This project created a stand-alone unit capable of providing on-board sensing and processing for robotic vehicles. This unit was designed to be compact, lightweight, inexpensive, and adaptable. The goal of this project is to help advance robotics research in mapping and multi-agent coordination by making it easier to equip vehicles...
There is a growing US interest in UAVs for many applications ranging from agriculture to military. One area of improvement that can be realized in each category is propulsion. Engines with greater efficiency would result in longer mission duration, leading to cost savings and increased usefulness for UAV owners and...
This dissertation details the application of digital image correlation (DIC) in novel methods for mechanical testing and shape characterization. The first usage manifested in the development of a novel composite test specimen that provided the ability to characterize the matrix compression energy release rate at initiation and subsequent crack propagation....
Sustainable product design is becoming an important component of the development of consumer products. Currently there are limited design resources to aid in the creation of environmentally sustainable products. The purpose of this research is to theorize a new method for integrating sustainable design knowledge into the early design phase...
Modern walking robots have shown that dynamic gaits can be achieved without ankle motors. It seems logical that the additional control authority that they provide can be used to improve the stability of the walking gait against foot placement errors caused by low level control. This thesis develops and compares...
Over the last few decades, the methods and tools through which humans collaborate, share knowledge and generally communicate have been advancing at a rapid pace. Thanks mostly to advances in broadband internet, cheap data storage and fast microprocessors, humans now have the ability to work together in ways that even...
Formula SAE is a collegiate engineering competition that has participants from around the globe. Of the 1000 points available throughout the event, 100 (10%) are dedicated to the fuel efficiency of the student built race cars. Competition rules allow either gasoline or E85, a mix of 85% ethanol and 15%...
Several standardized courses for Formula SAE (FSAE) testing are introduced and described with sufficient detail to be reproduced by any Formula SAE team. Basic analysis methods for the courses are given as well as explanations of how those analyses could be used. On-car data from the Global Formula Racing (GFR)...
Vertical Axis Pendulum Wave Energy Converters (VAPWECs) are thought to be both effective and robust at converting ocean wave energy into usable electricity. Seeking to build upon and investigate such potential, this work examines the merits of actively controlling a generic VAPWEC's pendulum for the purpose of increasing the converter's...
Vortical structures are the driving mechanism of transition to turbulence in porous media requiring adequately resolved observations along with analysis of the scale and energy of flow within the pores. Of specific interest is to understand the vortex dynamics, energy, and turbulent mixing and transport properties in the scale of...
The intent of this report is to provide a brief description of water quality issues in Nicaragua, Uganda and Bangladesh, and the technologies available to address these issues. The water quality parameters considered include: bacterial contamination, heavy metals and arsenic, pesticides and industrious chemicals, turbidity, radiological characteristics, and taste and...
Realizing the vast amount of energy available in ocean waves, an industry has emerged that is progressing towards the deployment of grid–connected wave energy converters. Likely to be deployed in arrays, a challenge to the wave energy industry is maximizing the energy production of such arrays. We have been developing...
With the need to integrate renewable energy sources into the current energy portfolio and the proximity of many population centers to an ocean coastline, it is pressing that marine energy systems, specifically wave energy converters (WECs), are evaluated as potential solutions for meeting energy needs. In order to best understand...