Matching Items (131)
Description
In this article we present a low-cost force-sensing quadrupedal laminate robot platform. The robot has two degrees of freedom on each of four independent legs, allowing for a variety of motion trajectories to be created at each leg, thus creating a rich control space to explore on a relatively low-cost robot. This platform allows a user to research complex motion and gait analysis control questions, and use different concepts in computer science and control theory methods to permit it to walk. The motion trajectory of each leg has been modeled in Python. Critical design considerations are: the complexity of the laminate design, the rigidity of the materials of which the laminate is constructed, the accuracy of the transmission to control each leg, and the design of the force sensing legs.
ContributorsShuch, Benjamin David (Author) / Aukes, Daniel (Thesis director) / Sodemann, Angela (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The Internet of Things (IoT) is term used to refer to the billions of Internet connected, embedded devices that communicate with one another with the purpose of sharing data or performing actions. One of the core usages of the proverbial network is the ability for its devices and services to interact with one another to automate daily tasks and routines. For example, IoT devices are often used to automate tasks within the household, such as turning the lights on/off or starting the coffee pot. However, designing a modular system to create and schedule these routines is a difficult task.
Current IoT integration utilities attempt to help simplify this task, but most fail to satisfy one of the requirements many users want in such a system ‒ simplified integration with third party devices. This project seeks to solve this issue through the creation of an easily extendable, modular integrating utility. It is open-source and does not require the use of a cloud-based server, with users hosting the server themselves. With a server and data controller implemented in pure Python and a library for embedded ESP8266 microcontroller-powered devices, the solution seeks to satisfy both casual users as well as those interested in developing their own integrations.
Current IoT integration utilities attempt to help simplify this task, but most fail to satisfy one of the requirements many users want in such a system ‒ simplified integration with third party devices. This project seeks to solve this issue through the creation of an easily extendable, modular integrating utility. It is open-source and does not require the use of a cloud-based server, with users hosting the server themselves. With a server and data controller implemented in pure Python and a library for embedded ESP8266 microcontroller-powered devices, the solution seeks to satisfy both casual users as well as those interested in developing their own integrations.
ContributorsBeagle, Bryce Edward (Author) / Acuna, Ruben (Thesis director) / Jordan, Shawn (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
After visiting Nepal and seeing the problem of potable drinking water, there needed to be a solution to purify it. Simultaneously, local national forests have been overrun with two invasive plant species: Mikania micrantha and Lantana camara. Both a very fast-growing species and can be turned into biochar. If the resulting is made through an effective process, then the community would be able to work less making each batch of biochar and make more money per batch, whereby the market already exists. The community could grow their profits even further by activating the created charcoal, which fetches an even better price. Most Importantly, among other important uses, the activated charcoal could also be used in clean drinking water systems. The prospect of using activated charcoal as water purifying agents can be tested in a future design of experiments. This design of experiments would assess the effectiveness of the activated charcoal, to determine which pore size is the most cost effective at filtering out pollutants. This thesis focuses on researching different types of biochar kilns, clean drinking water systems, and the use of charcoal in clean drinking water systems.
ContributorsBarron, Timothy (Author) / Chhetri, Netra (Thesis director) / Henderson, Mark (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Bifacial photovoltaic modules are a relatively new development in the photovoltaic industry which allows for the collection and conversion of light on both sides of photovoltaic modules to usable electricity. Additional energy yield from bifacial photovoltaic modules, despite a slight increase in cost due to manufacturing processes of the bifacial cells, has the potential to significantly decrease the LCOE of photovoltaic installation. The performance of bifacial modules is dependent on three major factors: incident irradiation on the front side of the module, reflected irradiation on the back side of the module, and the module's bifaciality. Bifaciality is an inherent property of the photovoltaic cells and is determined by the performance of the front and rear side of the module when tested at STC. The reflected light on the back side of the module, however, is determined by several different factors including the incident ground irradiance, shading from the modules and racking system, height of the module installation, and ground albedo. Typical ground surfaces have a low albedo, which means that the magnitude of reflected light is a low percentage of the incident irradiance. Non-uniformity of back-side irradiance can also reduce the power generation due to cell-to-cell mismatch losses. This study investigates the use of controlled back-side reflectors to improve the irradiance on the back side of loosely packed 48-cell bifacial modules and compares this performance to the performance of 48 and 60-cell bifacial modules which rely on the uncontrolled reflection off nearby ground surfaces. Different construction geometries and reflective coating materials were tested to determine optimal construction to improve the reflectivity and uniformity of reflection. Results of this study show a significant improvement of 10-14% total energy production from modules with reflectors when compared to the 48-cell module with an uncontrolled ground reflection.
ContributorsBowersox, David Andrew (Author) / Tamizhmani, Govindasamy (Thesis director) / Srinivasan, Devarajan (Committee member) / School for Engineering of Matter, Transport and Energy (Contributor) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The goal of our research was to develop and validate a method for predicting the mechanical behavior of Additively Manufactured multi-material honeycomb structures. Multiple approaches already exist in the field for modeling the behavior of cellular materials, including the bulk property assumption, homogenization and strut level characterization [1]. With the bulk property approach, the structure is assumed to behave according to what is known about the material in its bulk formulation, without regard to its geometry or scale. With the homogenization technique, the specimen that is being tested is treated as a solid material within the simulation environment even if the physical specimen is not. Then, reduced mechanical properties are assigned to the specimen to account for any voids that exist within the physical specimen. This approach to mechanical behavior prediction in cellular materials is shape dependent. In other words, the same model cannot be used from one specimen to the next if the cell shapes of those lattices differ in any way. When using the strut level characterization approach, a single strut (the connecting member between nodes constituting a cellular material) is isolated and tested. With this approach, there tends to be a significant deviation in the experimental data due to the small size of the isolated struts. Yet it has the advantage of not being shape sensitive, at least in principle. The method that we developed, and chose to test lies within the latter category, and is what we have coined as the Representative Lattice Element (RLE) Method. This method is modeled after the well-established Representative Volume Element (RVE) method [2]. We define the RLE as the smallest unit over which mechanical tests can be conducted that will provide results which are representative of the larger lattice structure. In other words, the theory is that a single member (or beam in this case) of a honeycomb structure can be taken, tests can be conducted on this member to determine the mechanical properties of the representative lattice element and the results will be representative of the mechanical behavior whole structure. To investigate this theory, we designed specimens, conducted various tensile and compression tests, analyzed the recorded data, conducted a micromechanics study, and performed structural simulation work using commercial Finite Element Analysis software.
ContributorsSalti, Ziyad Zuheir (Co-author) / Eppley, Trevor (Co-author) / Bhate, Dhruv (Thesis director) / Song, Kenan (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
The use of Artificial Intelligence in assistive systems is growing in application and efficiency. From self-driving cars, to medical and surgical robots and industrial tasked unsupervised co-robots; the use of AI and robotics to eliminate human error in high-stress environments and perform automated tasks is something that is advancing society’s status quo. Not only has the understanding of co-robotics exploded in the industrial world, but in research as well. The National Science Foundation (NSF) defines co-robots as the following: “...a robot whose main purpose is to work with people or other robots to accomplish a goal” (NSF, 1). The latest iteration of their National Robotics Initiative, NRI-2.0, focuses on efforts of creating co-robots optimized for ‘scalability, customizability, lowering barriers to entry, and societal impact’(NSF, 1). While many avenues have been explored for the implementation of co-robotics to create more efficient processes and sustainable lifestyles, this project’s focus was on societal impact co-robotics in the field of human safety and well-being. Introducing a co-robotics and computer vision AI solution for first responder assistance would help bring awareness and efficiency to public safety. The use of real-time identification techniques would create a greater range of awareness for first responders in high-stress situations. A combination of environmental features collected through sensors (camera and radar) could be used to identify people and objects within certain environments where visual impairments and obstructions are high (eg. burning buildings, smoke-filled rooms, ect.). Information about situational conditions (environmental readings, locations of other occupants, etc.) could be transmitted to first responders in emergency situations, maximizing situational awareness. This would not only aid first responders in the evaluation of emergency situations, but it would provide useful data for the first responder that would help materialize the most effective course of action for said situation.
ContributorsScott, Kylel D (Author) / Benjamin, Victor (Thesis director) / Liu, Xiao (Committee member) / Engineering Programs (Contributor) / College of Integrative Sciences and Arts (Contributor) / Department of Information Systems (Contributor) / Barrett, The Honors College (Contributor)
Created2020-12
Description
A significant issue in the medical field is a lack of affordable, rehabilitation practices for patients with drop foot. Drop foot is a condition where a person is unable to lift the front part of the foot. People with this condition usually swing their legs in a wide arc to avoid dragging the toes, or lift their leg higher than normal. This can cause an abnormal walking gait and force them to expend more energy than usual for mobility. This condition is usually the result of a nerve injury, brain or spinal injuries, and muscle disorders. One of the most common causes of drop foot is stroke. While there are ways for stroke survivors to live with drop foot, they do not provide free range of motion. Drop foot braces keep the foot in a stationary position with the foot lifted. They do not allow plantarflexion movement of any sort to mimic foot push off. The purpose of this experiment is to allow stroke survivors with drop foot to adjust to a normal walking gait. This experiment is also meant to allow movement while minimizing metabolic cost for the subject.
ContributorsBurca, Brian (Author) / Thomas, Sugar (Thesis director) / Sangram, Redkar (Committee member) / Engineering Programs (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Sport Utility Vehicles have grown to be one of the most popular vehicle choices in the automotive industry. This thesis explores the history of SUVs with their roots starting in the 1930s up until 2020 in order to understand the essence of what an SUV is. The definition applied to the SUV for this thesis is as follows: a vehicle that is larger and more capable than the average sedan by offering more interior space, cargo area, and possibly off-road capability. This definition must be sufficiently broad to encompass the diverse market that manufactures are calling SUVs. Then the trends of what current (2020) SUVs are experiencing are analyzed from three major aspects: sociology, economics, and technology. Sociology focuses on the roles an SUV fulfills and the type of people who own SUVs. The economics section reviews the profitability of SUVs and their dependence on a nation’s economic strength. Technology pertains to the trends in safety features and other advances such as autonomous or electric vehicles. From these current and past trends, predictions could be made on future SUVs. In regards to sociology, trends indicate that SUVs will be more comfortable as newly entering luxury brands will be able to innovate aspects of comfort. In addition, SUVs will offer more performance models so manufacturers can reach a wider variety of demographics. Economic trends revealed that SUVs are at risk of losing popularity as the economy enters a hard time due to the COVID-19 pandemic. Technological trends revealed that hybrids and electric vehicles will now move into the SUV market starting with the more compact sizes to help improve manufacturer’s fleet fuel efficiency.
ContributorsMarske, Trevor Holmes (Author) / Henderson, Mark (Thesis director) / Contes, James (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
This creative project is a children’s book designed to teach young readers about engineering through a fictional story about a group of children creating a robot for their school’s show-and-tell. The story aims to teach engineering principles to children in a lighthearted and entertaining form, narrating notions such as the design process, prototyping, specialty fields, and repurposing. Other principles such as learning patience, compromise and teamwork are also conveyed throughout the plot details. Small life lessons that transcend the realm of engineering are also embodied throughout. The plot of the story is a young girl who goes to visit her grandfather who is a garage tinkerer with a love of spare parts. He tells her about his job as a robotics engineer, and she loves it. She goes and tells her friends who decide they want to make a robot for show-and-tell at school. The grandfather agrees to help them build a robot and thus the group of kids are walked through the engineering design process, learning new things (and specialization) along the way. The story ends by revealing that the whole story was a flashback the main character was having as she is about to start her first day at an engineering firm.
ContributorsReed, Shelby Marie (Author) / Oberle, Eric (Thesis director) / Williams, Wendy (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation over short distances in urban areas. Bicycle riding has also been shown to improve overall health and increase life expectancy. However, riding a bicycle may be inconvenient or impossible for persons with disabilities due to the complex and coordinated nature of the task. Automated bicycles provide an interesting area of study for human-robot interaction, due to the number of contact points between the rider and the bicycle. The goal of the Smart Bike project is to provide a platform for future study of the physical interaction between a semi-autonomous bicycle robot and a human rider, with possible applications in rehabilitation and autonomous vehicle research.
This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.
This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.
ContributorsBush, Jonathan Ernest (Author) / Zhang, Wenlong (Thesis director) / Sandy, Douglas (Committee member) / Software Engineering (Contributor, Contributor) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05