A Multiobjective Framework For Joint Coverage And Motion Planning In Uav Inspection Tasks, Luis Fernando Escobar Carvajal

Graduate Theses, Dissertations, and Problem Reports (ETD)

Unmanned Aerial Vehicles (UAVs) have become essential for data acquisition in complex 3D environments. However, traditional Coverage Path Planning (CPP) methodologies often rely on a sequential pipeline that isolates viewpoint generation from flight path routing. This decoupling fails to account for the interdependence between viewpoint distribution and minimum flight paths, effectively restricting the search space and preventing the identification of a global optimum. This dissertation proposes a unified multi-objective framework for joint coverage and motion planning. The primary contribution of this work is the transition from isolated, sequential steps to a simultaneous optimization of the number and position of viewpoints …

Development Of Hydrogen Emissions Quantification Systems To Expand Understanding Of Leaks And Losses Associated With The Burgeoning Hydrogen Transportation Sector, Christopher Loomis

Graduate Theses, Dissertations, and Problem Reports (ETD)

To combat global warming, alternative fuels are being investigated. Hydrogen is at the forefront of this movement, advertised as having zero emissions due to the products of the energy reaction being only water. However, studies over recent decades indicate that hydrogen in the atmosphere acts as a form of greenhouse gas (GHG) by increasing the lifespan of methane in the atmosphere. Models are attempting to estimate the possible effects of a transition to a hydrogen-fueled economy but lack empirical data to provide confidence to these estimated values. There is little data that quantifies hydrogen from anthropogenic sources.

To address this …

Dynamically Scaling Biomimetic Robots Through Parallel Viscoelastic Actuators, Foster Olaf Holmquist

Graduate Theses, Dissertations, and Problem Reports (ETD)

Robots provide a unique proving ground for testing scientists’ understanding of neuromuscular systems. Synergistically, mimicking biological control laws and mechanics could offer robotics the robust and adaptive locomotion of animals. Previous work has utilized the wealth of research on insect biomechanics to develop scaled robotic models but doing so presented a problem: while these robots’ larger scale has simplified manufacturing, the scale has also shifted its mechanics from those of the modeled organisms. While animals walk, forces are generated that describe their mechanics and influence motor control. The musculoskeletal structure and stretch of muscles result in viscous and elastic forces, …

Characterization Of Properties And Defects Of Alternative Matrix Materials For 3d Printed Continuous Carbon Fiber Reinforced Composites, Noah Darren Osborne

Graduate Theses, Dissertations, and Problem Reports (ETD)

Additive manufacturing, commonly known as 3D printing, has the potential to transform the production of end-use parts by facilitating the creation of complex shaped, low-volume components that are expensive to manufacture using traditional methods. However, thermoplastic polymer matrices currently utilized in 3D printing of carbon fiber composites, often lack the mechanical properties needed for aerospace applications. To address this issue, researchers have developed fiber-reinforced 3D-printed composites using an innovative two-step process which involves printing 3D preforms using fused deposition modeling, followed by compression molding. However, most previous work involves the use of nylon-based polymer matrices while there are a number …

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 …

An Investigation Of The Performance Of A 140 Kw Solar Panel In West Virginia, Rumana Subnom

Graduate Theses, Dissertations, and Problem Reports (ETD)

Solar panels are recognized as a viable technology for producing electricity from sunlight. The performance of a solar panel is influenced by factors such as solar irradiance, tilt angle, orientation, shading, panel age, degradation, and various environmental conditions including ambient air temperature, humidity, dust, soil, and snow.

In this research, a mobile solar panel testing system consisting of a mobile cart, a solar panel, and a portable power station was designed and fabricated to evaluate the performance of a solar panel. The battery is equipped with a thermal management system controlling its temperature and charging and discharging system. The current …

Investigation Of Oxidation And Corrosion Resistance Of Ni-Based Alloys And Stainless Steels Under Co2 Environments At Elevated Temperatures, Spencer Roy Fultineer

Graduate Theses, Dissertations, and Problem Reports (ETD)

High mechanical strength integrity, high robustness towards oxidation, and high resistance to carburization under CO2 environments at elevated temperatures are usually required for metallic systems that are employed for power generation. INCONEL 625 is a nickel-based superalloy that started development in the 1950s. This material was designed with the distinct purpose of use in high-temperature and high-pressure systems. While various materials possess the physical properties to handle these conditions, the creation of IN625 addresses the need for a material to withstand the highly corrosive properties of these kinds of environments. In order to evaluate the oxidation and corrosion resistance of …

A Comparative Analysis Of Coastdown Testing Methods From An Electric Drive Unit Engagement Perspective Using A Student-Designed Parallel Hybrid Electric Vehicle, Dawson Everett Dunnuck

Graduate Theses, Dissertations, and Problem Reports (ETD)

Coastdown testing and road load determination are pivotal parts of the automotive design process. Vehicle manufacturers and independent companies perform and analyze road loads determined through a coastdown or similar method to determine a vehicle’s road load for modeling and EPA certification. For a traditional coastdown, the vehicle’s drivetrain must be disconnected through a clutch between the engine and the transmission while traveling at a high rate of speed to place the vehicle in neutral. This changes for hybrid and electric vehicles. Some hybrid, and most electric, vehicles delivered to customers do not have this clutch action to grant the …

Localization Of People In Gnss-Denied Environments Using Neural-Inertial Prediction And Kalman Filter Correction, Lauren N. Cash

Graduate Theses, Dissertations, and Problem Reports (ETD)

This thesis presents a method based on neural networks and Kalman filters for estimating the position of a person carrying a mobile device (i.e., cell phone or tablet) that can communicate with static UWB sensors or is carried in an environment with known landmark positions. This device is used to collect and share inertial measurement unit (IMU) information — which includes data from sensors such as accelerometers, gyroscopes, and magnetometers — and UWB and landmark information. The collected data, in combination with other necessary initial condition information, is input into a pre-trained deep neural network (DNN) which predicts the movement …

System Analysis Of An Internal Combustion Engine (Ice) – Solid Oxide Fuel Cell (Sofc) Hybrid Cycle, Jose Javier Colon Rodriguez

Graduate Theses, Dissertations, and Problem Reports (ETD)

Due to the intermittent nature of renewable energy and the rigid operation of existing coal plants, the need for flexible power generation technology is eminent. Hybrid energy systems have shown potential for flexible, grid following dynamics while maintaining higher efficiencies. The work below focuses on the performance analysis of a proposed 100 kW pressurized Internal Combustion Engine (ICE) and Solid Oxide Fuel Cell (SOFC) hybrid system. The un-utilized fuel from the SOFC stack provided the chemical energy to operate the engine. A turbocharger was used to deliver the necessary air flow for both the stack and engine. An external reformer …

Comparison Of Maintenance Cost Of Medium And Heavy-Duty Alternative Fuel And Diesel Vehicles, Isaac C. Boyce

Graduate Theses, Dissertations, and Problem Reports (ETD)

Abstract

Comparison of Maintenance Cost of Medium and Heavy-Duty Alternative Fuel and Diesel Vehicles

Isaac Boyce

This study was conducted to provide an in-depth analysis of the differences in maintenance cost with the use of alternative fuel and diesel in medium (MD) and heavy-duty (HD) vehicles. With the push toward lower emissions from transportation vehicles for a cleaner future, the United States of America (US) has incentivized the conversion from the use of conventional fossil fuel, diesel, to lower carbon alternatives. With the increased potential for the use of alternative fuels, an investigation is warranted to understand the differences. This …

Development Of Synthetic Coal Char Simulant For Microwave Conversion Studies: A Computationally-Driven Approach, Kevin A. Hager

Graduate Theses, Dissertations, and Problem Reports (ETD)

Recent experimental demonstration of new reaction windows for coal char/methane reactions that are less energy-intensive, provides innovation for modular reactors. However, the correlation of the exact mechanism for the enhancement of these reaction windows is not certain. This study investigates the simplification of these experimental studies by developing a well-characterized coal char simulant. The approach involves using a computational approach to screen macroscopic composition to replicate the dielectric and compositional response of actual char. This study is focused on PRB coal char. A discrete element method (DEM) technique was used to simulate the packing of coal chars to give the …

A Road Grade Based Weighting System For Calculating On-Road Distance-Specific Oxides Of Nitrogen Emissions Of Light-Duty Diesel Vehicles, Jason D. Bolyard

Graduate Theses, Dissertations, and Problem Reports (ETD)

Light-duty diesel vehicles have received significant public and governmental scrutiny recently for violating emissions regulations. Similar to the heavy-duty diesel manufacturers during the late 1990’s, some light-duty manufacturers were implementing different control strategies between laboratory certification tests and customer on-road operation. These devices allowed the vehicle to pass certification tests but then use alternative operation on the road during normal use. The alternative operation would allow for better fuel economy but higher oxides of nitrogen (NOx) emissions. Light-duty vehicles are currently certified in the US using chassis dynamometer testing. The effects of all on-road driving conditions are not mimicked in …

On The Improvement Of The Indirect Quantification Of Methane Emissions: A Stationary Single Sensor Approach, Robert Scott Heltzel

Graduate Theses, Dissertations, and Problem Reports (ETD)

There is a need for improved indirect quantification of methane emissions, particularly from the natural gas industry. Natural gas production continues to increase along with the number of wells and production sites. These production sites have the potential to contribute significant levels of methane emissions. Methane is a potent greenhouse gas and the primary component of natural gas. A more complete understanding of emissions through improved quantification will lead to enhanced mitigation. Emissions have historically been quantified with both direct and indirect methods, with varying results. Emissions have been shown to be both temporally and spatially variable. These facts have …

Investigating Nox Vs Co2 Tradeoff In Heavy Duty Emissions Through The Years Under The Scope Of Carb’S 3-Bin Moving Average Window Method, Ghadi Sadek

Graduate Theses, Dissertations, and Problem Reports (ETD)

With the rise in urban pollution level over the last few years, regulatory agencies around the world have taken multiple steps to ensure engine exhaust pollutant are well monitored and properly regulated. Yet there exists a significant difference in emissions rates in various operating conditions between US and European products which currently uses a Moving average window (MAW) approach for their in-use compliance testing and certification program. Using WVU’s vehicle data collected using PEMS devices, this study aims at investigating the NOx versus CO2 tradeoff found in heavy duty diesel engines equipped with different aftertreatment technologies, under the scope of …

Literature Review On Modeling Of Density Difference Pumping Strategy For Geothermal Applications, Lucas A. Ware

Graduate Theses, Dissertations, and Problem Reports (ETD)

The utilization of geothermal ground heat sources has been demonstrated at both large and small scales across the world. However, methods of extraction of the hot working fluids are often a source of energy inefficiency and high capital expense. Current techniques to extract geothermal fluids rely on mechanically and electrically driven down-hole components that require maintenance on a regular basis. In providing a solution, one approach that reduces complexity, decreases maintenance, and allows access to fluids at greater depth is an airlift approach. The airlift approach relies on injection of gas at a depth within a geothermal well to lift …

Environment Search Planning Subject To High Robot Localization Uncertainty, Jared Joseph Beard

Graduate Theses, Dissertations, and Problem Reports (ETD)

As robots find applications in more complex roles, ranging from search and rescue to healthcare and services, they must be robust to greater levels of localization uncertainty and uncertainty about their environments. Without consideration for such uncertainties, robots will not be able to compensate accordingly, potentially leading to mission failure or injury to bystanders. This work addresses the task of searching a 2D area while reducing localization uncertainty. Wherein, the environment provides low uncertainty pose updates from beacons with a short range, covering only part of the environment. Otherwise the robot localizes using dead reckoning, relying on wheel encoder and …

A Study On The Hydrodynamics Of A Bench-Scale Top-Fed Bubbling Fluidized Bed Gasifier Using Biomass And Coal As Feedstocks, Ali Can Sivri

Graduate Theses, Dissertations, and Problem Reports (ETD)

The production of synthetic gas (syngas) from renewable or carbon-neutral sources can significantly reduce greenhouse and other emissions associated with conventional fuels. One of the most promising technologies to efficiently convert carbonaceous feedstocks such as biomass, coal, or municipal waste into syngas for transportation, power, heat, electricity generation, and or production of added-value chemicals is the bubbling fluidized-bed gasifier (BFBG). However, the gasification process inside a BFBG is a very complex high-temperature multiphase flow phenomena still not well understood, particularly when binary mixtures are investigated. As a result, despite the numerous correlations in the literature developed to predict the hydrodynamics …

Development Of An Activity-Based Windowing Approach To Evaluate Real-World Nox Emissions From Modern Medium And Heavy-Duty Diesel Trucks, Rasik Pondicherry

Graduate Theses, Dissertations, and Problem Reports (ETD)

The introduction of in-use emissions regulations by the United States Environmental Protection Agency (U.S.EPA) requires medium-duty (MD) and heavy-duty (HD) engine manufacturers to demonstrate emissions compliance during in-fleet operation. In the United States (U.S.), the Not-to-Exceed (NTE) method is used to evaluate real-world emissions compliance from on-highway MD and HD trucks. Regulatory agencies, engine manufacturers and research entities have identified that the NTE method incorporates numerous exclusions and evaluates emissions compliance only under selective operating conditions that are favorable for the selective catalytic reduction (SCR) system to reduce oxides of nitrogen (NOx) emissions efficiently. Such operation is typically encountered only …

Comparison Of Drag Area Estimation Using Natural Coast Down And Constant Speed Test Methods, Cem Baki Mr

Graduate Theses, Dissertations, and Problem Reports (ETD)

Currently in US, more than 26 percent of the total GHG emissions comes from transportation and mostly from heavy duty vehicles. Similarly, the European Council stated that 25 percent of the emissions comes from heavy duty transportation and they expect it to be further increased in the future. However, with the new coming regulations US EPA and European Council aiming to reduce the emissions by 80 percent in US and 60 percent in EU. In order to keep track and control the emissions, both authorities published new regulations and testing methods for certifying the new vehicles.

Aerodynamic testing is one …

Energy Efficiency Evaluation Of Blower Heater Non-Purge Compressed Air Dryers, Alexandra M. Botts

Graduate Theses, Dissertations, and Problem Reports (ETD)

There are several compressed air dryers available for industrial use including, refrigerant, desiccant, and membrane. This research focuses on twin tower regenerative closed loop desiccant dryers, specifically: blower heater non-purge (BHNP) with and without cooling water pumps, Compressed-air Heater Purge (CHP), Blower Heater Purge (BHP), and Pressure Swing Heaterless (PSH). These styles of dryers are used mainly in industries that require extremely dry air such as, food manufacturing, medical air, or sensitive technology manufacturers. The research was conducted by collecting and analyzing real time current draw data on air compressors and associated dryers at eight different facilities (13 compressor systems) …

Virtual Morphology As A Method Of Robotic Control, Conner Todd Castle

Graduate Theses, Dissertations, and Problem Reports (ETD)

This thesis presents Virtual Morphology (VM), a method that explores a different perspective on the design of robot autonomy using inspiration from morphological computing and programmed computation. Morphological computation offers physical solutions that solve complex tasks, like robotic grasping of unknown objects, with relative ease. Unfortunately, these physical solutions are difficult to adjust post-development, and are usually designed to complete only one or a few specific tasks. Programmed computational approaches are more flexible because they can be implemented and adjusted through software, but unfortunately, these approaches can become rather complex as tasks become more difficult. This thesis explores the potential …

Design Of Experiment And Analysis Techniques For Fuel Consumption Data Using Heavy-Duty Diesel Vehicles And On-Road Testing, Sarah Ann Mills

Graduate Theses, Dissertations, and Problem Reports (ETD)

Chassis dynamometer and on-road testing are usually employed to test vehicle operation. Testing on a chassis dynamometer reduces data variability compared to on-road testing due to the controlled environment but it does not account for other important variables that affects real-world vehicle operation. This study used on-road testing to investigate the differences between two test fuels under real-world conditions. Three heavy-duty diesel vehicles were driven on different routes for a period of three months. Each vehicle was instrumented with flow meters to gather fuel consumption data, which was then compared to the fuel rate broadcasted by the engine control unit …

Evaluating The Approach Of Using Nox Control Performance Tracking For On-Board Diagnostics Of Heavy-Duty Diesel Vehicles, Renata Castiglioni

Graduate Theses, Dissertations, and Problem Reports (ETD)

egulatory agencies have taken several measures to ensure proper regulation of engine exhaust in response to a yearly rise in urban pollution levels. This is due in no small part to vehicular traffic and resulting air pollution from exhaust.

This study evaluates the NOx Control Performance Tracking (NCPT) Onboard Diagnostic (OBD) parameter proposed by the California Air Resources Board (CARB) as a tool to assess in-use heavy-duty vehicle performance. It also assesses the various criteria prescribed in the NCPT approach for applicability to real-world vehicle data.

In order to analyze the data, the study also investigated the effect of various …

Pitting Corrosion And Corrosion Fatigue Crack Growth Behavior Of Oil-Grade Alloy 718 In Sodium Chloride Solution, Ting Chen

Graduate Theses, Dissertations, and Problem Reports (ETD)

Oil-grade nickel-base alloy 718 has been recently used in the oil and gas industry for downhole drilling components especially for the parts of the bottom hole assembly (BHA) due to its superior mechanical properties, good corrosion resistance, non-magnetic properties and ability to be heat treated to various strength levels. As the modern oil and gas industry explored into coastal and marine locations, deeper and deeper wells have been drilled with high pressure high temperature, making the demand for increased strength and good toughness super critical for alloys used in ultra-deep wells drilling. Moreover, the existence of high concentrations of chloride …