The interlaminar and in-plane damage mechanisms were employed to describe complex failure modes within the mesostructure of PPMCs. Experimental results of the flexural tests of the PPMC with different platelet length sizes were used to validate the …

Comparison Of Dynamics Stability Testing Techniques With Magnetic Suspension Wind Tunnel Capabilities, Otoniel A. Ramirez, Mark Schoenenberger, David E. Cox, Colin P. Britcher

Mechanical & Aerospace Engineering Faculty Publications

Dynamic stability testing techniques currently utilized at NASA Langley Research Center (LaRC) are conducted in multiple facilities and consists of free flight, forced oscillation, and free-to-oscillate tests. The NASA/ODU Magnetic Suspension and Balance System (MSBS) has been recommissioned to explore its utility as an additional facility to expand the dynamic stability test capabilities currently available at NASA LaRC. Simulations were created to replicate each current test facility and method as closely as possible. Data collected from the simulated environments was corrupted with replicated noise sources of the different testing environments and then compared to real data collected during tests when …

Exploring Additive Manufacturing In A Space Environment - A Capstone Design Project Experience, Zain Zafar Khan, Zachary Alan Sobelman, Sharanabasaweshwara Asundi

Mechanical & Aerospace Engineering Faculty Publications

The employment of additive manufacturing in the non-standard environments like space, ships, or submarines has the potential to be an advanced utility not only in the pre-flight production of aerospace components and structures, but also for the onboard manufacturing of components and tools necessary for future space missions. For example, the ability to produce tools and structural components on the International Space Station can provide the space community the opportunity to make repairs and upgrades to the space station without wasting time and resources transporting such materials through additional missions. Additive manufacturing would allow for space missions to use on …

Elevation-Distributed Multistage Reverse Osmosis Desalination With Seawater Pumped Storage, Hani E. Elsayed-Ali

Electrical & Computer Engineering Faculty Publications

A seawater reverse osmosis (RO) plant layout based on multistage RO with stages located at different elevations above sea level is described. The plant uses the weight of a seawater column from pumped storage as head pressure for RO (gravity-driven multistage RO) or to supplement high-pressure pumps used in RO (gravity-assisted multistage RO). The use of gravitational force reduces the specific energy for RO compared to using high-pressure pumps. By locating the RO stages at different elevations based on demand sites, the total specific energy consumption for RO and permeate transport to different elevations above sea level is reduced from …

Noise Reduction Techniques In Commercial Aircraft Cabins, Hashem Hashem

Student Works

Main sources of noise heard inside an aircraft cabin:

• Engines
• Airframe & control surfaces
• Window vibrations
• Passenger announcements & activities.

Alternative Method For Low Frequency Impact Sound Measurement For Building Field Tests, Sunit Girdhar

Dissertations, Master's Theses and Master's Reports

What do high heels, dog nails, and dragging furniture have in common? They are all frequent sources of noise pollution and annoyance in multi-story buildings. Building codes exist to control and mitigate such noise, but these codes are outdated and fail to protect the residents against noise annoyance. Footstep noise is still the number one cause of complaints among the residents. The impact performance of floor-ceiling assemblies is characterized using a single-number rating called the Impact Sound Rating (ISR). A standard tapping machine is used in pre-defined locations on the floor and the radiated Sound Pressure Level (SPL) is measured …

Dynamic Mode Decomposition Approach For Estimating The Shape Of A Cable, Yash Manik Chavan

Dissertations, Master's Theses and Master's Reports

This study investigates the dynamic behavior of a flexible cable with heterogeneous stiffness using a data-driven approach. The study aims to develop accurate models describing intricate structures with rigid or flexible components. To achieve this, reflective markers were attached to the cable at equal spacing, and the motion was manually excited and captured using an 8-camera setup and OptiTrack's Motive software.

The cable displacement data at the marker locations were used as initial conditions for various Dynamic Mode Decomposition (DMD) models. The performance of the data- driven cable model is compared against the performance of the DMD modeling approach, fitting …

Study Of Nanocomposite Materials Using Molecular Dynamics, Prashik Sunil Gaikwad

Dissertations, Master's Theses and Master's Reports

There is an increase in demand for new lightweight structural materials in the aerospace industry for more efficient and affordable human space travel. Polymer matrix composites (PMCs) with reinforcement material as carbon nanotubes (CNTs) have shown exceptional increase in the mechanical properties. Flattened carbon nanotubes (flCNTs) are a primary component of many carbon nanotube (CNT) yarn and sheet materials, which are promising reinforcements for the next generation of ultra-strong composites for aerospace applications. These flCNT/polymer materials are subjected to extreme pressure and temperature during curing process. Therefore there is a need to investigate the evolution of properties during the curing …

Nanomaterials For Cardiovascular Engineering, Roya Bagheri

Dissertations, Master's Theses and Master's Reports

Cardiovascular diseases and disorders (i.e., those related to heart and blood vessels) are the main reasons for mortality worldwide. Nanomaterials, with their unique morphologies and properties, have a great potential for advancing cardiovascular engineering to treat diseases and disorders. In this dissertation, several cardiovascular applications of conductive nanomaterials were investigated. First, a conductive nanomaterial was explored to fabricate biohybrid nanomaterial-cardiomyocyte (CM – heart muscle cell) systems. Using Carbon Nanotube (CNT) forest as a 3D porous and conductive scaffold was investigated. The influence of the CNT forest on the viability, attachment, and spreading of CMs and their genetic information was …

Development And Testing Of A Low Mass Vibratory Lunar Compactor, Charles Carey

Dissertations, Master's Theses and Master's Reports

NASA and other agencies are working to return to the moon, with the Artemis Program [1]. As a part of this new effort, an emphasis is being placed on having a sustained presence, building lunar bases and other permanent structures. The development of such infrastructure will require the development of civil engineering structures, and site preparation becomes a necessity. The Planetary Surface Technology Development Laboratory is developing a low mass lunar compactor as part of an autonomous site preparation vehicle in partnership with Colorado School of Mines, funded by NASA’s 2021 Lunar Surface Technology Research grant. The low mass lunar …

Novel Bayesian Neural Networks And Uncertainty Quantification Of Computational Mechanics Models, Ponkrshnan Thiagarajan

Dissertations, Master's Theses and Master's Reports

Computational and data-driven models suffer from a wide range of uncertainties that impact the reliability of such models. Given the exponential proliferation of machine learning models in real-world systems, establishing a degree of confidence in their predictions becomes paramount. Reliability in predictions takes on utmost significance in domains such as autonomous driving, medical image analysis, etc., where human lives are involved, and inaccuracies in predictions could lead to disastrous outcomes. For these reasons, comprehending and quantifying uncertainties in computational and data-driven models is of utmost importance. A number of techniques have been developed to quantify uncertainties in machine learning models. …

Molecular Dynamics Modeling Of Polymers For Aerospace Composites, Swapnil Sambhaji Bamane

Dissertations, Master's Theses and Master's Reports

Polymer matrix composite materials are widely used as structural materials in aerospace and aeronautical vehicles. Resin/reinforcement wetting and the effect of polymerization on the thermo-mechanical properties of the resin are key parameters in the manufacturing of aerospace composite materials. Determining the contact angle between combinations of liquid resin and reinforcement surfaces is a common method for quantifying wettability. It is challenging to determine contact angle values experimentally of high-performance resins on CNT materials such as CNT, graphene, bundles or yarns, and BNNT surfaces. It is also experimentally difficult to determine the effect of polymerization reaction on material properties of a …