Electro-Mechanical Systems Commons^™

Locomotion And Balance Control In A Biped Robot With Continuum Legs And A Kangaroo-Inspired Tail, Gavin A. Platt

All Theses

This thesis work presents the design, testing, and validation of a continuum-legged biped robot equipped with a kangaroo inspired tail for enhanced stability and adaptability. Unlike traditional rigid link robots, this one expands on soft-legged robots and utilizes tendon-driven continuum robots to mimic octopus and kangaroo behavior for locomotion. The robot uses a hierarchical hybrid control framework to implement walking, obstacle avoidance, vaulting, and push recovery behaviors. To test the performance of the robot four sets of experiments were conducted to validate these systems and evaluate how they performed. The results demonstrate stable walking with rhythmic tail load transfer, effective …

Residential Hvac Installation Faults: Field Prevalence, Drivers, And Energy Impacts, Seyed Ali Rooholghodos

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Faults in residential comfort systems can have detrimental effects on the performance of the system, reducing the energy efficiency, affecting indoor comfort, and shortening equipment lifespan. Many of the faults occur at installation. However, there has not previously been a systematic and nationally representative study to indicate the prevalence of the faults, meaning the distribution of faults by fault type and fault intensity. Understanding true fault prevalence is essential to be able to identify derivers, and to assess the incremental electricity consumption of the new installation systems.

This study presents on-site data from 341 new central cooling systems—air conditioners and …

Water Bottle Lid Co Detector, Zeke Bukovansky, Jake Siegel, Jack Wisegarver, Cody Rudman

Mechanical Engineering

This project introduces a portable carbon monoxide detector integrated into a water bottle lid to give users a simple way to stay aware of CO exposure in daily life. The design packages an electrochemical sensor, onboard electronics, and clear visual and audible alerts into a compact form that fits standard bottles. By embedding sensing into an object people already carry, the device offers a practical path toward reducing unrecognized CO risks and improving personal safety.

Opposed-Piston Two Stroke Engine As A High Power Density Solution In Heavy Duty Applications: An Experimental Evaluation With Diesel And Ethanol, Ankur Bhatt

All Dissertations

With an increasing demand to reduce greenhouse gas (GHG) emissions, the conventional powertrain technology is at a saturation point. There is reinvigorated research interest in alternative powertrain designs that offer potentially higher efficiencies and lower engine-out emissions compared to conventional powertrains. The opposed piston two-stroke (OP2S) engine is one such alternative engine architecture that has demonstrated a reduction in engine-out emissions and increased efficiency compared to conventional four-stroke diesel engines. Like any two-stroke engine, the scavenging process and the composition of the internal residuals are predominantly governed by the pressure differential between the intake and the exhaust ports. Without dedicated …

Origami-Inspired Pneumatic Soft Robotic Gripper, Conor J. Schott

Master's Theses

This thesis presents the design and evaluation of a vacuum-actuated, origami-based soft robotic gripper. A custom Sea Urchin crease pattern forms a lightweight folding skeleton that collapses radially under vacuum. The system emphasizes low cost and accessibility through laser cutting, 3D printing, and silicone molding. The Sea Urchin geometry was selected after digital and physical screening of candidate crease patterns for smooth folding, low strain concentration, and uniform inward motion. The folding skeleton is laser cut from 4 mil drafting film and folded into a compliant core. Four membrane configurations were developed: an origami gripper with a 36-inch balloon (Design …

Experiential Learning And The Revitalization Of Manufacturing Education At The University Of Dayton, Sean Cahill

Research and Reflection on Learning and Teaching in Higher Education

This perspective paper explores the role of experiential learning in preparing future-ready manufacturing engineers at the University of Dayton, set against the backdrop of Dayton’s legacy as an industrial innovator and the broader national movement to revitalize domestic manufacturing. As automation, cyber-physical systems, and Industry 4.0 technologies reshape the manufacturing landscape, there is a growing need for engineers who possess both technical fluency and systems-thinking capabilities. To meet this need, the manufacturing engineering technology department implemented hands-on, integrated lab-and-lecture modules through support from the Experiential Learning Innovation Fund for Faculty (ELIFF). Grounded in Kolb’s Experiential Learning Theory and constructivist learning …

Control Of Ferroelectric And Dielectric Properties Of Undoped, Fe, And Nb-Doped Single-Crystalline (001) Oriented Pb (Zr0.5ti0.5) O3 Thin Films, Mahamudu H. Mtebwa

Tanzania Journal of Engineering and Technology (TJET)

While several factors that influence the properties of ferroelectric devices have been extensively studied in bulk ceramics and polycrystalline thin films, limited is known about the same on single crystalline thin films which have great potential in memory and energy applications. This knowledge gap is largely due to the limited availability of substrates with lattice parameters suitable for supporting high-quality epitaxial growth. In this study, undoped, Fe-doped, and Nb-doped (001)-oriented Pb(Zr₀.₅Ti₀.₅)O₃ thin films were deposited using pulsed laser deposition, each with a SrRuO₃ bottom electrode and a PrScO₃ substrate. The doping concentration used is 1% for both Fe and Nb. …

Design Of A 10-Ton Capacity Solar-Powered Cold Storage At The Cituis Fish Auction Site, Tangerang, Banten, Indonesia, Wardi Wardi, Muhammad Arif Budiyanto

Journal of Materials Exploration and Findings

This study presents the design of a 10-ton capacity solar-powered cold storage system for the Cituis Fish Auction Site (TPI) in Tangerang, Indonesia, as a sustainable solution to support the coastal fisheries sector. The system comprises two temperature zones: an anteroom at 5°C and a freezer room at -30°C, both integrated with a hybrid system utilizing solar panels and batteries. The total power consumption of the cooling system reaches 27.51 kW. The simulation results, obtained using HOMER Pro software, indicate that the hybrid PV system can reduce CO₂ emissions by up to 16,754 kg per year. From an economic …

Integration And Testing Of A Quadruped Robot With Ros2, Jeremy S. West

Master's Theses

The Cal Poly Legged Robotics Group has been developing research and teaching platforms for agile legged robotics since 2020. These platforms are expected to provide students with opportunities to develop complete legged-robot systems from low-level control to advanced robotics tasks such as motion planning and decision making. However, the current prototyped quadruped robot lacked the software and sensing capabilities for high-level quadrupedal gaits and advanced robotic research.

To address these challenges, this project developed Switch, a robotic platform that builds upon the previous BRUCE platform with significant hardware and software upgrades. Switch features a modular design that allows individual software …

Aeroponic System Optimization For Butterhead Lettuce Growth And Future Sustainability Using Flow Blurring Atomization: An Overview, Taylor J. Johnson

Beyond: Undergraduate Research Journal

The global population has grown by 6 billion people over the last century and is trending toward 9.7 billion people by the year 2050. Agriculture accounts for 70% of global fresh water usage. Technology must be developed to accommodate the increase of food production demanded by the growing global population and the subsequent increase in water usage. Aeroponic technology is a water-efficient vertical farming technology that can reduce water usage by 90% by suspending plant roots in air within a controlled chamber and supplying atomized droplets of a water-nutrient solution directly to the roots.

This study simultaneously tests six droplet …

Mitigation Of Voltage Disturbances In Industrial Power Distribution Networks Using Dynamic Voltage Restorers, Aviti T. Mushi

Tanzania Journal of Engineering and Technology (TJET)

Most electrical and electronic equipment in industries require high-quality power to function efficiently. Nonetheless, voltage sags and swells are pressing concerns and prone to directly impact the economy of industrial customers. One such customer embattled with these problems is Mbeya Cement Company Limited (MCC) located in Mbeya, Tanzania. These issues mainly are caused by upstream faults and switching operations. One way to address these is by utilizing the voltage injection method, which employs a power device known as a dynamic voltage restorer (DVR). In this paper, the voltage sags and swells of balanced three-phase, unbalanced double-line and single-line to ground …

Fuzzy-Ahp Based Decision Support System For The Selection Of Optimal Maintenance Strategy For Meter Gauge Railway Infrastructure: A Review, Hamisi J. Maulid

Tanzania Journal of Engineering and Technology (TJET)

There are many uncertainties and complexities associated with maintaining Meter Gauge Railway (MGR) infrastructure, which calls for a methodical approach to decision-making. The development and application of a fuzzy-AHP-based decision support system (DSS) to select the optimal maintenance strategy for the MGR are presented in this study. The review covers research from 2013 to 2023 and focusses on the use of Multi-Criteria Decision Making (MCDM) and Fuzzy Analytic Hierarchy Process (Fuzzy-AHP) techniques in railway infrastructure maintenance. To manage the inherent uncertainties and subjective judgements involved in maintenance decision-making, the Fuzzy-AHP methodology combines fuzzy logic with the Analytic Hierarchy Process (AHP). …

Comprehensive Review Of Sensible Thermal Storage Systems For Cooking Applications, Anna K. Shariishoy

Tanzania Journal of Engineering and Technology (TJET)

This paper reviewed the sensible thermal storage systems specifically designed for cooking applications. The review focuses on the characteristics of storage materials, their practical applications, and the overall performance of the systems. The review consolidated an array of experimental and numerical research published across various sources such as journals, conferences, books, online resources, and professional reports. A systematic review is used to reach the conclusion of this paper. Significant findings from this study include the wide range of storage capacities attained from small-scale systems that can store ~1–5 MJ of energy for a single meal to bigger systems that can …

Calibration Of Measurement Tools In The Experimental Test Rig For Hydropower Performance Evaluation, Ombeni J. Mdee

Tanzania Journal of Engineering and Technology (TJET)

The demonstration of a typical hydropower plant requires the development of a test rig with the installation of tools to measure the performance parameters. The measurement tools require a calibration process to improve the quality of recorded data. This study involved the calibration of traditional and automated measurement tools connected to the hydropower test rig through an Arduino microprocessor. The automated measurement tools included a pressure transducer, flow meter, digital tachometer, and torque transducer, while traditional measurement tools, including a pressure gauge, concrete water tank, contact tachometer, and force lever arm balance, were connected in the same test rig during …

Review On Gas-To-Liquids Conversion Technology: Lessons From Case Studies And Potential Strategies For Implementation In Tanzania, Joseph H. Kihedu

Tanzania Journal of Engineering and Technology (TJET)

This review paper explores the transformative potential of Gas-to- Liquids (GTL) technology for harnessing Tanzania's vast natural gas resources. With significant discoveries of natural gas reserves totalling up to 57 Tcf in fields such as Songosongo, Mnazi Bay, Block 1, 2, 3 and 4. Tanzania is positioned to leverage GTL technology to convert these resources into high-value liquid fuels like gasoline, diesel and naphtha. Review of GTL process, its products and applications has been done. By analysing successful GTL projects globally and drawing lessons applicable to Tanzania, this paper provides strategic recommendations for policymakers and stakeholders to foster GTL development. …

A Review Of Lithium-Ion Battery Capacity Fade Deceleration At Power Fluctuations In Renewable Energy Systems, Isaac Gwayi

Tanzania Journal of Engineering and Technology (TJET)

Application of lithium-ion (Li-ion) batteries to store energy in renewable energy systems (RESs) is increasing due to their promising properties. Therefore, it is crucial to understand aging behaviours of Li-ion battery during RES life time as this directly affects cost of energy. Li-ion battery aging can be categorised into calendar aging and cycle aging. Calendar aging depends mainly on temperature and state of charge (SoC). In addition to temperature and SoC, cycle aging depends also on charge and discharge current rates and cut-off voltages. Higher current rates lead to faster Li-ion battery aging. It is necessary to identify appropriate battery …

Assessment Of Maintenance Performance Level Of Selected Hydropower Plants In Tanzania, Mahamudu H. Mtebwa

Tanzania Journal of Engineering and Technology (TJET)

Despite significant progress in increasing electricity access to over 78%, electricity reliability in Tanzania remains a concern, with frequent power outages reported. Maintenance issues in hydropower plants have been identified as a critical factor contributing to this problem. However, the specific maintenance performance levels have not been fully assessed. This study conducts a comprehensive evaluation of the maintenance performance of four key hydropower plants: Kidatu (204 MW), Kihansi (180 MW), Mtera (80 MW), and New Pangani Falls (68 MW). Data collected from staff surveys and maintenance records between 2018 and 2022 were used in the study. Although staff demonstrated a …

Strategies For Overcoming Product Certification Challenges Faced By Food Manufacturing Small And Medium Enterprises In Tanzania, Peresi M. Bulemo

Tanzania Journal of Engineering and Technology (TJET)

Small and Medium-sized Enterprises (SMEs) in Tanzania face significant regulatory challenges within bureaucratic, costly, and centralized environments. These challenges contribute to an increase in unregistered enterprises and substandard products in the market. This study aimed to address the challenges SMEs encounter in obtaining product certification to improve their product quality and market competitiveness. A mixed-methods approach was employed, combining qualitative and quantitative research through surveys, interviews, and document analysis, with respondents from the Tanzania Bureau of Standards (TBS), Small Industries Development Organization (SIDO), and SMEs in the food manufacturing sector. Data analysis was conducted using SPSS and JASP. Findings revealed …

Predicting The Influence Of Aggregate Size And Distribution On Cementitious Concrete Properties: A Review, Innocent J. Macha

Tanzania Journal of Engineering and Technology (TJET)

Cement concrete has been in use for centuries as one of the primary construction materials. Its demand in the construction industry is expected to continue for several centuries before the full development of alternative products. However, one of the main areas of research interest is understanding how its constituents can be tailored to make its properties predictable to reduce risks associated with structural failures, reconstruction and reduced durability. These hindrances associated with cementitious concrete result from several attributes, including constituent material characteristics, mixing ratios and workmanship. Understanding the predictability of cement concrete properties requires computer modelling tools to provide reliable …

Towards Metrology 4.0 In Developing Countries’ Manufacturing Industries, Jailos Nzumile

Tanzania Journal of Engineering and Technology (TJET)

A systematic literature review was conducted to unveil the status of the digital transformation of metrology in developing countries, as they are lagging in utilising fourth industrial revolution (IR4.0) technologies to transform manufacturing industries. A PRISMA technique was employed using various keywords to identify, screen, and select the relevant literature. Forty publications were selected for the review, mainly discussing IR 4.0 technologies in metrological operations. The results indicate that the digital transformation of metrology has yet to be initiated in developing countries. However, the employment of IR4.0 technologies in advancing metrological operations in manufacturing industries is mostly discussed in the …

Root Cause Analysis Of Performance Degradation For An Xyz Thermal Power Plant In Tanzania, Simon I. Marandu

Tanzania Journal of Engineering and Technology (TJET)

Thermal power plants in Tanzania have been experiencing performance degradation, typically arising from component and subsystem failures, which contribute to power system instability and unreliability. This paper presents a case study of the root causes of performance degradation of an XYZ thermal power plant. The study was conducted by reviewing plant documentations, including maintenance and operational data logbooks, and by standardising the approach through the adoption of ISO 14224:2016 for maintenance and reliability data exchange. Data evaluation was carried out using principal component analysis and scree plot analytical techniques to enhance the depth and accuracy of root cause identification. Additionally, …

Effects Of Cutting Conditions On Tool Temperature And Material Removal Rate In Turning Operations, Simon I. Marandu

Tanzania Journal of Engineering and Technology (TJET)

Cutting conditions in manufacturing processes have effects on tool temperature and material removal rate. The objective of this study was to investigate the effects of cutting conditions namely spindle speed, feed rate, depth of cut and tool nose radius on tool temperature and material removal rate in turning operations. A total of 81 experiments were conducted to measure tool temperature and material removal rate in order to determine the effects of cutting conditions on tool temperature and material removal rate using ANOVA and regression analysis. The results show that tool nose radius, depth of cut, and spindle speed are significant …

Potential Use Of Pump As Turbine Coupled To Self-Excited Induction Generator For Micro-Hydro Cooking And Cooling Applications, Emanuel J. Nyirenda

Tanzania Journal of Engineering and Technology (TJET)

Clean cooking and efficient cooling in developing countries have recently become areas of great focus. Further, the environmental impact of flooding in high-capacity hydroelectric plants has become a major concern. As a result, there is growing emphasis on developing sustainable and decentralized energy solutions, focusing on the potential of micro-hydro systems, especially in rural and remote areas. Although there are several alternative energy generation methods, their application is not straightforward. One of the latest technologies under research is using pumps as turbines coupled to an induction generator. This paper explores through a rigorous experimental approach the possibility of using a …

The Role Of Internal Factors On Vehicular Mobility, Aziz Mdimi

Tanzania Journal of Engineering and Technology (TJET)

Vehicle mobility internal factors are influenced by the performance state of the road surface quality, governor, engine, gear train, differential unit and mobility unit. Studies on vehicular mobility models exist for off-road external factors but absent on on-road internal factors. The on-road internal factors model describes the vehicular mobility performance as a function of internal factors. In the current undertaking, results are generated by the determination of mobility performance characteristics with the application of 2nd Order Ordinary Differential Equations and using Laplace operator with MATLAB Software simulation. The effect of road surface against the time taken varies accordingly. At a …

Optimal Placement Of Distributed Generation Units In Power Distribution Networks Using Particle Swarm Optimization, Owdean M. Suwi

Tanzania Journal of Engineering and Technology (TJET)

Power losses and voltage drops in distribution networks are critical issues in power system operation, reducing efficiency, reliability, and overall quality of the power supply to customers. Additionally, the rising electricity demand, deregulation of energy markets, and congestion in transmission networks have further contributed to the declining performance of the grid. To address these challenges, integrating distributed generation units (DGUs) into electric distribution systems has gained significant attention. Furthermore, the integration of DGUs into conventional fossil fuel-based power plants is becoming necessary to reduce greenhouse gas emissions. However, proper placement and sizing of DGUs are crucial for achieving optimal benefits. …

Optimizing The Processing Temperature For Synthesis Of Silver Nanoparticles Within Cellulose-Wool Keratin Supramolecular Matrix Using Butylmethylimmidazolium Chloride Ionic Liquid, Ngesa E. Mushi

Tanzania Journal of Engineering and Technology (TJET)

To date, the synthesis of silver nanoparticles on the surface of cellulose and wool keratin biopolymer, while dissolved in ionic liquid, is attractive because of its biomedical potential. However, the optimal processing temperature for the nanoparticle formation is unclear. The previously reported temperature of approximately 120°C gives unpredictable results. The current study employs a combination of 50% cellulose and 50% keratin, along with 69 mg of silver chloride, in Butylmethylimidazolium Chloride BMImCl ionic liquid, using a single-pot process to produce a supramolecular film via non-derivatized mechanochemical interactions. The primary objective is to experimentally establish the processing temperature to achieve stable …

Aerospace Fastener Installation Tool, Anthony I. Berghout, Matthew K. Eggers, Liam Dunsmore, Jose Pardo

Mechanical Engineering

Contamination, particularly in aerospace manufacturing environments, is a significant concern, especially with fastener designs that incorporate torque-rated breakaway pieces for easier installation. These breakaway pieces are also known as pintails. Howmet has tooling that can collect loose pintails during installation, but they have small capacities and are not ergonomic for aerospace technicians. Their current need is for a light and ergonomic tool capable of installing a wide variety of Ergo-Tech® fasteners while having a large capacity to collect pintails and improve aerospace manufacturing methods. For this Critical Design Stage, we have finalized a design that allows Pintails to pass through …

Edwards Lifesciences: Esheath+ Scoring Automation, Tony Lee Avina, Kirth Hirth, Charith Sunku, Humberto Salazar-Banuelos

Mechanical Engineering

Due to a non-disclosure agreement with our sponsor, Edwards Lifesciences, the contents of the report have been omitted.

Fused-Silica Microelectromechanical Systems For Relative Gravimetry, Ethan Doerstling

Theses and Dissertations

Gravimeters are devices that measure gravitational acceleration which can be used by the United States Air Force (USAF) in the areas of navigation and remote sensing. Fused-silica microelectromechanical systems (MEMS) devices offer capabilities to make inexpensive relative gravimeters with higher thermal stability than common silicon devices while maintaining good gravitational sensitivity. The fused-silica devices in this research were designed, simulated, fabricated, and tested to observe their performance as gravimeters. The devices exhibit properties of highly sensitive accelerometers but the current designs do not qualify as gravimeters. This study provides information to improve the sensitivity and stability of these fused-silica MEMS …

Foot Pedal Assistive Device, Julian Rubinstein, Connor Jessen, Isabelle Utsler, Sydney Alexander

Mechanical Engineering

Individuals with lower-limb mobility problems may have trouble accurately locating the pedals of a three-pedal manual transmission car, and some medical conditions cause individuals to fatigue more quickly when driving. This project aimed to create a device that assists in locating the user’s feet, indicates to the user which pedals are currently in use, and provides a visual and physical warning if they are not in the correct place. The project sponsor, Alan Keizer, is the primary stakeholder in this project. This device will be designed specifically for Alan’s Subaru BRZ and will address Alan’s specific lower-limb mobility issues that …