This thesis describes the design, assembly, and test of the FTDS-K, a new device in the Boundary Layer Data System (BLDS) family of flight data acquisition systems. The FTDS-K provides high-frequency, high-gain data acquisition capability for up to two pressure sensors and an additional three low-frequency pressure sensors. Development of the FTDS-K was separated into a core module, specialized analog subsystem, and practical testing of the FTDS-K in a flow measurement mission. The core module combines an nRF52840-based microcontroller module, switching regulator, microSD card, real-time clock, temperature sensor, and trio of pressure sensors to provide the same capabilities as previous-generation BLDS-P devices. An expansion header is included in the core module to allow additional functionality to be added via daughter boards. An analog signal chain comprised of two-stage amplification and fourth-order active antialiasing filters was implemented as a daughter board to provide an AC-coupled end-to-end gain of 7,500 and a DC-coupled end-to-end gain of 50. This arrangement was tested in a wind tunnel to demonstrate that sensors with a full-scale range of 103 kPa can be used to reliably discriminate between laminar and turbulent flows based on pressure fluctuation differences on the order of tens of Pa. A combination of wind-off correction and band-filtering was used to reduce the effect of inherent and induced electrical noise, while two-sensor correlation was tested and shown to be effective at removing certain types of noise. Total power consumption for the FTDS-K in a representative mission is 208 mW, which translates to an operational endurance of 9 hours with 2 AAA LiFeS2 cells at -40°C.

This report describes the design, building, and testing of the Structure Climbing Monkey Robot (SCMR). It is composed of seven successive joints and linkages with two grippers at the two ends. Each gripper can act as the base or the end of the robot. The SCMR has the ability to climb any structure. The gripper plates can be changed to grab different kinds of structures, but this one is made to grab 2x4‘s. A program was written to assist the user to grab four non-coplanar, non-orthogonal points. The SCMR is actuated by a total of nine motors: two to open and close the two grippers and seven to control the movement of the SCMR. Planetary gear motors are used with a worm gear to control the motion of each joint. The worm gear increases the torque of the motor and reduces the rotational speed to a usable value. The SCMR is just over 45 inches long and weighs about 30 pounds. The motion of the SCMR is controlled by the microcontroller Arduino Mega 2560, Vex Robotic quadrature encoders, and Pololu 18v15 motor driver chips. Code was written in the languages Arduino and Processing to actuate the motors and create the GUI, respectively. The motors can be controlled individually or run simultaneously while incrementing a specified angle.

This thesis discussed the mobile land robots for the robotic competitions. The topics discussed in this thesis are robotic systems, mobile land robots, robot competitions, and example of robot designs. Question-answer sections are added to help understand the requirements to build the robot. Examples include three different teams who participated in different robotic competitions to provide a context for robotic competitions. The thesis was divided into the five chapters. The first and second chapters explained the different kind of robotics systems, and opportunities. The focus of the information was the mobile land robots, which was explained under the third chapter, mobile land robots. The aim of the thesis was to guide those who want to design, build, and compete in the mobile robot competition. As a result, the information from various resources been gathered and has been given a form of thesis to help individuals or group of individuals to guide them through the robotic competitions.

An existing water filtration system at the Channel Islands Marine & Wildlife Institute (CIMWI) wastes approximately 25 gallons of water per day rinsing out solid waste under light load. To reduce CIMWI’s water and energy consumption, an automated system was designed and built to recover the rinse water and return it to the existing filtration loop. Models for fluid system requirements, basic energy needs, and photo- voltaic energy generation were created to aid in component selection. Basic sensors and electronics were programmed in Python for use with a Raspberry Pi single board computer to collect and process water recovery data over time. Pump automation and data acquisition energy needs were met with a 100W photovoltaic module, pulse width modulation (PWM) charge controller, and an absorbed glass mat (AGM) battery. A prototype system, $732 in total cost, was installed and was found to recover 19 gallons of water over the initial 30-hour testing period under light load. Models and software developed for this project could be adapted to aid in the creation of similar water recovery systems.

To solve the problem of limited tactile sensing in humanoid robotics as well as provide for future planned mechanical prostheses, an innovative tactile sensor system was created and embedded into two realistic-looking artificial skin gloves. These artificial skin tactile sensors used small piezoelectric ceramic disks to measure applied force at multiple points on each glove. The gloves were created using silicone rubber to simulate both the texture and look of human skin, while maintaining both flexibility and durability. The sensor outputs were buffered by high-impedance voltage-following operational amplifiers, and then read sequentially using a multiplexing scheme by a microcontroller. Sensor data were sent via USB to a computer, where a graphical user display was created to show the tactile information in real time. These prototypes successfully demonstrated the viability of small piezoelectric elements embedded in silicone rubber for use in creating flexible and elastic tactile sensors.

Piezoelectric actuators frequently exhibit a time-dependent behavioral phenomenon known as hysteresis, resulting in a lag in the deformation of the actuator compared to linear models. The presence of hysteresis complicates control systems involving piezoelectric actuators. However, traditional modeling methods for piezoelectric actuated smart structures often treat the piezoelectric patches as linear actuators without considering hysteresis, leading to suboptimal controller performance. This thesis aims to establish a comprehensive model by integrating the Euler-Bernoulli beam bending model with the hysteresis dynamics induced by two opposing piezoelectric patches attached to a beam. A model expansion method is employed to transform the partial differential equations describing beam vibration into a set of ordinary differential equations in the modal coordinate frame. These equations are then coupled with the Bouc-Wen model describing the hysteresis of piezoelectric materials. Model parameters are identified using a genetic algorithm tested against experimental data across varied excitation frequencies. The experimental dataset is divided into two sets: a training set for the genetic algorithm and a validation set to verify the identified model. Results demonstrate that the inclusion of hysteresis in a nonlinear model provides better agreement with experimental results than the linear model, thereby enhancing the predictive capability of piezoelectric actuator behavior. This thesis has laid the foundation for future work on advanced control methods to mitigate beam vibration under external excitation, thus optimizing smart structure performance.

Orientador: Luiz Otavio Saraiva Ferreira / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica / Made available in DSpace on 2018-08-06T16:27:32Z (GMT). No. of bitstreams: 1 Espindola_AlexeyMarques_M.pdf: 1293939 bytes, checksum: 66ab2d16dc552294762d6c3708cda71b (MD5) Previous issue date: 2006 / Resumo: Os sistemas microfluidicos estão evoluindo rapidamente, encontrando vastas aplicações na mais diversas áreas do conhecimento. Os Lab-on-Chips, LOCs, são dispositivos capazes de realizar análises químicas e bioquímicas em um único chip. Este dispositivo pode causar grande impacto no mercado de análises laboratoriais, por este motivo vem ganhando grande atenção Para realizar estas análises os LOCs necessitam de microbombas capazes de transportar quantidades ínfimas de fluidos em seus canais de maneira acurada e uniforme. Desta forma, o interesse em modelar e fabricar microbombas tomou-se uma área fértil para a pesquisa. Neste trabalho foi desenvolvida a modelagem de uma microbomba peristáltica de elastõmero, tipo de bomba mais conveniente para Lab-on-Chips, utilizando a técnica de analogias eletro-mecânicas que consiste em representar um dispositivo por um circuito elétrico equivalente. As análises das simulações podem ser realizadas usando programas de análise de circuitos elétricos. Dois modelos foram apresentados neste trabalho. O primeiro é a reprodução do modelo de bomba criado por Jacques Goulpeau, em que o modelo de uma válvula é extrapolando para toda a microbomba. O segundo contém o circuito elétrico equivalente da bomba completa mostrando a interações entre suas partes. Os resultados mostram que o comportamento da microbomba não pode ser completamente descrito pelo modelo extrapolado a partir de uma válvula, devido às interações entre três válvulas. As simulações do circuito equivalente da bomba completa mostraram que os efeitos das interações entre as válvulas explicam claramente a diferença entre a vazão prevista pelo modelo de Goulpeau e os dados experimentais por ele obtidos, sendo possível ajustar o modelo aos dados experimentais / Abstract: Microfluidies systems are growing rapidly, finding a large nwnber of applications in many fields. Lab-on-ehips, LOC, are deviees that ean perform ehemical and biochemical analyses in a ehip. This device ean cause high impact on laboratorial analyses market, and then it is gaining large attention. In order to execute these analyses on LOC, mieropumps are necessary to transport a tiny quantity of fluid between the channeIs with accuracy and uniformity. Thus, the interests of modeling and fabrication mieropwnps are increasing and become a fertile research field. The goal of this work were a modeling of elastomer peristaltic micropwnp, the most suitable pwnp for LOCs, using the electro- mechanical analogy technique that consist in represent the device in a electrical equivalent networks. Then the simulation analyses can be done on electrical simulation tools. Two models were presented in this work. The first is reproduction of the pwnp model made by Jacques Goulpeau et aI., where the valve model is extrapolated to the whole mieropwnp. The second contains the electrical equivalent circuit that represents the whole device showing the interactions between its eomponents. The results showed that micropump behavior eouldn't completely deseribe by the extrapolated model ftom a valve, because the interactions between the three valves. The simulations of electrical equivalent eircuit of the whole pwnp showed that the interaction between the valves explain the difference between of flow rate foreseen by Goulpeau model and his experimental data, being possible to adjust the model to the experimental data / Mestrado / Mecanica dos Sólidos e Projeto Mecanico / Mestre em Engenharia Mecânica

<p>A short, 30cm, test section was used to study the effect of electrohydrodynamic (EHD) forces on flow redistribution in a horizontal, shell and tube heat exchanger subject to both boiling and condensation. The use of a short test section allows for a consistent flow pattern across the test section length which provides further insight into the true effect of EHD.</p> <p>It was found that the voltage polarity of the applied voltages influences the flow distribution. For the current geometry studied, it was found that positive polarity voltages tend to pull liquid away from heat transfer surface and that negative voltages tended to repel more liquid toward the heat transfer surface. Using this knowledge we were able to show that positive voltages were more effective for convective condensation heat transfer enhancement, whereas negative voltages were more effective for convective boiling heat transfer enhancement. A twofold enhancement of convective boiling heat transfer was achieved for positive voltages and a 4fold enhancement was achieved for negative voltages. Similar pressure drop penalties were seen for both cases, approximately twice that of the no EHD case.</p> <p>Furthermore, the effect of DC level, peak to peak voltage, frequency and duty cycle waveform parameters on convective boiling enhancement were studied to explore the range of controllability for the current set of flow parameters. It was found that these various waveform parameters can induce different flow patterns and consequently different heat transfer and pressure drop configurations. In general the heat transfer is enhanced by EHD, but different pressure drop penalties can be achieved for a given enhancement ratio using different waveforms. High heat transfer for relatively low pressure drop was achieved using either negative DC signals or 50%duty cycle pulse waveforms. In some cases the enhancement is quite little compared to the pressure drop, for example the zero DC level, varying peak to peak voltage data. It is suggested that in a system where the heat exchanger pressure drop due to EHD is more dominant than the system pressure drop, it may be possible to use EHD as a method of retarding the system rather than enhancing it thereby broadening the scope of controllability.</p> <p>Finally we showed the proof of concept of using DC EHD as a rapid control mechanism for the load conditions. Using -8kVDC the water side heat flux could be varied by approximately ±3.2 kW/m² within 5 seconds. As a comparison, the same experiment was repeated using the refrigerant flow rate to control the load. Response times were similar for both experiments and although the power required for the flow rate control was less, the minimal variability in flow parameters for the EHD control make it a more attractive method of load control.</p> / Master of Applied Science (MASc)

<p><h1>Abstract</h1></p> <p>As a compact, robust, and reliable power distribution method, hydraulic systems have been used for flight surface control for decades. Electro-hydrostatic Actuator (EHA) is increasingly replacing the conventional valve-controlled system for better performance, lighter weight and higher energy efficiency. The EHA is increasingly being used for flight control. As such its reliability is thereby critical important for flight safety. This research focuses on fault detection and diagnosis (FDD) for the EHA to enable predictive unscheduled maintenance when fault detected at its inception.</p> <p>An EHA prototype previously built at McMaster University is studied in this research and modified to physically simulate two faults conditions pertaining to leakage and friction. Nine different working conditions including normal running and eight fault conditions are simulated. Physical model has been derived mathematically capable of numerically simulating the fault conditions. Furthermore, for comparison, parametric model was obtained through system identification for each fault condition. This comparison revealed that parametric models are not suitable for fault detection and diagnosis due to the computation complexity.</p> <p>The FDD approach in this research uses model-based state estimation using filters. The filter based combined with the Interacting Multiple Model fault detection and diagnosis algorithm is introduced. Based on this algorithm, three FDD strategies are developed using a combination of the Extended Kalman Filter and IMM (IMM-EKF), the Smooth Variable Structure Filter with Varying Boundary and IMM (IMM-SVSF (VBL)), and the Smooth Variable Structure Filter with Fixed Boundary and IMM (IMM-SVSF (FBL)). All the three FDD strategies were implemented on the EHA prototype. Based on the results, the IMM-SVSF (VBL) provided the best performance. It detected and diagnosed faults correctly at high mode probabilities with excellent robustness to modeling uncertainties. It also was able to detect slow growing leakage fault, and predicted the changing trend of fault conditions.</p> / Master of Applied Science (MASc)

The clever designs of natural transducers are a great source of inspiration for man-made systems. At small length scales, there are many transducers in nature that we are now beginning to understand and learn from. Here, we present an example of such a transducer that is used by field crickets to produce their characteristic song. This transducer uses two distinct components—a file of discrete teeth and a plectrum that engages intermittently to produce a series of impulses forming the loading, and an approximately triangular membrane, called the harp, that acts as a resonator and vibrates in response to the impulse-train loading. The file-and-plectrum act as a frequency multiplier taking the low wing beat frequency as the input and converting it into an impulse-train of sufficiently high frequency close to the resonant frequency of the harp. The forced vibration response results in beats producing the characteristic sound of the cricket song. Based on various experimental observations reported in the literature, we model the sound production mechanism as consisting of three stages—actuator, frequency multiplier, and amplifier. We then examine how different features of the forewing govern the sound production. With careful experiments on the harp, we estimate the actual modulus of the harp cuticle and also measure the morphological features of the forewings of different field cricket species. Using this data, we construct a finite element model of the harp and carry out modal analysis to determine its natural frequency. We fine tune the model with appropriate elastic boundary conditions to match the natural frequency of the harp of a particular species—Gryllus bimaculatus. We model impulsive loading based on a loading scheme reported in the literature and predict the transient response of the harp. We show that the harp indeed produces beats and its frequency content matches closely that of the recorded song. Subsequently, we use our FEM model to show that the natural design is quite robust to structural perturbations in the file. The characteristic song frequency produced is unaffected by small variations in the spacing of file-teeth and even by larger gaps. We then attempt to predict a scaling law that crickets must use for spectrum allocation. We use our FEM model, with measurements and computations, to arrive at a predictive model that relates call frequencies of field crickets to the harp dimensions. We verify the validity of this model by using the measured dimensions of harps of nine field cricket species. We then use our model to provide possible explanations as to why the song frequency of various field crickets in our study is bounded between 3.1 kHz and 6.8 kHz. We also show that we are faced with similar challenges as crickets when designing miniature MEMS (Micro-Electro-Mechanical Systems) speakers. We present a design of MEMS speakers that is inspired by how the crickets actuate. We have been able to realize our first prototypes using simple fabrication processes. By electrostatically actuating the MEMS devices, we obtain a sound pressure of 70 dB SPL at a distance of 10 cm. We believe that with a few design and fabrication iterations, we will be able to achieve a much higher sound pressure output from the MEMS speakers.