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In this paper, we propose an autonomous throwing and catching system to be developed as a preliminary step towards the refinement of a robotic arm capable of improving strength and motor function in the limb. This will be accomplished by first autonomizing simpler movements, such as throwing a ball. In this system, an autonomous thrower will detect a desired target through the use of image processing. The launch angle and direction necessary to hit the target will then be calculated, followed by the launching of the ball. The smart catcher will then detect the ball as it is in the air, calculate its expected landing location based on its initial trajectory, and adjust its position so that the ball lands in the center of the target. The thrower will then proceed to compare the actual landing position with the position where it expected the ball to land, and adjust its calculations accordingly for the next throw. By utilizing this method of feedback, the throwing arm will be able to automatically correct itself. This means that the thrower will ideally be able to hit the target exactly in the center within a few throws, regardless of any additional uncertainty in the system. This project will focus of the controller and image processing components necessary for the autonomous throwing arm to be able to detect the position of the target at which it will be aiming, and for the smart catcher to be able to detect the position of the projectile and estimate its final landing position by tracking its current trajectory.
ContributorsLundberg, Kathie Joy (Co-author) / Thart, Amanda (Co-author) / Rodriguez, Armando (Thesis director) / Berman, Spring (Committee member) / Electrical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Imaging using electric fields could provide a cheaper, safer, and easier alternative to the standard methods used for imaging. The viability of electric field imaging at very low frequencies using D-dot sensors has already been investigated and proven. The new goal is to determine if imaging is viable at high frequencies. In order to accomplish this, the operational amplifiers used in the very low frequency imaging test set up must be replaced with ones that have higher bandwidth. The trade-off of using these amplifiers is that they have a typical higher input leakage current on the order of 100 compared to the standard. Using a modified circuit design technique that reduces input leakage current of the operational amplifiers used in the imaging test setup, a printed circuit board with D-dot sensors is fabricated to identify the frequency limitations of electric field imaging. Data is collected at both low and high frequencies as well as low peak voltage. The data is then analyzed to determine the range in intensity of electric field and frequency that this circuit low-leakage design can accurately detect a signal. Data is also collected using another printed circuit board that uses the standard circuit design technique. The data taken from the different boards is compared to identify if the modified circuit design technique allows for higher sensitivity imaging. In conclusion, this research supports that using low-leakage design techniques can allow for signal detection comparable to that of the standard circuit design. The low-leakage design allowed for sensitivity within a factor two to that of the standard design. Although testing at higher frequencies was limited, signal detection for the low-leakage design was reliable up until 97 kHz, but further experimentation is needed to determine the upper frequency limits.
ContributorsLin, Richard (Co-author) / Angell, Tyler (Co-author) / Allee, David (Thesis director) / Chung, Hugh (Committee member) / Electrical Engineering Program (Contributor) / W. P. Carey School of Business (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
A description of the robotics principles, actuators, materials, and programming used to test the durability of dendritic identifiers to be used in the produce supply chain. This includes the application of linear and rotational servo motors, PWM control of a DC motor, and hall effect sensors to create an encoder.
ContributorsRobertson, Stephen (Author) / Kozicki, Michael (Thesis director) / Manfredo, Mark (Committee member) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
Readout Integrated Circuits(ROICs) are important components of infrared(IR) imag
ing systems. Performance of ROICs affect the quality of images obtained from IR
imaging systems. Contemporary infrared imaging applications demand ROICs that
can support large dynamic range, high frame rate, high output data rate, at low
cost, size and power. Some of these applications are military surveillance, remote
sensing in space and earth science missions and medical diagnosis. This work focuses
on developing a ROIC unit cell prototype for National Aeronautics and Space Ad
ministration(NASA), Jet Propulsion Laboratory’s(JPL’s) space applications. These
space applications also demand high sensitivity, longer integration times(large well
capacity), wide operating temperature range, wide input current range and immunity
to radiation events such as Single Event Latchup(SEL).
This work proposes a digital ROIC(DROIC) unit cell prototype of 30ux30u size,
to be used mainly with NASA JPL’s High Operating Temperature Barrier Infrared
Detectors(HOT BIRDs). Current state of the art DROICs achieve a dynamic range
of 16 bits using advanced 65-90nm CMOS processes which adds a lot of cost overhead.
The DROIC pixel proposed in this work uses a low cost 180nm CMOS process and
supports a dynamic range of 20 bits operating at a low frame rate of 100 frames per
second(fps), and a dynamic range of 12 bits operating at a high frame rate of 5kfps.
The total electron well capacity of this DROIC pixel is 1.27 billion electrons, enabling
integration times as long as 10ms, to achieve better dynamic range. The DROIC unit
cell uses an in-pixel 12-bit coarse ADC and an external 8-bit DAC based fine ADC.
The proposed DROIC uses layout techniques that make it immune to radiation up to
300krad(Si) of total ionizing dose(TID) and single event latch-up(SEL). It also has a
wide input current range from 10pA to 1uA and supports detectors operating from
Short-wave infrared (SWIR) to longwave infrared (LWIR) regions.
ing systems. Performance of ROICs affect the quality of images obtained from IR
imaging systems. Contemporary infrared imaging applications demand ROICs that
can support large dynamic range, high frame rate, high output data rate, at low
cost, size and power. Some of these applications are military surveillance, remote
sensing in space and earth science missions and medical diagnosis. This work focuses
on developing a ROIC unit cell prototype for National Aeronautics and Space Ad
ministration(NASA), Jet Propulsion Laboratory’s(JPL’s) space applications. These
space applications also demand high sensitivity, longer integration times(large well
capacity), wide operating temperature range, wide input current range and immunity
to radiation events such as Single Event Latchup(SEL).
This work proposes a digital ROIC(DROIC) unit cell prototype of 30ux30u size,
to be used mainly with NASA JPL’s High Operating Temperature Barrier Infrared
Detectors(HOT BIRDs). Current state of the art DROICs achieve a dynamic range
of 16 bits using advanced 65-90nm CMOS processes which adds a lot of cost overhead.
The DROIC pixel proposed in this work uses a low cost 180nm CMOS process and
supports a dynamic range of 20 bits operating at a low frame rate of 100 frames per
second(fps), and a dynamic range of 12 bits operating at a high frame rate of 5kfps.
The total electron well capacity of this DROIC pixel is 1.27 billion electrons, enabling
integration times as long as 10ms, to achieve better dynamic range. The DROIC unit
cell uses an in-pixel 12-bit coarse ADC and an external 8-bit DAC based fine ADC.
The proposed DROIC uses layout techniques that make it immune to radiation up to
300krad(Si) of total ionizing dose(TID) and single event latch-up(SEL). It also has a
wide input current range from 10pA to 1uA and supports detectors operating from
Short-wave infrared (SWIR) to longwave infrared (LWIR) regions.
ContributorsPraveen, Subramanya Chilukuri (Author) / Bakkaloglu, Bertan (Thesis advisor) / Kitchen, Jennifer (Committee member) / Long, Yu (Committee member) / Arizona State University (Publisher)
Created2019
Description
The focus of this project investigates high mobility robotics by developing a fully integrated framework for a ball-balancing robot. Using Lagrangian mechanics, a model for the robot was derived and used to conduct trade studies on significant system parameters. With a broad understanding of system dynamics, controllers were designed using LQR methodology. A prototype was then built and tested to exhibit desired reference command following and disturbance attenuation.
ContributorsKapron, Mark Andrew (Author) / Rodriguez, Armando (Thesis director) / Artemiadis, Panagiotis (Committee member) / Industrial, Systems & Operations Engineering Prgm (Contributor) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The NASA Psyche Iron Meteorite Imaging System (IMIS) is a standalone system created to image metal meteorites from ASU’s Center for Meteorite Studies’ collection that have an etched surface. Meteorite scientists have difficulty obtaining true-to-life images of meteorites through traditional photography methods due to the meteorites’ shiny, irregular surfaces, which interferes with their ability to identify meteorites’ component materials through image analysis. Using the IMIS, scientists can easily and consistently obtain glare-free photographs of meteorite surface that are suitable for future use in an artificial intelligence-based meteorite component analysis system. The IMIS integrates a lighting system, a mounted camera, a sample positioning area, a meteorite leveling/positioning system, and a touch screen control panel featuring an interface that allows the user to see a preview of the image to be taken as well as an edge detection view, a glare detection view, a button that allows the user to remotely take the picture, and feedback if very high levels of glare are detected that may indicate a camera or positioning error. Initial research and design work were completed by the end of Fall semester, and Spring semester consisted of building and testing the system. The current system is fully functional, and photos taken by the current system have been approved by a meteorite expert and an AI expert. The funding for this project was tentatively capped at $1000 for miscellaneous expenses, not including a camera to be supplied by the School of Earth and Space Exploration. When SESE was unable to provide a camera, an additional $4000 were allotted for camera expenses. So far, $1935 of the total $5000 budget has been spent on the project, putting the project $3065 under budget. While this system is a functional prototype, future capstone projects may involve the help of industrial designers to improve the technician’s experience through automating the sample positioning process.
ContributorsBaerwaldt, Morgan Kathleen (Author) / Bowman, Cassie (Thesis director) / Kozicki, Michael (Committee member) / School of Art (Contributor) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05