Matching Items (49)
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- All Subjects: robotics
- All Subjects: Sustainability
- Creators: Mechanical and Aerospace Engineering Program
- Member of: Theses and Dissertations
- Status: Published
Description
This thesis project has been conducted in accordance with The Founder’s Lab initiative which is sponsored by the W. P. Carey School of Business. This program groups three students together and tasks them with creating a business idea, conducting the necessary research to bring the concept to life, and exploring different aspects of business, with the end goal of gaining traction. The product we were given to work through this process with was Hot Head, an engineering capstone project concept. The Hot Head product is a sustainable and innovative solution to the water waste issue we find is very prominent in the United States. In order to bring the Hot Head idea to life, we were tasked with doing research on topics ranging from the Hot Head life cycle to finding plausible personas who may have an interest in the Hot Head product. This paper outlines the journey to gaining traction via a marketing campaign and exposure of our brand on several platforms, with a specific interest in website traffic. Our research scope comes from mainly primary sources like gathering opinions of potential buyers by sending out surveys and hosting focus groups. The paper concludes with some possible future steps that could be taken if this project were to be continued.
ContributorsRote, Jennifer Ashley (Co-author) / Goodall, Melody (Co-author) / Lozano Porras, Mariela (Co-author) / Byrne, Jared (Thesis director) / Sebold, Brent (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
Wind measurements are fundamental inputs for the evaluation of potential energy yield and performance of wind farms. Three-dimensional scanning coherent Doppler lidar (CDL) may provide a new basis for wind farm site selection, design, and control. In this research, CDL measurements obtained from multiple wind energy developments are analyzed and a novel wind farm control approach has been modeled. The possibility of using lidar measurements to more fully characterize the wind field is discussed, specifically, terrain effects, spatial variation of winds, power density, and the effect of shear at different layers within the rotor swept area. Various vector retrieval methods have been applied to the lidar data, and results are presented on an elevated terrain-following surface at hub height. The vector retrieval estimates are compared with tower measurements, after interpolation to the appropriate level. CDL data is used to estimate the spatial power density at hub height. Since CDL can measure winds at different vertical levels, an approach for estimating wind power density over the wind turbine rotor-swept area is explored. Sample optimized layouts of wind farm using lidar data and global optimization algorithms, accounting for wake interaction effects, have been explored. An approach to evaluate spatial wind speed and direction estimates from a standard nested Coupled Ocean and Atmosphere Mesoscale Prediction System (COAMPS) model and CDL is presented. The magnitude of spatial difference between observations and simulation for wind energy assessment is researched. Diurnal effects and ramp events as estimated by CDL and COAMPS were inter-compared. Novel wind farm control based on incoming winds and direction input from CDL's is developed. Both yaw and pitch control using scanning CDL for efficient wind farm control is analyzed. The wind farm control optimizes power production and reduces loads on wind turbines for various lidar wind speed and direction inputs, accounting for wind farm wake losses and wind speed evolution. Several wind farm control configurations were developed, for enhanced integrability into the electrical grid. Finally, the value proposition of CDL for a wind farm development, based on uncertainty reduction and return of investment is analyzed.
ContributorsKrishnamurthy, Raghavendra (Author) / Calhoun, Ronald J (Thesis advisor) / Chen, Kangping (Committee member) / Huang, Huei-Ping (Committee member) / Fraser, Matthew (Committee member) / Phelan, Patrick (Committee member) / Arizona State University (Publisher)
Created2013
Description
Among the various end-use sectors, the commercial sector is expected to have the second-largest increase in total primary energy consump¬tion from 2009 to 2035 (5.8 quadrillion Btu) with a growth rate of 1.1% per year, it is the fastest growing end-use sectors. In order to make major gains in reducing U.S. building energy use commercial sector buildings must be improved. Energy benchmarking of buildings gives the facility manager or the building owner a quick evaluation of energy use and the potential for energy savings. It is the process of comparing the energy performance of a building to standards and codes, to a set target performance or to a range of energy performance values of similar buildings in order to help assess opportunities for improvement. Commissioning of buildings is the process of ensuring that systems are designed, installed, functionally tested and capable of being operated and maintained according to the owner's operational needs. It is the first stage in the building upgrade process after it has been assessed using benchmarking tools. The staged approach accounts for the interactions among all the energy flows in a building and produces a systematic method for planning upgrades that increase energy savings. This research compares and analyzes selected benchmarking and retrocommissioning tools to validate their accuracy such that they could be used in the initial audit process of a building. The benchmarking study analyzes the Energy Use Intensities (EUIs) and Ratings assigned by Portfolio Manager and Oak Ridge National Laboratory (ORNL) Spreadsheets. The 90.1 Prototype models and Commercial Reference Building model for Large Office building type were used for this comparative analysis. A case-study building from the DOE - funded Energize Phoenix program was also benchmarked for its EUI and rating. The retrocommissioning study was conducted by modeling these prototype models and the case-study building in the Facility Energy Decision System (FEDS) tool to simulate their energy consumption and analyze the retrofits suggested by the tool. The results of the benchmarking study proved that a benchmarking tool could be used as a first step in the audit process, encouraging the building owner to conduct an energy audit and realize the energy savings potential. The retrocommissioning study established the validity of FEDS as an accurate tool to simulate a building for its energy performance using basic inputs and to accurately predict the energy savings achieved by the retrofits recommended on the basis of maximum LCC savings.
ContributorsAgnihotri, Shreya Prabodhkumar (Author) / Reddy, T Agami (Thesis advisor) / Bryan, Harvey (Committee member) / Phelan, Patrick (Committee member) / Arizona State University (Publisher)
Created2011
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 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
As robots become more prevalent, the need is growing for efficient yet stable control systems for applications with humans in the loop. As such, it is a challenge for scientists and engineers to develop robust and agile systems that are capable of detecting instability in teleoperated systems. Despite how much research has been done to characterize the spatiotemporal parameters of human arm motions for reaching and gasping, not much has been done to characterize the behavior of human arm motion in response to control errors in a system. The scope of this investigation is to investigate human corrective actions in response to error in an anthropomorphic teleoperated robot limb. Characterizing human corrective actions contributes to the development of control strategies that are capable of mitigating potential instabilities inherent in human-machine control interfaces. Characterization of human corrective actions requires the simulation of a teleoperated anthropomorphic armature and the comparison of a human subject's arm kinematics, in response to error, against the human arm kinematics without error. This was achieved using OpenGL software to simulate a teleoperated robot arm and an NDI motion tracking system to acquire the subject's arm position and orientation. Error was intermittently and programmatically introduced to the virtual robot's joints as the subject attempted to reach for several targets located around the arm. The comparison of error free human arm kinematics to error prone human arm kinematics revealed an addition of a bell shaped velocity peak into the human subject's tangential velocity profile. The size, extent, and location of the additional velocity peak depended on target location and join angle error. Some joint angle and target location combinations do not produce an additional peak but simply maintain the end effector velocity at a low value until the target is reached. Additional joint angle error parameters and degrees of freedom are needed to continue this investigation.
ContributorsBevilacqua, Vincent Frank (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Trimble, Steven (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2013-05
Description
I worked on the human-machine interface to improve human physical capability. This work was done in the Human Oriented Robotics and Control Lab (HORC) towards the creation of an advanced, EMG-controlled exoskeleton. The project was new, and any work on the human- machine interface needs the physical interface itself. So I designed and fabricated a human-robot coupling device with a novel safety feature. The validation testing of this coupling proved very successful, and the device was granted a provisional patent as well as published to facilitate its spread to other human-machine interface applications, where it could be of major benefit. I then employed this coupling in experimentation towards understanding impedance, with the end goal being the creation of an EMG-based impedance exoskeleton control system. I modified a previously established robot-to-human perturbation method for use in my novel, three- dimensional (3D) impedance measurement experiment. Upon execution of this experiment, I was able to successfully characterize passive, static human arm stiffness in 3D, and in doing so validated the aforementioned method. This establishes an important foundation for promising future work on understanding impedance and the creation of the proposed control scheme, thereby furthering the field of human-robot interaction.
ContributorsO'Neill, Gerald D. (Author) / Artemiadis, Panagiotis (Thesis director) / Santello, Marco (Committee member) / Santos, Veronica (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2013-05
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
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