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- All Subjects: Mechanical Engineering
- All Subjects: robotics
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 honors thesis creative project was to design, manufacture and test a retrofitted E-bike kit that met certain stated design objections. To design a successful E-bike kit, the needs of the customer were researched and turned into measurable engineering requirements. For the biker, these requirements are speed, range, cost and simplicity. The approach is outlined similarly to the capstone program here at ASU. There is an introduction in sections 1 and 2 which gives the motivation and an overview of the project done. In section 3, the voice of the customer is discussed and converted into requirements. In sections 4, 5,6,7 and 8 the design process is described. Section 4 is the conceptual design where multiple concepts are narrowed down to one design. Section 5 is the preliminary design, where the design parts are specified and optimized to fit requirements. Section 6 is fabrication and assembly which gives details into how the product was manufactured and built. Sections 7 and 8 are the testing and validation sections where tests were carried out to verify that the requirements were met. Sections 9 and 10 were part of the conclusion in which recommendations and the project conclusions are depicted. In general, I produced a successful prototype. Each phase of the design came with its own issues and solutions but in the end a functioning bike was delivered. There were a few design options considered before selecting the final design. The rear-drive friction design was selected based on its price, simplicity and performance. The design was optimized in the preliminary design phase and items were purchased. The purchased items were either placed on the bike directly or had to be manufactured in some way. Once the assembly was completed, testing and validation took place to verify that the design met the requirements. Unfortunately, the prototype did not meet all the requirements. The E-bike had a maximum speed of 14.86 mph and a range of 12.75 miles which were below the performance requirements of 15 mph and 15 miles. The cost was $41.67 over the goal of $300 although the total costs remained under budget. At the end of the project, I delivered a functioning E-bike retrofitting kit on the day of the defense. While it did not meet the requirements fully, there was much room for improvement and optimization within the design.
ContributorsLangerman, Jonathon Henry (Author) / Phelan, Patrick (Thesis director) / Trimble, Steven (Committee member) / Mechanical and Aerospace Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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