Development Of A Compliant Soft Gripper With Embedded Force Sensors, Ayman Abbas, Abdelrahman Said, Tamer Kahlil, Mahmoud Magdy

Mechanical Engineering

Robotic manipulators have the capability to perform repetitive tasks with a level of efficiency and precision that exceeds the capabilities of human operators. Currently, they are commonly found and extensively utilized across various disciplines. However, robotic manipulators have gradually begun to make inroads into fields beyond manufacturing, such as medicine and agriculture. Due to the diverse range of industries utilizing robotic manipulators, the nature of tasks assigned to these devices can often be more intricate and multifaceted than conventional assignments. Hence, conventional mechanical grippers may not always be suitable, prompting a growing need for grippers capable of adapting to effectively …

Design Of Modular Soft Gripper For Harvesting, Mostafa Abdelaziz, Ahmed Reda, Abdulrhman Atef, Mahmoud Magdy

Mechanical Engineering

Soft robotics presents a transformative approach to agricultural automation, addressing the limitations of traditional mechanical systems in handling delicate crops. This paper introduces a modular soft robotic gripper designed for gentle harvesting applications, with a focus on adaptability, precision, and crop safety. The gripper's performance was evaluated through Finite Element Analysis (FEA) and experimental testing, targeting its ability to conform to objects of varying shapes, sizes, and fragility. The FEA confirmed the gripper's capability to apply a load based on the gripped crop of the range 0.6 – 0.75 N, sufficient for damage-free harvesting of sensitive produce like strawberries and …

Design And Implementation Of Smart Automation For Sustainable Plastic Recycling With Iot Integration, Mostafa Abdelaziz, Mahmoud Khedr, Amr Bakkar, Yossef Zidan, Abdelrahman Youssef, Mahmoud Magdy

Mechanical Engineering

Plastic pollution poses a critical environmental challenge, infiltrating ecosystems and impacting human health. One innovative solution involves repurposing recycled plastics into interlocking blocks as a sustainable alternative to concrete in construction. However, manual production methods hinder scalability, efficiency, and product consistency while generating material waste. This research addresses these limitations by automating the production process using PLC and IoT technologies. The findings demonstrate that automation significantly enhances production rates, ensures consistent quality, and minimizes waste, thereby improving operational efficiency and environmental sustainability. IoT is integrated to enhance the system's capabilities by providing real-time connectivity and data exchange. The IoT dashboard, …

Pre-Programmable Directional Stiffness In Continuum Robotic Arms: Effects Of Truss Configurations, Mostafa Abdelaziz, Zahy Elgendy, Mahmoud Magdy

Mechanical Engineering

This paper investigates the implementation of trussed designs in modular tendon-driven continuum arms (CAs) to address stiffness and stability limitations while maintaining adaptability. Various truss configurations— Single-Level, Combined-Level, and Alternated trusses—were analyzed using Finite Element Analysis (FEA) to evaluate their impact on flexural and axial stiffness under realistic loading conditions. Results demonstrate that truss placement significantly influences performance, with bottom-level trusses improving flexural stiffness by up to 33%, middle-level trusses enhancing axial stiffness by 43%. Further, Combined-Level configurations provide superior overall stiffness, with MiddleBottom trusses achieving a 66.5% improvement in flexural stiffness and a 70.9% increase in axial stiffness, while …

Multi-Objective Monitoring Of Cvd Diamond Micro-Grinding Tools Using Acoustic Emission And Force Signals With Neural Network Optimization, Ahmed Elkaseer, Jianfei Jia, Bianbian Meng, Bing Guo, Jun Qin, Guicheng Wu, Huan Zhao, Zhenfei Guo, Qingyu Meng, Qingliang Zhao, Honghui Yao, Amr Monier

Mechanical Engineering

Micro-grinding has been widely used in aerospace and other industry, and its application was mainly the asymmetric microstructure. Chemical Vapor Deposition (CVD) diamond has drawn attention for its good wear resistance. However, the small diameter and high spindle speed may cause difficulties on the monitoring of the micro-grinding processes. In order to solve the mentioned problem, a novel multi-objective monitoring method of structured CVD diamond micro-grinding tool based on acoustic emission (AE) and force signals is presented in this study to achieve the high efficiency of the tool condition and grinding quality. The relationship between the grinding quality, tool condition, …

Integrating Machine Learning And Symbolic Regression For Predicting Damage Initiation In Hybrid Frp Bolted Connections, Sherif Sorour

Mechanical Engineering

No abstract provided.

Laser Based Metal 3d Printer, Inura Goonawardena

All Graduate Theses, Dissertations, and Other Capstone Projects

The technology and applications of additive manufacturing (AM) have advanced significantly in recent years. Research from hobbyist to industrial scale has evolved and has seen advancements in materials that can be utilized for industrial manufacturing. The Institute for Machine Tools and Industrial Management at the Technical University of Munich (TUM) developed the reAM250, an open-source research platform for Powder Bed Fusion with a Laser (LPBF). It was made available to facilitate study into component-level innovation, control techniques, and process monitoring without the budgetary and intellectual property constraints of commercial machines. This paper delves into the concept and production of the …

Design And Optimization Of The Injection Molding Process Of Glass Fiber Reinforced Polymeric Car Fender Using Computational Simulation, Synthia Ferdouse

Electronic Theses and Dissertations

The increasing demand for lightweight and energy-efficient materials in the automotive industry has accelerated the adoption of fiber-reinforced polymer composites. This research presents the design and optimization of the injection molding process for glass fiber-reinforced polymer (GFRP) car fenders using computational simulation. The effects of various gate types and locations on key process parameters, including fiber orientation, volumetric shrinkage, shear rate, and fill time, were investigated using Finite Element Analysis (FEA), Autodesk Moldflow Insight 2024, and MATLAB-based Multi-Criteria Decision-Making (MCMD) techniques. Simulations were conducted across multiple configurations involving three, four, and five gates, with several variations in location. Among all, …

Development Of A Collagen-Based Bioink For 3d Printing Biomimetic Tendon-To-Bone Tissue Grafts For Rotator Cuff Repair, Samiul Nibir

Electronic Theses and Dissertations

This study presents the development of a collagen-based bioink for 3D printing tendon-to-bone tissue grafts, specifically designed for rotator cuff repair applications. Three different bioink formulations were developed: (i) 5.1% (w/v) collagen I, (ii) 5% (w/v) collagen I and collagen II, and (iii) 4.5% (w/v) collagen I combined with β-TCP. The bioink containing collagen I and collagen II was prepared by mixing the two components in a 1:1 ratio, while the collagen I plus β-TCP formulation was made by incorporating 20 wt % β-TCP into the collagen I solution. These formulations were developed to replicate the natural tendon-to-bone complex interface …

Modeling Fluid Flow In Complex Biological Systems: Implications For Dense Tumor Microenvironments, Metastasis, And Bone Cancer, Mohammad Mehedi Hasan Akash

Electronic Theses and Dissertations

The transport of biofluids in physiological systems plays a critical role in understanding and optimizing therapeutic interventions for diseases such as cancer and respiratory infections. This dissertation focuses on developing and validating a comprehensive computational framework for studying multiphase transport in complex biological environments. The research emphasizes the use of Computational Fluid Dynamics (CFD) to simulate and analyze plasma perfusion in solid tumors, particle deposition in respiratory airways, and fluid transport in cancer metastasis and bone cancer systems. By addressing the challenges of modeling biological transport phenomena, this work provides valuable insights into therapeutic planning and experimental validation. The study …

Quantitative Assessment And Validation Of Thermal Profiles In The Protodune-Ii Horizontal Drift Detector Using Computational Fluid Dynamics, Hunter Wallster

Electronic Theses and Dissertations

The Deep Underground Neutrino Experiment (DUNE) aims to advance understanding of neutrino properties using large liquid Argon time projection chambers (LArTPCs). The ProtoDUNE-II Horizontal Drift (HD) detector, constructed at CERN in Switzerland, serves as 1:20 scale prototype to validate design and operational parameters for DUNE’s Far Detectors. Accurate prediction of cryostat thermal behavior is critical to predicting liquid Argon purity distributions and detector performance, motivating the development of a validated computational fluid dynamics (CFD) model. This research extends previous work at South Dakota State University by constructing a higher-fidelity CFD simulation of ProtoDUNE-II HD using Siemens Simcenter StarCCM+® 19.04.007. Geometry …

Optimizing Hypersonic Scramjets: A Numerical Study Of Fuel Type And Cavity Flameholder Design Impacts On Supersonic Combustion, Delaney Baumberger

Electronic Theses and Dissertations

This thesis presents recommendations for optimizing hypersonic scramjets via a numerical study focusing on fuel type and cavity flameholder design and the impacts they have on supersonic combustion. The research is divided into two main investigations aimed at improving scramjet engine efficiency using two distinct geometrical configurations, a square cavity engine and an axisymmetric cavity engine. Each configuration is examined under Mach 2 inflow conditions to assess the role of geometric variation and fuel selection on combustion stability, flameholding, and overall performance. The first study focuses on a comparative assessment of hydrogen and ethylene as scramjet fuels to evaluate their …

Evaluation Of The Maneuverability Of An 85m Fishing Trawler (Focusing On Dynamic Stability), Chun-Ki Lee, Su-Hyung Kim

Journal of Marine Science and Technology–Taiwan

Most fishing vessels are less than 100 meters in length, so IMO maneuverability standards do not apply. As a result, studies on the maneuverability of fishing vessels are considerably fewer compared to those on merchant ships. However, with technological advancements, the size of fishing vessels continues to grow, and as more fishermen are on board, accidents could lead to fatal casualties. In response, the authors determined that research on the maneuverability of fishing vessels is urgently needed. Thus, the authors conducted a maneuverability evaluation on a fisheries training vessel with the hull shape of a fishing trawler, 85 meters in …

A Hybrid Image Filtering Approach For Improving Edge Detection Of Riverbed Particles With Complex Textures, Po-Wei Lin, Hsun-Chuan Chan

Journal of Marine Science and Technology–Taiwan

The distribution of particle size in gravel-bed rivers affects the flow condition, sediment transport, and river morphology. However, conventional particle size analysis is laborious and time-consuming. To enhance the efficiency of particle size analysis, image-based methods have been widely explored, but complex particle textures increase the difficulty in identifying particle edges during image analysis. This study develops a filtering approach based on the rolling guidance filter and leverages the differences in grayscale gradients between particle edges and textures to design a guidance image tailored for the rolling guidance filter. This design enables the filter to preserve particle edges while smoothing …

Comparison Of Canopy Materials To Improve The Performance Of Sea Anchors Used For Fishing Operations, Namgu Kim, Su-Hyung Kim, Yoo-Won Lee, Kyung-Jin Ryu

Journal of Marine Science and Technology–Taiwan

Sea anchors used for fishing operations help improve catch rates by stabilizing vessel drift speeds to match tidal or ocean currents. The underwater resistance experienced by a sea anchor's canopy significantly impacts its performance, yet there has been limited research on canopy materials. This study investigates how different canopy materials can enhance sea anchor performance. Specifically, we tested sea anchors made from three fabrics: the currently used polyamide (PA) material, PA material with increased yarn density in the weft direction, and polyester (PES). Using Korean national standards, we compared the yarn density, weight, water absorption capacity, drying rate, air permeability, …

Research On Ship Track Prediction Based On Ipso-Cnn, Xiangen Bai, Nuo Chen, Xiaofeng Xu

Journal of Marine Science and Technology–Taiwan

With the rapid development of the global economy, international imports and exports have become increasingly important. Timely and effective tracking and prediction of ship trajectories are important in the face of complex maritime traffic. Based on AIS data, this study establishes a ship trajectory prediction model combining improved particle swarm optimization (IPSO) and a convolutional neural network (CNN) that uses the ship's historical navigation trajectory data to predict the future navigation trajectory. The historical ship trajectory data of the Port of Ningbo-Zhoushan were selected for the experiment, and the IPSO-CNN model experiment results were compared with those of other models. …

Pulsed Arc Additive Manufacturing Of A Functionally Graded Er2209 Duplex Stainless Steel And Hsla-100 Structure: Morphology, Characterization, And Mechanical Performance, Stevens G. Hill Jr

College of Graduate Studies: Theses & Dissertations

Wire arc additive manufacturing is a process well suited to the efficient production of large structures. Duplex stainless steel exhibits high corrosion resistance and good strength which can be highly beneficial for industrial use. However, its use is limited due to its cost and complexity in controlling microstructure to achieve desired properties. In many cases, it can be highly beneficial to manufacture a component which uses specialty steel grades such as duplex stainless steel only where necessary, and utilizes more affordable, commonly available steels for reinforcement or bulk structural support. A functionally graded material satisfies these requirements by providing a …

An Investigative Study Of Thermal Fluid Properties When Introducing Metallic Nanoparticles Through A Heat Exchanging System, Levi P. Mckinney

College of Graduate Studies: Theses & Dissertations

Heat-exchanging systems are essential in applications ranging from automobiles to air-conditioning units, and ongoing improvements aim to enhance efficiency while reducing system size. Conventional coolant upgrades often rely on ethylene glycol, which increases thermal stability and lowers freezing point but reduces water’s inherent heat-transfer capability. Advances in nanotechnology provide an alternative approach: suspending nanoparticles in base fluids can significantly modify thermal properties, with some formulations exhibiting conductivity increases of up to 60%. This thesis examines the thermal and tribological performance of three working fluids—distilled water, a 50:50 water–ethylene glycol mixture, and the same mixture enhanced with Al₂O₃ nanoparticles. Distilled water …

Experimental Study Of Defects In Coaxial Wire-Based Laser Metal Deposition, Remy Mathenia

Doctoral Dissertations

This work seeks to improve the usability and capability of coaxial wire-based laser metal deposition (LMD) through the experimental study of process parameters on output geometry, directional effects, and defect formation. Wire-based LMD is a directed energy deposition (DED) strategy that uses a focused laser heat source to melt and fuse metal wire as it is deposited. This process is used to build parts layer-by-layer until a desired geometry is accomplished. LMD enables the creation of complex components at a high build rate with low material and energy waste. This work focuses on the deposition of titanium wire in the …

Design Of Real-Time And Energy-Efficient Driver Assist Systems Using Electroencephalogram And Neuromorphic Computing, Nathan Alan Lutes

Doctoral Dissertations

Despite the technological breakthroughs in advanced driver assist systems, distracted driving persists as a major challenge to roadway safety. This investigation advances the body of knowledge towards a solution by developing an individualized driver-state detection method using electroencephalogram (EEG) and neuromorphic computing to provide a less invasive and more energy efficient ADAS solution. It furthermore explores the changes in brain functional connectivity under distracted conditions to better understand brain state information that could be used for neuro-feedback intervention systems. The first contribution introduces the concept of using Convolutional Spiking Neural Networks (CSNNs) for recognition of patterns with movement-intention predictive power …

Enhanced Optimization Of Mass Transfer For Carbon Capture And Wastewater Remediation In Algal Systems Through Algorithmic And Bioprocessing Techniques, Peter Ofuje Obidi

Doctoral Dissertations

The scalability and industrial deployment of algal cultivation systems are limited by suboptimal mass transfer, constraining their effectiveness in carbon capture and wastewater remediation. This research investigated these challenges through integrated optimization methodologies that combine algorithmic frameworks with enhanced bioprocessing techniques to enhance efficiency, economy, and scalability. A System-of-Systems (SoS) meta-architecture was developed using genetic algorithms and fuzzy assessor functions to demonstrate a pathway toward cost reduction. Rigorous mechanical and chemical characterizations were quantitatively analyzed to reveal existing optimization strategies and further evaluated the best strategies to use in enhancing mass transfer for improved biomass yield. The work also integrates …

Data-Driven Mulitiscale Modeling Of Electrochemical Transport, Non-Linear Electrical Contact, And Additive Manufacturing Processes, Emmanuel Olugbade

Doctoral Dissertations

The growing demand for high-efficiency energy systems and advanced manufacturing technologies requires predictive frameworks that link atomic-scale physics with engineering-scale performance. This dissertation develops a unified multiscale modeling approach that integrates molecular dynamics, density functional theory, finite-element analysis, and machine learning to connect structure, transport, and performance across materials and processes. Depending on the interactions involved, the framework employs loose coupling for parameter transfer, tight coupling for two-way feedback, and hybrid coupling where machine-learning surrogates accelerate high-fidelity simulations while retaining physical interpretability. In electrochemical systems, an XGBoost-enhanced single-particle model reproduces P2D-level electrolyte potential dynamics at roughly one-hundredth the computational cost, …

Identification Of Corrosion Damage, Vibration, And Loose Conections In Aircraft Data Transmission Lines Using Reflected And Transmitted Signals; Formulation Of Vegetable Oil-Based Nanofluids As Cutting Fluids For Mql Machining, Saidanvardzhon Valiev

Doctoral Dissertations

This research presents a novel Frequency Domain Transmitometry (FDT) method that uses transmitted signals (S21) to detect and characterize aircraft data transmission lines (ADTL) corrosion damage without additional reflectometry circuitry. Corrosion experiments were conducted according to ASTM G85-A5 over 14 weeks. Combined FDT and reflected signals (S11) analyses revealed distinct three-peak signatures associated with damage and corrosion. The square root of the Area Under the Curve (AUC) of the FDT damage peak and the Full Width at Three-Quarter Maximum (FW3QM) of the S11 damage peak is correlated with corrosion propagation depth and width. S11 signals were further used for vibration …

A Framework For Biomimetic Robot Design Applied To The Development Of A Robotic Model Of Drosophila Melanogaster, Clarissa A. Goldsmith

Graduate Theses, Dissertations, and Problem Reports (ETD)

For decades, the field of biologically inspired robotics has leveraged insights from animal locomotion to improve the walking ability of legged robots. Recently, “biomimetic” robots have been developed to model how specific animals walk. By prioritizing biological accuracy to the target organism rather than the application of general principles from biology, these robots can be used to develop detailed biological hypotheses for animal experiments, ultimately improving our understanding of the biological control of legs while improving technical solutions. Much of this work involves biologically inspired walking controllers informed by the morphology and dynamics of the insect nervous system, which necessitate …

An Investigation Into Energy Consumption And V2g Potential Of An Electric School Bus Fleet, Rupesh Dahal

Graduate Theses, Dissertations, and Problem Reports (ETD)

The transition towards sustainable public transportation demands detailed evaluation of alternative fuel technologies. This thesis presents a comprehensive energy assessment and comparative analysis of diesel and electric school buses (ESBs) operating within the Monongalia County school district, its Vehicle-to-Grid (V2G) potential, and efficiency analysis of charging system. Utilizing real-world operational data collected from buses running identical routes, the study quantifies and compares their mileage specific energy consumption. The analysis reveals an average fuel economy of approximately 6.17 miles per gallon (MPG) for the conventional diesel school bus, contrasted with an average energy consumption rate of 0.46 miles per kilowatt-hour (miles/kWh) …

Assessing And Predicting The Impact Of A Retrofitted Methane Mitigator On Non-Road Large Natural Gas Engines Using Artificial Neural Networks, Augustine Thomas Ojo

Graduate Theses, Dissertations, and Problem Reports (ETD)

Abstract

ASSESSING AND PREDICTING THE IMPACT OF A RETROFITTED METHANE MITIGATOR ON NON-ROAD LARGE NATURAL GAS ENGINES USING ARTIFICIAL NEURAL NETWORKS

Augustine Thomas Ojo

Methane emissions from the oil and gas sector present a pressing environmental and economic challenge, given methane’s high global warming potential and the considerable volumes of unutilized gas lost from industrial processes. This study investigates the impact of a retrofitted methane mitigation system, the Methane Mitigator (M²), on fuel consumption and engine-out emissions in non-road, four-stroke natural gas-powered, lean-burn engines and develops predictive Artificial Neural Network (ANN) models to estimate the resulting engine-out emissions and fuel …

Development Of A Mixed Reality Robotics Testing Environment, Haneen Hanoon

Graduate Theses, Dissertations, and Problem Reports (ETD)

Development of a Mixed Reality Robotics Testing Environment

Haneen Hanoon

This research presents the development of a Mixed Reality (MR) robotic framework that integrates real and virtual environments for experimental robotics, education, and visualization. The proposed system combines a motion-capture system, a simulator, and a projector to create a spatially aligned, interactive workspace where physical robots coexist with projected virtual objects. The framework enables real-robot motion to be tracked in real time and mirrored in the simulated environment, allowing projected obstacles, goals, and paths to be precisely aligned with the physical world.

A coordinate transformation and scaling process was implemented …

Development Of A Model To Estimate Engine Crankcase Methane Vent Emission Rates, Juan Pablo Rincon

Graduate Theses, Dissertations, and Problem Reports (ETD)

The primary focus of this research is the modeling and validation of crankcase methane emissions stemming from natural gas combustion engines commonly deployed in the natural gas compression industry. The models employed rely on equations predicting the flow rate and composition of losses, typically generated within reciprocating piston-cylinder systems. Since crankcase emissions originate in a piston–cylinder arrangement, multiple variables were considered in this study, including displaced volume, pressure, temperature, flow, and viscosity (with corrections applied to account for the thermal and compositional effects on the mixture of fluids). The initial data for this research was collected during three measurement campaigns …

Sensor Embedding And Thermal Monitoring Strategies For Laser-Foil-Printing Additive Manufacturing, Tunay Turk

Doctoral Dissertations

"This work investigates Laser Foil Printing (LFP), a novel metal additive manufacturing (AM) process that fabricates parts layer-by-layer using metal foils. To enhance LFP productivity, the process steps were optimized, and an 88.1% reduction in processing duration was achieved. A unique aspect of this study was the introduction of laser polishing as an edge polishing technique within the LFP process. This innovative approach, employing an overlapping spiral pattern, leverages selective laser remelting and erosion to effectively suppress elevated edges. To stabilize the molten melt pool, a discrete spot scanning strategy was implemented. The fabricated parts were subjected to detailed analysis, …

Additive Manufacturing Of Multifunctional Materials And Composites, John Michael Pappas

Doctoral Dissertations

"This research focused on developing fundamental knowledge of process-material interactions for additive manufacturing of multifunctional materials that are highly desirable in high-tech industries for potential weight and space savings. Multifunctional materials are very sensitive to defects, which severely hinder performance. Thus, defect formation was systematically studied to develop strategies and methodologies to efficiently fabricate high-performance materials and composites. Blown-powder-based laser additive manufacturing of transparent spinel ceramics was investigated to reduce porosity and cracking, defects that hindered transparency and mechanical properties. A systematic study of processing parameters revealed that laser power and powder flow rate had the largest effects on defect …