The purpose of this report is to detail the design and validation of a prototype robot that feeds biomass into a range of small household cookstoves at a programmable rate. Improved design and testing methods for the development of improved biomass cookstoves are needed to design stoves that alleviate the...
An Achilles tendon injury can be devastating. Surgical methods to bring the muscle to full strength are not always available. Proposed is an ankle foot orthosis (AFO) that is entirely passive (does not add energy to the system) and uses the mechanical advantages provided by the walking gait of a...
Prediction and mitigation of chatter vibrations in machining operations and optimizing overall machining mechanics are crucial for achieving greater productivity and manufacturing efficiency. This thesis first explores effect of directional relationships on chatter stability in milling process. Based on the directional relationships, a geometry-based chatter stability index (CSI) is proposed...
Deburring of machined parts is a crucial task in the aerospace and automotive industry. This process is still performed manually to a large extent due to the unpredictability of burr formation as well as the complex interactions between the human arm and the workpiece. Poor ergonomics, repetitive stress and strain...
This thesis covers the use of a quarter car model to select damping rates for aFormula Student (FS) car, focusing on minimizing vertical tire force variation to improvegrip. A 2 degree of freedom (DOF) quarter car model is cycled over the road frequenciesof interest and the results compared with the...
Quotient rings of Gaussian and Eisenstein-Jacobi(EJ) integers can be deployed to construct interconnection networks with good topological properties. In this thesis, we propose deadlock-free deterministic and partially adaptive routing algorithms for hexagonal networks, one special class of EJ networks. Then we discuss higher dimensional Gaussian networks as an alternative to...
Steel foundries are in great need of automation as current operations involve many hazardous manual tasks. Automating foundry operations is very challenging due to the variety of tasks that must be performed on physical objects that vary significantly in size, shape, and weight. This thesis focuses on robotically automating the...
Automating pick-and-place operations for large steel castings in a foundry is challenging, particularly from a perception point of view. Accurately estimating the identity and orientation of a given part is an open and complex problem, especially if that part sits in a bin of very similar parts. The problem is...
Wave energy holds great promise to be part of the alternative energy portfolio that will provide independence from fossil fuels. As wave energy converter (WEC) technologies mature, designing effective control strategies to extract maximum energy, extend device life, coordinate WEC operation within an array, or mitigate negative impacts of a...
Hydraulic power take-off (PTO) systems have been implemented in several wave energy converter (WEC) designs in recent years. Two popular hydraulic PTO configurations coupled to a point absorber hydrodynamic model are simulated in waves representative of an energetic sea state likely to be found in deep waters off the coast...