Matching Items (58)
Filtering by
- All Subjects: robotics
- All Subjects: Sustainability
- All Subjects: Aerospace
- Creators: Mechanical and Aerospace Engineering Program
Description
This thesis focused on understanding how humans visually perceive swarm behavior through the use of swarm simulations and gaze tracking. The goal of this project was to determine visual patterns subjects display while observing and supervising a swarm as well as determine what swarm characteristics affect these patterns. As an ultimate goal, it was hoped that this research will contribute to optimizing human-swarm interaction for the design of human supervisory controllers for swarms. To achieve the stated goals, two investigations were conducted. First, subjects gaze was tracked while observing a simulated swarm as it moved across the screen. This swarm changed in size, disturbance level in the position of the agents, speed, and path curvature. Second, subjects were asked to play a supervisory role as they watched a swarm move across the screen toward targets. The subjects determined whether a collision would occur and with which target while their responses as well as their gaze was tracked. In the case of an observatory role, a model of human gaze was created. This was embodied in a second order model similar to that of a spring-mass-damper system. This model was similar across subjects and stable. In the case of a supervisory role, inherent weaknesses in human perception were found, such as the inability to predict future position of curved paths. These findings are discussed in depth within the thesis. Overall, the results presented suggest that understanding human perception of swarms offers a new approach to the problem of swarm control. The ability to adapt controls to the strengths and weaknesses could lead to great strides in the reduction of operators in the control of one UAV, resulting in a move towards one man operation of a swarm.
ContributorsWhitton, Elena Michelle (Author) / Artemiadis, Panagiotis (Thesis director) / Berman, Spring (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2015-05
DescriptionThe heat island effect has resulted in an observational increase in averave ambient as well as surface temperatures and current photovoltaic implementation do not migitate this effect. Thus, the feasibility and performance of alternative solutions are explored and determined using theoretical, computational data.
ContributorsCoyle, Aidan John (Author) / Trimble, Steven (Thesis director) / Underwood, Shane (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
The role of robotics mobility is essential in the world of research because it allows humans to perform jobs that are dull, dirty, or dangerous without being physically present. A typical robot environment is one that is smooth and predictable. Screw-powered vehicles (SPV's) have commonly been used in these predictable environment situations such as terrestrial applications like mud and snow. However, a gap remains in SPV's traversing complex environments, particularly debris and granular material. The goal is to study the characteristics of how a SPV might move and generate force in such a granular environment for Earth and space. In our study, the chosen granular environment is soda-lime glass beads for easy characterization. This study with glass beads focuses on two separate approaches. The first approach is using a single screw rotating while the apparatus remains static and analyzing the forces that impact the screw. The second approach includes using a full body craft with two double helix screws and analyzing the translational velocity of the craft. This study presents both experimental and computational results using simulations with Multi-Body Dynamics (MBD) and Discrete Element Method (DEM) software packages to investigate the trends of SPV's in a granular environment.
ContributorsRamirez, Sierra Monique (Author) / Marvi, Hamid (Thesis director) / Emady, Heather (Committee member) / Thoesen, Andrew (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Active pixel sensors hold a lot of promise for space applications in star tracking because of their effectiveness against radiation, small size, and on-chip processing. The research focus is on documenting and validating ground test equipment for these types of sensors. Through demonstrating the utility of a commercial sensor, the research will be able to work on ensuring the accuracy of ground tests. This contribution allows for future research on improving active pixel sensor performance.
ContributorsDotson, Breydan Lane (Author) / White, Daniel (Thesis director) / Jansen, Rolf (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
This thesis focused on grasping tasks with the goal of investigating, analyzing, and quantifying human catching trends by way of a mathematical model. The aim of this project was to study human trends in a dynamic grasping task (catching a rolling ball), relate those discovered trends to kinematic characteristics of the object, and use this relation to control a robot hand in real time. As an ultimate goal, it was hoped that this research will aide in furthering the bio-inspiration in robot control methods. To achieve the above goal, firstly a tactile sensing glove was developed. This instrument allowed for in depth study of human reactionary grasping movements when worn by subjects during experimentation. This sensing glove system recorded force data from the palm and motion data from four fingers. From these data sets, temporal trends were established relating to when subjects initiated grasping during each trial. Moreover, optical tracking was implemented to study the kinematics of the moving object during human experiments and also to close the loop during the control of the robot hand. Ultimately, a mathematical bio-inspired model was created. This was embodied in a two-term decreasing power function which related the temporal trend of wait time to the ball initial acceleration. The wait time is defined as the time between when the experimental conductor releases the ball and when the subject begins to initiate grasping by closing their fingers, over a distance of four feet. The initial acceleration is the first acceleration value of the object due to the force provided when the conductor throws the object. The distance over which the ball was thrown was incorporated into the model. This is discussed in depth within the thesis. Overall, the results presented here show promise for bio-inspired control schemes in the successful application of robotic devices. This control methodology will ideally be developed to move robotic prosthesis past discrete tasks and into more complicated activities.
ContributorsCard, Dillon (Co-author) / Mincieli, Jennifer (Co-author) / Artemiadis, Panagiotis (Thesis director) / Santos, Veronica (Committee member) / Middleton, James (Committee member) / Barrett, The Honors College (Contributor) / School of Sustainability (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / W. P. Carey School of Business (Contributor)
Created2014-05
Description
The purpose of this project is to design a waterproof magnetic coupling that will allow the actuators on remotely operated vehicles (ROV) to remain water tight in extreme underwater conditions for longs periods of time. ROVs are tethered mobile robots controlled and powered by an operator from some distance away at the surface of the water. These vehicles all require some method for transmitting power to the surrounding water to interact with their environment, such as in thrusters for propulsion or a claw for manipulation. Many commercially available thrusters, for example, use shaft seals to transfer power through a waterproof housing to the adjacent water. Even though this works excellently for many of them, I propose that having a static seal and transmitting the power from the motor to the shaft through magnetic coupling will allow a much greater depth at which they are waterproof to be achieved. In addition, it will not require the chronic maintenance that dynamic shaft seals entail, making long scientific endeavors possible.
ContributorsHouda, Jonathon Jacob (Author) / Foy, Joseph (Thesis director) / Zhu, Haolin (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
As society's energy crisis continues to become more imminent many industries and niches are seeking a new, sustainable and renewable source of electricity production. Similar to solar, wind and tidal energy, kinetic energy has the potential to generate electricity as an extremely renewable source of energy generation. While stationary bicycles can generate small amounts of electricity, the idea behind this project was to expand energy generation into the more common weight lifting side of exercising. The method for solving this problem was to find the average amount of power generated per user on a Smith machine and determine how much power was available from an accompanying energy generator. The generator consists of three phases: a copper coil and magnet generator, a full wave bridge rectifying circuit and a rheostat. These three phases working together formed a fully functioning controllable generator. The resulting issue with the kinetic energy generator was that the system was too inefficient to serve as a viable system for electricity generation. The electrical production of the generator only saved about 2 cents per year based on current Arizona electricity rates. In the end it was determined that the project was not a sustainable energy generation system and did not warrant further experimentation.
ContributorsO'Halloran, Ryan James (Author) / Middleton, James (Thesis director) / Hinrichs, Richard (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / The Design School (Contributor) / School of Mathematical and Statistical Sciences (Contributor)
Created2014-05
Description
The purpose of this project is to determine the feasibility of a water tunnel designed to meet certain constraints. The project goals are to tailor a design for a given location, and to produce a repeatable design sizing and shape process for specified constraints. The primary design goals include a 1 m/s flow velocity in a 30cm x 30cm test section for 300 seconds. Secondary parameters, such as system height, tank height, area contraction ratio, and roof loading limits, may change depending on preference, location, or environment. The final chosen configuration is a gravity fed design with six major components: the reservoir tank, the initial duct, the contraction nozzle, the test section, the exit duct, and the variable control exit nozzle. Important sizing results include a minimum water weight of 60,000 pounds, a system height of 7.65 meters, a system length of 6 meters (not including the reservoir tank), a large shallow reservoir tank width of 12.2 meters, and height of 0.22 meters, and a control nozzle exit radius range of 5.25 cm to 5.3 cm. Computational fluid dynamic simulation further supports adherence to the design constraints but points out some potential areas for improvement in dealing with flow irregularities. These areas include the bends in the ducts, and the contraction nozzle. Despite those areas recommended for improvement, it is reasonable to conclude that the design and process fulfill the project goals.
ContributorsZykan, Brandt Davis Healy (Author) / Wells, Valana (Thesis director) / Middleton, James (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
The goal of this project was to use the sense of touch to investigate tactile cues during multidigit rotational manipulations of objects. A robotic arm and hand equipped with three multimodal tactile sensors were used to gather data about skin deformation during rotation of a haptic knob. Three different rotation speeds and two levels of rotation resistance were used to investigate tactile cues during knob rotation. In the future, this multidigit task can be generalized to similar rotational tasks, such as opening a bottle or turning a doorknob.
ContributorsChalla, Santhi Priya (Author) / Santos, Veronica (Thesis director) / Helms Tillery, Stephen (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor) / School of Earth and Space Exploration (Contributor)
Created2014-05
Description
This work describes the numerical process developed for use of rocket engine nozzle ejectors. Ejector nozzles, while applied to jet engines extensively, have not been applied to rockets, and have great potential to improve the performance of endoatmospheric rocket propulsion systems. Utilizing the low pressure, high velocity flow in the plume, this secondary structure entrains a secondary mass flow to increase the mass flow of the propulsion system. Rocket engine nozzle ejectors must be designed with the high supersonic conditions associated with rocket engines. These designs rely on the numerical process described in this paper.
ContributorsGibson, Gaines Sullivan (Author) / Wells, Valana (Thesis director) / Takahashi, Timothy (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05