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Articles 5941 - 5970 of 29987
Full-Text Articles in Mechanical Engineering
Nanomechanical Characterization Of Vascular Tissue Using Atomic Force Microscopy, Ana Isabel Delgado Peralta
Nanomechanical Characterization Of Vascular Tissue Using Atomic Force Microscopy, Ana Isabel Delgado Peralta
Theses and Dissertations
Cardiovascular morphogenesis and pathophysiology have been associated with the mechanical properties of the vessel wall. In this work, nanomechanical properties of diseased arteries and control groups were quantified using the Atomic Force Microscopy (AFM). Both tip sizes of 20nm and 5µm were used for examining the local and global stiffness. First, we measured the stiffness as a potential index factor of the mice’s aortic aneurysm. Results have shown the stiffness of mice aortic aneurysm is 58.84 ± 30.26 kPa, which is significantly different (P < 0.05) from the stiffness of the control group of 4.70 ± 17.41 kPa. This was attributed to the degradation of elastin fibers and increment of collagen deposition in the vessel as observed in the histological analysis. The lesion heterogeneity was illustrated by the stiffness gradient from 40 kPa to 1.2 MPa within a 2µm2 region. We also examined the stiffness of the diabetic rat aorta as a potential biomarker for disease progression. Results have shown a significantly higher stiffness of 70.25 ± 14.10 kPa in diabetic rat aorta, compared with 54.19 ± 14.15 kPa in the control group. Lastly, we characterized the human aortic calcifications to fill the knowledge gap of scarce datasets for calcification stiffness. Results have demonstrated the calcification stiffness as 61.5 ± 35 kPa, which is significantly larger than the stiffness of the control group of 12.0 ± 4.4 kPa. The stiffness variation was attributed to the percentage of calcium deposits, observed from the histological analysis. These nanomechanical characterizations could be further used for a better understanding of arterial adaptation and to provide insights for effective vascular therapies.
Development And Characterization Of Low-Cost Out Of Autoclave Fiber Metal Structures, Codrington Edward Barzey Jr.
Development And Characterization Of Low-Cost Out Of Autoclave Fiber Metal Structures, Codrington Edward Barzey Jr.
Theses and Dissertations
Fiber metal structures are structures formed by combining fiber reinforced plastics and metallic sheets. The most widely used fiber metal structure is GLARE®. GLARE® is solely used in the aerospace industry, due to its unmatched weight, crack propagation resistance, and inflated cost. Its inflated cost is attributed to the high-performance requirements of the industry that can only be achieved with high-cost materials and manufacturing processes. Unlike the aerospace industry, there are other industries that have far lower performance requirements but can still benefit by using fiber metal structures to reduce weight while improving performance. Traditionally, fiber metal structures are fabricated …
Radiomic Features To Predict Overall Survival Time For Patients With Glioblastoma Brain Tumors Based On Machine Learning And Deep Learning Methods, Lina Chato
UNLV Theses, Dissertations, Professional Papers, and Capstones
Machine Learning (ML) methods including Deep Learning (DL) Methods have been employed in the medical field to improve diagnosis process and patient’s prognosis outcomes. Glioblastoma multiforme is an extremely aggressive Glioma brain tumor that has a poor survival rate. Understanding the behavior of the Glioblastoma brain tumor is still uncertain and some factors are still unrecognized. In fact, the tumor behavior is important to decide a proper treatment plan and to improve a patient’s health. The aim of this dissertation is to develop a Computer-Aided-Diagnosis system (CADiag) based on ML/DL methods to automatically estimate the Overall Survival Time (OST) for …
New Mathematical Models For Acoustic Insertion Loss Of Fiberglass Lining In Hvac Duct, Michael Anthony Schwob
New Mathematical Models For Acoustic Insertion Loss Of Fiberglass Lining In Hvac Duct, Michael Anthony Schwob
UNLV Theses, Dissertations, Professional Papers, and Capstones
The design objectives for HVAC air distribution systems are thermal comfort, good indoor air quality, energy efficiency, low construction cost, and appropriate indoor noise levels. The last objective requires that the designer can predict the attenuation of sound transmitted through an air duct. One form of attenuation commonly introduced to an air distribution system to achieve interior noise criteria is fiberglass liner. Past research has been conducted to obtain reliable and accurate insertion loss (IL) data for duct with fiberglass liner. Empirical efforts have relied on limited data sets. Computational efforts have produced numerical models that are not practical for …
Precision Landing Of A Quadcopter Drone By Smartphone Video Guidance Sensor, Nicolas Bautista Holguin
Precision Landing Of A Quadcopter Drone By Smartphone Video Guidance Sensor, Nicolas Bautista Holguin
Theses and Dissertations
This study describes the deployment, integration, and demonstration of the Smartphone Video Guidance Sensor (SVGS) as novel technology for autonomous 6 DOF proximity maneuvers and precision landing of a quadcopter drone. The proposed approach uses a vision-based photogrammetric position and attitude sensor (SVGS) to estimate the position of an illuminated landing target after video capture. A visual inertial odometry camera (VIO) is used to provide position estimates of the UAV in a ground coordinate system during flight on a GPS denied environment. The integration of both SVGS and VIO sensors enables the accurate update of position setpoints during landing maneuvers, …
Carbon Fiber Coil Spring Characterization And Manufacturing, Cooper Madrazo
Carbon Fiber Coil Spring Characterization And Manufacturing, Cooper Madrazo
UNLV Theses, Dissertations, Professional Papers, and Capstones
Helical coil springs are used in many mechanical design applications including industrial machines, devices, and vehicle suspension systems. It is desirable to minimize the weight of vehicle suspension systems as this can improve performance and handling. Most vehicle suspension coil springs are made from solid steel alloys or other metallic materials. Significant weight savings could be achieved if the metallic material were replaced by high performance fiber reinforced polymer composites. However, the coil spring geometry is a difficult manufacturing challenge for composite materials. The goal of this thesis was to investigate efficient and low-cost manufacturing methods to produce light-weight polymer …
Small Spacecraft Thermal Control Louvers, James Anthony Mullen
Small Spacecraft Thermal Control Louvers, James Anthony Mullen
Undergraduate Honors Capstone Projects
Small satellites missions are becoming increasingly complex and are requiring more power. These demands lead to temperature fluctuations on the satellite due to spacecraft layout, sunlight and shadow in orbit, and high-powered instrumentation. Products which provide necessary thermal stability for components on the satellite are desirable to small satellite manufacturers.
In September of 2015, Dr. Allison Evans of the NASA Goddard Space Flight Center filed a patent for an innovative louver system configured for small satellite applications. The design was sized for satellites with a 1U form factor and utilized bimetallic springs to lift the louver flaps. The design was …
Investigating The Effects Of Sic Abrasive Particles On Friction Element Welding, Gaurav Awate
Investigating The Effects Of Sic Abrasive Particles On Friction Element Welding, Gaurav Awate
All Theses
The growing demands on reducing the harmful emissions from automobiles have forced automakers to reduce the weight of the vehicle. The increasing demands on improving the fuel economy also has challenged automotive manufacturers to make the vehicle as lightweight as possible. However, the challenge is also to ensure that the vehicle meets safety standards. For the vehicle to meet these standards, it needs to be of adequate strength as well. Automotive manufacturers have adopted a strategy of using multi-material construction to achieve the target. But with multi-material construction comes the requirement of advanced joining techniques that are capable of joining …
Quantifying Shear Stresses In Tissue Engineered Aortic Heart Valves, Raj Nitin Dave
Quantifying Shear Stresses In Tissue Engineered Aortic Heart Valves, Raj Nitin Dave
All Theses
Present heart valve prosthesis have limitations such as capability to grow, repair and remodel post implantation. Tissue engineering offers to be a promising alternative to overcome these limitations. Maturation of seeded human cells on the valve subjected to favorable growth conditions in the bioreactor is critical to the success of tissue engineered heart valves. Mechanical stress and strain which results from the pressure and flow conditions in the bioreactor plays a critical role on the developing valve tissue and are currently unknown. The goal of this research is to relate the magnitude of wall shear stress (WSS) within the heart …
An Experimental Analysis Of Thin Sheet Metal Bending By Ultrafast Laser Peen Forming, Bryce J. Tessmann
An Experimental Analysis Of Thin Sheet Metal Bending By Ultrafast Laser Peen Forming, Bryce J. Tessmann
All Theses
This study demonstrates the viability of femtosecond laser peen forming for bidirectional sheet metal bending. Ultrafast laser forming is a valuable method thanks to its flexibility, negation of springback, no need for a confining or protective layer, and minimalization of thermal degradation in comparison to other forming processes. However, femtosecond lasers have traditionally been believed to be unsuitable for laser forming in comparison to nanosecond lasers, particularly bidirectional bending, because the induced shock waves were expected to be weak. Conversely, in this study it is elucidated that the femtosecond laser-induced shock waves are extremely strong (several hundred GPa) but the …
Predictive Performance And Teaming Via The Mist-C Ocean Hierarchy Utilizing Personality And Skills, Brighton H. Owen
Predictive Performance And Teaming Via The Mist-C Ocean Hierarchy Utilizing Personality And Skills, Brighton H. Owen
All Theses
This thesis seeks to establish and define the individual, the team as an entity, and qualify various metrics to predict team performance. When several individuals come together, they form a team that is often capable of designing and developing concepts beyond the individual on their own by methods of task dispersion, goal orientation, communication, and more. With these teams comes growth and increased performance leading to more efficient processes and better metrics by which performance may be measured. To achieve this, 34 engineering students in the AerosPACE senior design program, which lasted two semesters, were asked to complete surveys in …
Analysis Of The Self-Heating Effect On Unfilled Poly(Methyl Methacrylate) Due To Cyclic Behavior, Muhammed R. Kose
Analysis Of The Self-Heating Effect On Unfilled Poly(Methyl Methacrylate) Due To Cyclic Behavior, Muhammed R. Kose
All Theses
Poly(methyl methacrylate, (PMMA) has been implemented as part of the supporting structure in complete hip and knee replacements since the 1950s. Known as bone cement while in the body, PMMA is known to undergo compressive and tensile stresses that wear down the bio-compatible barrier and cause pieces to come loose inside the human body. These pieces are then attacked by the body’s own nervous system, leading to inflammation, and eventually necessitating replacement. It has been documented that under cyclic loading PMMA can reach temperatures that start to degrade its tensile capabilities. In this study the potential cause of self-heating was …
Investigating The Effects Of Topology On The Fracture And Failure Mechanisms Of Low Density Metamaterials, Kaitlynn Melissa Conway
Investigating The Effects Of Topology On The Fracture And Failure Mechanisms Of Low Density Metamaterials, Kaitlynn Melissa Conway
All Dissertations
Advances in additive manufacturing have enabled the creation of low density metamaterials with fine features and complex topographies. These new metamaterial topologies and size scales not previously possible broaden the spectrum of lightweight materials with unique properties that are advantageous in a variety of applications. There however is a lack of understanding of metamaterial failure and fracture behaviors. Studies tend to report only a few material properties rather than a comprehensive description of behavior. Due to this, there is a hesitancy to incorporate metamaterials into engineering designs despite proven remarkable properties. This work seeks to investigate in three parts the …
Characterization Of Friction Element Welding Using Finite Element Modeling, Ankit Varma
Characterization Of Friction Element Welding Using Finite Element Modeling, Ankit Varma
All Dissertations
Friction element welding (FEW) has been advocated as a solution to weld different materials together, with the ability to join high-strength materials for a range of thicknesses with low input energy and a short processing time. This work develops a coupled thermal-mechanical finite element model to better understand the physical mechanisms involved in the process and to predict temperature and material flow during the process. Furthermore, microstructural analysis is performed for the steel layer using a scanning electron microscope and Vickers microhardness tester to understand the variation in its grain structure and hardness. Results from the finite element model and …
Development And Application Of 3d Kinematic Methodologies For Biomechanical Modelling In Adaptive Sports And Rehabilitation, Anne Marie Severyn
Development And Application Of 3d Kinematic Methodologies For Biomechanical Modelling In Adaptive Sports And Rehabilitation, Anne Marie Severyn
All Dissertations
Biomechanical analysis is widely used to assess human movement sciences, specifically using three-dimensional motion capture modelling. There are unprecedented opportunities to increase quantitative knowledge of rehabilitation and recreation for disadvantaged population groups. Specifically, 3D models and movement profiles for human gait analysis were generated with emphasis on post-stroke patients, with direct model translation to analyze equivalent measurements while horseback riding in use of the alternative form of rehabilitation, equine assisted activities and therapies (EAAT) or hippotherapy (HPOT). Significant improvements in gait symmetry and velocity were found within an inpatient rehabilitation setting for patients following a stroke, and the developed movement …
Monitoring Of Tool Wear And Surface Roughness Using Anfis Method During Cnc Turning Of Cfrp Composite, Md Mofakkirul Islam
Monitoring Of Tool Wear And Surface Roughness Using Anfis Method During Cnc Turning Of Cfrp Composite, Md Mofakkirul Islam
Theses and Dissertations
Carbon fiber-reinforced plastic (CFRP) is gaining wide acceptance in areas including sports, aerospace and automobile industry . Because of its superior mechanical qualities and lower weight than metals, it needs effective and efficient machining methods. In this study, the relationship between the cutting parameters (Speed, Feed, Depth of Cut) and response parameters (Vibration, Surface Finish, Cutting Force and Tool Wear) are investigated for CFRP composite. For machining of CFRP, CNC turning operation with coated carbide tool is used. An ANFIS model with two MISO system has been developed to predict the tool wear and surface finish. Speed, feed, depth of …
Improved Digital Image Correlation Techniques At High Speed And High Temperature, Lindsey J. Rowley
Improved Digital Image Correlation Techniques At High Speed And High Temperature, Lindsey J. Rowley
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
In extreme environments, such as hot-fire rocket testing, gathering strain data can be challenging due to temperature constraints. Traditional methods for measuring material deformation such as strain gages, a small device attached to a test specimen, cannot withstand the extreme temperature and tend to burn off. When these situations occur non-contacting methods such as Digital Image Correlation (DIC) are preferable. DIC is an optical method of measuring strains across the material’s entire surface by using a camera to track the deformation of a speckle pattern applied to the surface of a deforming object. When used at temperatures above approximately 500°C, …
Seam Shifted Wake In The Magnus And Non-Magnus Directions, John W. Garrett
Seam Shifted Wake In The Magnus And Non-Magnus Directions, John W. Garrett
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
An experiment was done to look at the effect baseball seams can have on how a pitched baseball moves in flight. Both non-spinning and spinning baseballs were analyzed in this study. Data was taken and analyzed at 60, 90, and 110 MPH to determine the influence of velocity and altitude on the ability of seams to alter the trajectory of a pitched baseball. Additionally, a ball's spin causes movement in a certain direction that is dependent on the spin axis. A second focus of this study was on the effect of baseball seams changing the movement in the same direction …
Quantum Dynamics Effects On Amplitude-Frequency Response Of Superharmonic Resonance Of Second-Order Of Electrostatically Actuated Nems Circular Plates, Dumitru Caruntu, Julio S. Beatriz
Quantum Dynamics Effects On Amplitude-Frequency Response Of Superharmonic Resonance Of Second-Order Of Electrostatically Actuated Nems Circular Plates, Dumitru Caruntu, Julio S. Beatriz
Mechanical Engineering Faculty Publications
This work deals with the effects of Casimir and/or van der Waals forces (quantum dynamics phenomena) on the amplitude-frequency response of the superharmonic resonance of second-order of axisymmetric vibrations of electrostatically actuated nanoelectromechanical systems (NEMS) clamped circular plates. Electrostatic actuation consists of alternating current (AC) voltage of magnitude to produce hardexcitationsandoffrequencynearonefourththenaturalfrequencyoftheclamped circular plate. The intermolecular forces Casimir and van der Waals, damping force, and electrostatic force are the forces acting on the NEMS plate. Six Reduced Order Models (ROMs) with one and up to 6 modes of vibration are used. The ROM with one mode of vibration is solved using …
On The Thermogravimetric Analysis Of Polymers: Polyethylene Oxide Powder And Nanofibers, Oriretan Omosola, Dorina M. Chipara, Mohammed Jasim Uddin, Karen Lozano, Mataz Alcoutlabi, Victoria Padilla-Gainza, Mircea Chipara
On The Thermogravimetric Analysis Of Polymers: Polyethylene Oxide Powder And Nanofibers, Oriretan Omosola, Dorina M. Chipara, Mohammed Jasim Uddin, Karen Lozano, Mataz Alcoutlabi, Victoria Padilla-Gainza, Mircea Chipara
Mechanical Engineering Faculty Publications
Thermogravimetric analysis of polyethylene oxide (powder and nanofibers obtained by force spinning water or chloroform solutions of polyethylene oxide) was studied using different theoretical models such as Friedman and Flynn-Wall-Ozawa. A semiempirical approach for estimating the “sigmoid activation energy” from the thermal degradation was suggested and confirmed by the experimental data on PEO powder and nanofibers' mats. The equation allowed for calculating a “sigmoid activation energy” from a single thermogram using a single heating rate without requiring any model for the actual complex set of chemical reactions involved in the thermal degradation process. For PEO (powder and nanofibers obtained from …
Design Of Path Correction For Improved Gait Rehabilitation, Zvonimir Pusnik
Design Of Path Correction For Improved Gait Rehabilitation, Zvonimir Pusnik
Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research
Following a serious neurological injury or disease, such as a spinal cord injury or multiple sclerosis, many patients develop impaired gait (the ability to walk). There are many different pieces of equipment to help rehabilitate people with impaired gait, ranging from over ground walking with exoskeletons to treadmills with partial bodyweight support. Since the 1990s and 2000s, elliptical trainers have entered the rehabilitative field as a machine with low impact forces and gait-like motion. This led researchers at Madonna Rehabilitation Hospitals to collaborate with the University of Nebraska-Lincoln to create the Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE).
While the ICARE …
Failure Mode, Effects And Criticality Analysis Of A Very Low Earth Orbit Cubesat Mission, Robb Christopher Borowicz
Failure Mode, Effects And Criticality Analysis Of A Very Low Earth Orbit Cubesat Mission, Robb Christopher Borowicz
Mechanical & Aerospace Engineering Theses & Dissertations
When space programs launch vehicles into orbit, multiple failures could arise throughout the mission and corrective actions are often not an option. Applying reliability engineering approaches during the design phase focuses on analyzing risk by anticipating potential failures and mitigating uncertainties in the design. Old Dominion University, in partnership with the U.S. Coast Guard Academy, and the U.S. Air Force Institute of Technology designed and developed a 3U CubeSat mission to validate on-orbit, three space technology payloads. Mission SeaLion will fly as a secondary payload on stage two of Northrop Grumman’s Antares rocket and will be deployed in a very …
Thermodynamic Analysis Of A Novel Cycle For Nuclear Smr And Heat Transfer Performance Validation Of The Related Supercritical Working Fluids, Benjamin M. Pepper
Thermodynamic Analysis Of A Novel Cycle For Nuclear Smr And Heat Transfer Performance Validation Of The Related Supercritical Working Fluids, Benjamin M. Pepper
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Currently, all operating nuclear power facilities in the U.S. follow the same general design and process: light-water reactors boil water into steam using bundles of nuclear fuel rods as a heat source, pumping that steam through a turbine which powers a generator to produce clean year-round electricity. Water is an effective coolant, but other facilities around the world have demonstrated the ability to use non-water-based coolants in nuclear reactor designs, which consequently have their own trade-offs. Some positive consequences of using different reactor designs include enhanced safety, better economics, and cheaper clean consumer energy. The work described in this paper …
Calibration Procedure For Dic Strain Measurements During Vibration-Based Fatigue Testing, Benjamin D. Hill
Calibration Procedure For Dic Strain Measurements During Vibration-Based Fatigue Testing, Benjamin D. Hill
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Vibration-based fatigue testing is fast and effective method for determining failure characteristics of a material. Often, a small electrical device called a strain gage is bonded to a rectangular plate specimen to measure the deformation of the plate during a test. However, these strain gages break before the plate does, so an alternative method would improve the results obtained from the test. As an alternative to strain gages, Digital Image Correlation (DIC) is a non-contacting, camera-based technique that measures the deformation of an object by comparing digital images taken before and after the object is deformed. During a vibration-based fatigue …
Release Of Large Water Droplets, Jeffrey N. Fonnesbeck
Release Of Large Water Droplets, Jeffrey N. Fonnesbeck
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Water is familiar to all human beings and water droplets are an integral part of our daily lives. From irrigation sprinklers to waterfalls we can observe the formation of water droplets. For most, the droplets are so common and mundane that no thought is given to how the droplets form. Scientists have spent many decades detailing the processes that lead to droplet formation. Current theories and experiments agree quite well for specific cases such as pendant drop formation and jet breakup, but in regards to large volumes of free falling liquid there is very little experimental work to confirm the …
Quantifying The Dynamics Of An Idealized Oil-Plume In Stratified Environment Using Direct Numerical Simulations, Jasmin Ahmed
Quantifying The Dynamics Of An Idealized Oil-Plume In Stratified Environment Using Direct Numerical Simulations, Jasmin Ahmed
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
Deep-water oil spills such as the incident in the northern Gulf of Mexico 2010, produce turbulent oil plumes. Multiphase turbulent plumes under stratification are simulated to understand the dynamics of oil plume in oceanic environment. The evolution of the plume is strongly affected by the level of turbulent mixing during the rise of oil through the stratified water. The relative velocity due to the difference in density between oil and water causes slip of oil in water. The plume has been modeled as a two fluid mixture-model, which allows the use of one continuity and momentum equation for the oil-water …
Electromagnetic Modeling Of A Wind Tunnel Magnetic Suspension And Balance System, Desiree Driver
Electromagnetic Modeling Of A Wind Tunnel Magnetic Suspension And Balance System, Desiree Driver
Mechanical & Aerospace Engineering Theses & Dissertations
Wind tunnels are used to study forces and moments acting on an aerodynamic body. While most results involve some interference from the mechanical supports used to hold the model, a Magnetic Suspension and Balance System (MSBS) is void of these interferences and presents an ideal test scenario. To further investigate the feasibility of dynamic stability testing at supersonic speeds using a MSBS, a preliminary design idea is currently being developed using an existing MSBS in a subsonic wind tunnel. This review focuses on the development of a mathematical model to more accurately portray the capabilities of the 6 inch Massachusetts …
Large Eddy Simulation Of The Wakes Of Three Urban Air Mobility Vehicles, Denis-Gabriel Caprace, Andrew Ning
Large Eddy Simulation Of The Wakes Of Three Urban Air Mobility Vehicles, Denis-Gabriel Caprace, Andrew Ning
Faculty Publications
Recent advances in urban air mobility have driven the development of many new VTOL concepts. These vehicles often feature original designs and futuristic shapes. Due to their novelty, the wake characteristics of such aircraft are unknown. However, large wake-induced velocities, should they exist, may be dangerous for any other vehicle evolving in their close proximity. Therefore, improved knowledge about the wakes of VTOL vehicles is needed to guarantee the safety of urban air mobility operations. In this work, we study the wake of three VTOL aircraft in cruise by means of large eddy simulation. We present a two-stage numerical procedure …
Mechanics Of Preimpregnated Fiber Tow Deposition And Compaction, Virginia Meredith Rauch
Mechanics Of Preimpregnated Fiber Tow Deposition And Compaction, Virginia Meredith Rauch
Mechanical & Aerospace Engineering Theses & Dissertations
In additive manufacturing, such as Automated Fiber Placement (AFP), defects often develop during the deposition and compaction of preimpregnated composite material, which reduce the strength of the resultant material. It is necessary to reduce defects and have good adhesion between plies to optimize the laminate performance and reduce delamination between composite layers. The aim of this work is to study the adhesion and deformation of preimpregnated (prepreg) composite material during the deposition and compaction stage in the composite forming process and how material parameters can be used to increase laminate strength. Two types of experimentation were performed on thermoset IM7/8552 …
Development Of Modeling And Simulation Platform For Path-Planning And Control Of Autonomous Underwater Vehicles In Three-Dimensional Spaces, Sai Krishna Abhiram Kondapalli
Development Of Modeling And Simulation Platform For Path-Planning And Control Of Autonomous Underwater Vehicles In Three-Dimensional Spaces, Sai Krishna Abhiram Kondapalli
Mechanical & Aerospace Engineering Theses & Dissertations
Autonomous underwater vehicles (AUVs) operating in deep sea and littoral environments have diverse applications including marine biology exploration, ocean environment monitoring, search for plane crash sites, inspection of ship-hulls and pipelines, underwater oil rig maintenance, border patrol, etc. Achieving autonomy in underwater vehicles relies on a tight integration between modules of sensing, navigation, decision-making, path-planning, trajectory tracking, and low-level control. This system integration task benefits from testing the related algorithms and techniques in a simulated environment before implementation in a physical test bed. This thesis reports on the development of a modeling and simulation platform that supports the design and …