Matching Items (38)
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- All Subjects: robotics
- All Subjects: Aerodynamics
- Creators: Mechanical and Aerospace Engineering Program
- Member of: Barrett, The Honors College Thesis/Creative Project Collection
- Resource Type: Text
Description
This experiment used hotwire anemometry to examine the von Kármán vortex street and how different surface conditions affect the wake profile of circular airfoils, or bluff bodies. Specifically, this experiment investigated how the various surface conditions affected the shedding frequency and Strouhal Number of the vortex street as Reynolds Number is increased. The cylinders tested varied diameter, surface finish, and wire wrapping. Larger diameters corresponded with lower shedding frequencies, rougher surfaces decreased Strouhal Number, and the addition of thick wires to the surface of the cylinder completely disrupted the vortex shedding to the point where there was almost no dominant shedding frequency. For the smallest diameter cylinder tested, secondary dominant frequencies were observed, suggesting harmonics.
ContributorsCoote, Peter John (Author) / Takahashi, Timothy (Thesis director) / White, Daniel (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
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
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 flow control for airfoil designs has been researched for the past few decades. This has been achieved through steady blowing, pulsed blowing, synthetic jets, and plasma jets. These techniques have been applied to both single and dual jet configurations. This technology was examined for a wind turbine blade application so that lift and drag can be altered without needing a mechanical flap. Research was completed to also allow for thicker airfoils with more blunt trailing edges that result in the higher structural strength needed for large, heavy wind turbine blades without the negative aerodynamic effects such as boundary layer separation. This research tested steady blowing in a dual jet configuration for the S830 airfoil from the National Renewable Energy Laboratory (NREL) database of airfoils. Computational Fluid Dynamics was used in the software Ansys Fluent. Calculations were completed for a modified S830 airfoil with a rounded trailing edge surface at momentum coefficients of 0.01 for the lower jet and 0.1, 0.12, and 0.14 for the upper jet. These results were then compared to the original S830 results for the lift over drag efficiency. The design with momentum coefficients of 0.12 for the upper surface resulted in the highest increase in efficiency of 53% at an angle of attack of 12 degrees. At this momentum coefficient, the angle of attack where zero lift occurred was at -8.62 degrees, compared to the case with no blowing at -1.90 degrees. From previous research and research completed in this thesis it was concluded that active flow control is an effective technique to improve wind turbine energy collection.
ContributorsStapleton, Paige (Author) / Mertz, Benjamin (Thesis director) / Herrmann, Marcus (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
The emerging market for unmanned aerial vehicles, or UAV's, demands the development of effective design tools for small-scale aircraft. This research seeks to validate a previously developed drag build-up method for small air vehicles. Using the method, a drag prediction was made for an off-the-shelf, remotely controlled aircraft. The Oswald efficiency was predicted to be 0.852. Flight tests were then conducted using the RC plane, and the aircraft performance data was compared with the predicted performance data. Although there were variations in the data due to flight conditions and equipment, the drag build up method was capable of predicting the aircraft's drag. The experimental Oswald efficiency was found to be 0.863 with an error of 1.27%. As for the CDp the prediction of 0.0477 was comparable to the experimental value of 0.0424. Moving forward this method can be used to create conceptual designs of UAV's to explore the most efficient designs, without the need to build a model.
ContributorsGavin, Tyler Joseph (Author) / Wells, Valana (Thesis director) / Garrett, Fred (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2014-05
Description
This paper summarizes the [1] ideas behind, [2] needs, [3] development, and [4] testing of 3D-printed sensor-stents known as Stentzors. This sensor was successfully developed entirely from scratch, tested, and was found to have an output of 3.2*10-6 volts per RMS pressure in pascals. This paper also recommends further work to render the Stentzor deployable in live subjects, including [1] further design optimization, [2] electrical isolation, [3] wireless data transmission, and [4] testing for aneurysm prevention.
ContributorsMeidinger, Aaron Michael (Author) / LaBelle, Jeffrey (Thesis director) / Frakes, David (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