Matching Items (7)
Filtering by
- All Subjects: controls
- Creators: Electrical Engineering Program
- Creators: Berman, Spring
- Member of: Theses and Dissertations
- Member of: Barrett, The Honors College Thesis/Creative Project Collection
Description
The honors thesis presented in this document describes an extension to an electrical engineering capstone project whose scope is to develop the receiver electronics for an RF interrogator. The RF interrogator functions by detecting the change in resonant frequency of (i.e, frequency of maximum backscatter from) a target resulting from an environmental input. The general idea of this honors project was to design three frequency selective surfaces that would act as surrogate backscattering or reflecting targets that each contains a distinct frequency response. Using 3-D electromagnetic simulation software, three surrogate targets exhibiting bandpass frequency responses at distinct frequencies were designed and presented in this thesis.
ContributorsSisk, Ryan Derek (Author) / Aberle, James (Thesis director) / Chakraborty, Partha (Committee member) / Electrical Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
Ferrofluidic microrobots have emerged as promising tools for minimally invasive medical procedures, leveraging their unique properties to navigate through complex fluids and reach otherwise inaccessible regions of the human body, thereby enabling new applications in areas such as targeted drug delivery, tissue engineering, and diagnostics. This dissertation develops a model-predictive controller for the external magnetic manipulation of ferrofluid microrobots. Several experiments are performed to illustrate the adaptability and generalizability of the control algorithm to changes in system parameters, including the three-dimensional reference trajectory, the velocity of the workspace fluid, and the size, orientation, deformation, and velocity of the microrobotic droplet. A linear time-invariant control system governing the dynamics of locomotion is derived and used as the constraints of a least squares optimal control algorithm to minimize the projected error between the actual trajectory and the desired trajectory of the microrobot. The optimal control problem is implemented after time discretization using quadratic programming. In addition to demonstrating generalizability and adaptability, the accuracy of the control algorithm is analyzed for several different types of experiments. The experiments are performed in a workspace with a static surrounding fluid and extended to a workspace with fluid flowing through it. The results suggest that the proposed control algorithm could enable new capabilities for ferrofluidic microrobots, opening up new opportunities for applications in minimally invasive medical procedures, lab-on-a-chip, and microfluidics.
ContributorsSkowronek, Elizabeth Olga (Author) / Marvi, Hamidreza (Thesis advisor) / Berman, Spring (Committee member) / Platte, Rodrigo (Committee member) / Xu, Zhe (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2023
Description
This project examines the dynamics and design of control systems for a rocket in propulsive ascent and descent using a simplified model with motion constrained to a vertical plane. The governing differential equations are analyzed. They are then linearized, after which transfer functions are derived relating controllable input variables to controlled output variables. The effect of changes in various parameters as well as other aspects of the system are examined. Methods for controller design based on the derived transfer functions are discussed. This will include the discussion of control of the final descent and landing of the rocket. Lastly, there is a brief discussion about both the successes and limitations of the model analyzed.
ContributorsWarner, Adin (Author) / Rodriguez, Armando (Thesis director) / Shafique, Ashfaque (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2021-12
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
This thesis presents a process by which a controller used for collective transport tasks is qualitatively studied and probed for presence of undesirable equilibrium states that could entrap the system and prevent it from converging to a target state. Fields of study relevant to this project include dynamic system modeling, modern control theory, script-based system simulation, and autonomous systems design. Simulation and computational software MATLAB and Simulink® were used in this thesis.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
To achieve this goal, a model of a swarm performing a collective transport task in a bounded domain featuring convex obstacles was simulated in MATLAB/ Simulink®. The closed-loop dynamic equations of this model were linearized about an equilibrium state with angular acceleration and linear acceleration set to zero. The simulation was run over 30 times to confirm system ability to successfully transport the payload to a goal point without colliding with obstacles and determine ideal operating conditions by testing various orientations of objects in the bounded domain. An additional purely MATLAB simulation was run to identify local minima of the Hessian of the navigation-like potential function. By calculating this Hessian periodically throughout the system’s progress and determining the signs of its eigenvalues, a system could check whether it is trapped in a local minimum, and potentially dislodge itself through implementation of a stochastic term in the robot controllers. The eigenvalues of the Hessian calculated in this research suggested the model local minima were degenerate, indicating an error in the mathematical model for this system, which likely incurred during linearization of this highly nonlinear system.
ContributorsBaye-Wallace, Lily Catherine (Author) / Berman, Spring (Thesis director) / Marvi, Hamidreza (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School of Music, Dance and Theatre (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2020-12
Description
This thesis is done as an extension of the development of an electrical engineering capstone project. The goal of the capstone is to create a system that can receive a 2.4 GHz Wi-Fi signal out to a range of 300 meters and then use it to point in the direction of a given Wi-Fi source. The design process of the capstone system is described in depth and the results of the proposed design are presented. The thesis work explores how this system can achieve a dual band capability at both 2.4 GHz and 5 GHz Wi-Fi bands. So, a slotted patch antenna system with a slotted ground plane was designed and tested and proved to deliver the ideal characteristics for accurate signal tracking.
Contributorsde la Rosa, Jesus (Author) / Aberle, James (Thesis director) / Lewis, John (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2022-05
Description
The ability of magnetic resonance imaging (MRI) to image any part of the human body without the effects of harmful radiation such as in CAT and PET scans established MRI as a clinical mainstay for a variety of different ailments and maladies. Short wavelengths accompany the high frequencies present in high-field MRI, and are on the same scale as the human body at a static magnetic field strength of 3 T (128 MHz). As a result of these shorter wavelengths, standing wave effects are produced in the MR bore where the patient is located. These standing waves generate bright and dark spots in the resulting MR image, which correspond to irregular regions of high and low clarity. Coil loading is also an inevitable byproduct of subject positioning inside the bore, which decreases the signal that the region of interest (ROI) receives for the same input power. Several remedies have been proposed in the literature to remedy the standing wave effect, including the placement of high permittivity dielectric pads (HPDPs) near the ROI. Despite the success of HPDPs at smoothing out image brightness, these pads are traditionally bulky and take up a large spatial volume inside the already small MR bore. In recent years, artificial periodic structures known as metamaterials have been designed to exhibit specific electromagnetic effects when placed inside the bore. Although typically thinner than HPDPs, many metamaterials in the literature are rigid and cannot conform to the shape of the patient, and some are still too bulky for practical use in clinical settings. The well-known antenna engineering concept of fractalization, or the introduction of self-similar patterns, may be introduced to the metamaterial to display a specific resonance curve as well as increase the metamaterial’s intrinsic capacitance. Proposed in this paper is a flexible fractal-inspired metamaterial for application in 3 T MR head imaging. To demonstrate the advantages of this flexibility, two different metamaterial configurations are compared to determine which produces a higher localized signal-to-noise ratio (SNR) and average signal measured in the image: in the first configuration, the metamaterial is kept rigid underneath a human head phantom to represent metamaterials in the literature (single-sided placement); and in the second, the metamaterial is wrapped around the phantom to utilize its flexibility (double-sided placement). The double-sided metamaterial setup was found to produce an increase in normalized SNR of over 5% increase in five of six chosen ROIs when compared to no metamaterial use and showed a 10.14% increase in the total average signal compared to the single-sided configuration.
ContributorsSokol, Samantha (Author) / Sohn, Sung-Min (Thesis director) / Allee, David (Committee member) / Jones, Anne (Committee member) / Barrett, The Honors College (Contributor) / Electrical Engineering Program (Contributor)
Created2022-05