In flying robots, stability control is often very sensitive to the actuator performances, and the software module performing the controller, is usually subjected to a long and difficult tuning phase strongly dependent on the specific actuator used. The actuators are often electric motors equipped with propellers. The motor and propeller combination performs differently for every choice of components adopted, even if they are provided by the same vendor with the same part family. The project aims to develop an intelligent actuator module for flying robots composed by a BLDC motor and a propeller, which is invariant to the specific motor and propeller adopted. By gathering the force data of the four used on a quadrocopter, the force and control signal relation could be defined and stored into the program memory of the control board. A battery monitor and a Force-PWM controller was implemented such that it takes force as input and outputs the desired PWM-signal. Tests were made on a prototype of Iqarus quadrocopter and by mounting it with ropes to the floor, it was tested on the lift-off phase. The experiment showed theoretical and practical results, which concludes that the quadrocopter maintained the ability to lift right upwards without any remaining control, assuming proper weight balance of the quadrocopter. / Inom flygande robotar, är stabilitet kontrollen oerhört känsligt till styrdonets prestation, och mjukvaru modulen som utför kontrollen, är ofta förknippad med en lång och problematisk justerings fas starkt beroende av de enskilda styrdonen. Styrdonen är ofta elektriska motorer med propeller. Motor och propeller kombinationen uppträder olika för varje val av komponent, även om komponenterna är försedda från samma återförsäljare och modell. Syftet med detta projekt är att utveckla en intelligent styrdons modul för flygande robotar, omfattad av en BLDC motor och propeller, som blir oberoende av den särskilda motor och propeller kombination som används. Genom att samla kraft data för de fyra styrdonen som används på en quadrocopter, kunde relationen mellan kraft och kontroll signal bli definierad och lagrad i program minnet för kontrol kortet. En batteri monitor och en Kraft-PWM kontroller implementerades, vilket tar kraft data som ingång och skickar ut motsvarande PWM-signal som utgång. Tester var gjorda med en prototyp av Iqarus quadrocopter och genom att binda fast den med rep till golvet, testades den för upplyfts fasen. Experimenten visade teoretiska och praktiska resultat, vilket visar att quadrocoptern bevarade förmågan att lyfta rakt uppåt utan någon övrig kontroll, förutsatt ordentlig vikt balans av quadrocoptern. / <p>Hejsan,</p><p>Detta ar den nya versionen, som ska ersatta den gamla versionen som blev uppladdad 6/11-13.</p><p>Tack,</p><p></p><p>Mvh</p><p>Amil Lafih</p>

Submitted by Lucienne Costa (lucienneferreira@ufcg.edu.br) on 2018-04-10T19:01:23Z No. of bitstreams: 1 TARCISIO OLIVEIRA TRAJANO – DISSERTAÇÃO (PPGEM) 2017.pdf: 2697792 bytes, checksum: 3b2e76dd99d5771faa121f9c71b64ab6 (MD5) / Made available in DSpace on 2018-04-10T19:01:23Z (GMT). No. of bitstreams: 1 TARCISIO OLIVEIRA TRAJANO – DISSERTAÇÃO (PPGEM) 2017.pdf: 2697792 bytes, checksum: 3b2e76dd99d5771faa121f9c71b64ab6 (MD5) Previous issue date: 2017-09-01 / Automatizar o processo de medição da variação de massa do produto em um secador solar é um avanço em relação ao procedimento atualmente utilizado que é manual. O objetivo deste trabalho é desenvolver essa automatização utilizando tecnologia apropriada para ser incorporada ao secador solar em desenvolvimento na Universidade Federal de Campina Grande (UFCG). Esses secadores precisam ser simples e de baixo custo para serem utilizados pelo ambiente da agricultura familiar. O processo utilizado consistiu na construção e teste de um protótipo de uma câmara de secagem com forma retangular, de dimensões 32,2 x 43,0 x 34,0 cm, acoplado ao coletor solar. No sistema de medição automatizado foi utilizado uma balança com bandeja em tela de alumínio, de dimensões 37,0 x 21,0 x 6,0 cm, fixada por uma haste de madeira a uma célula de carga, tipo extensômetro de folha, que envia sinais de tensão, proporcionais à variação de massa do produto que esta sendo seco, a uma plataforma de aquisição de dados com Arduino UNO integrada ao equipamento. A célula de carga fixada a bandeja foi instalada dentro e, num experimento seguinte, fora da câmara de secagem. O sistema de aquisição e tratamento de dados também foi instalado na parte externa da câmara de secagem. Foram realizados testes preliminares de medição com a utilização de lâmpadas halógenas, e os resultados obtidos mostraram temperaturas, no interior da câmara, de aproximadamente 45°C ±5ºC, utilizando um peso padrão de 100g. Os resultados obtidos durante a secagem da banana prata (Musa spp), permitiram a construção das curvas de variação de massa de banana e a curva de cinética de secagem. Também foram obtidas as curvas que mostram a variação da temperatura do ar de secagem no interior da câmara. Essa temperatura ficou na faixa de 30ºC a 40ºC, abaixo do esperado que era de 50°C ±10ºC. Por isso a banana atingiu apenas o valor de 44% de teor de umidade em base úmida, acima dos 25% que noBrasil é o máximo para que a banana seca seja considerada banana passa. Foram observadas interferências indesejáveis durante o processo de medição automatizada, as estratégias utilizadas (filtros) para reduzir as interferências não foram suficientes para reduzi-las totalmente e seguirão sendo estudadas em trabalhos futuros. / Automating the process of measuring the mass variation of the product in a solar dryer is an advance over the currently used procedure which is manual. The objective of this work is to develop this automation using appropriate technology to be incorporated into the developing solar dryer at the Federal University of Campina Grande (UFCG). These dryers need to be simple and inexpensive to be used by the family farming environment. The process used consisted in the construction and testing of a prototype of a drying chamber with rectangular shape, dimensions 32.2 x 43.0 x 34.0 cm, coupled to the solar collector. In the automated measurement system, a scale was used with aluminum tray, measuring 37.0 x 21.0 x 6.0 cm, fixed by a wooden rod to a load cell, type extensometer of sheet, which sends voltage signals, proportional to the mass variation of the product being dried, to a data acquisition platform with Arduino UNO integrated to the equipment. The loading cell attached to the tray was installed inside and, in a subsequent experiment, outside the drying chamber. The data acquisition and processing system was also installed on the outside of the drying chamber. Preliminary measurement tests were carried out with the use of halogen lamps, and the results obtained showed temperatures within the chamber of approximately 45°C ± 5°C, using a standard weight of 100 g. The results obtained during the drying of the silver banana (Musa spp) allowed the construction of the banana mass variation curves and the drying kinetic curve. Curves showing the temperature of the drying air inside the chamber were also obtained. This temperature was in the range of 30°C to 40°C, below that expected to be 50°C ± 10°C as a consequence of the low intensity of solar radiation on the days of experiment. Therefore the banana reached only the value of 44% moisture content on wet basis, above the desirable 25%. Undesirable interferences were observed during the automated measurement process, the strategies used (filters) to reduce interferences were not enough to reduce them completely and will continue to be studied in future works.

This report presents a final degree project in mechanical engineering which was performed at Ball Beverage Packaging Fosie AB, Malmoe. The goal of the project was to create a system that could estimate the amount of paint available in a machine that colorizes aluminum cans. The environment that the system was mounted in is demanding and has high requirements on strength, stability and toughness against splashes of ethanol and water-based paint. Moreover, the company initially demanded that the project only used existing holes on the machine for adding equipment. In order to choose a measurement technology for the system, literature studies were performed on laser, ultrasonic devices and weight measurement. These studies were the foundation for a concept analysis using a Pugh’s matrix.Furthermore, with the help of the Pugh’s matrix, the project was directed towards estimating the amount of paint by measuring the weight using load cells. The collected data was supposed to be handled by an Arduino uno R3 board. Following the decision of a direction, seven concepts were designed in Autodesk Inventor with regards to mounting in existing positioning pin-holes.The last concept was manufactured with own hands – under supervision – by processing aluminum rods. Parallel to the manufacturing, the electronic system was programmed and tested by both step-wise removing identical weights, and a by measuring a continuous weight decrease caused by water escaping from a container with holes. The results of these tests showed that the system could perform the desired function.The result of the manufactured concept confirmed that the system could work with the machine but the position in the positioning pin-hole was not optimal as the forces were too low. By creating a provisional mount and testing the system beneath the paint container, it was concluded that the position accumulated more forces. This resulted in an approved modification of the container holder for a permanent mount of the load cell. Followed by this, a large amount of tests showed that the system had good potential of working with the machine but a mount beneath the container was not good as friction from mounting screws had great effect on the read values. / Rapporten behandlar ett kandidatarbete i maskinteknik som utfördes på Ball Beverage Packaging Fosie AB, Malmö. Syftet med arbetet var att skapa ett system för uppskattning av färgmängd i en maskin som färglägger aluminiumburkar. Miljön som systemet monterades i ställde höga krav på hållfasthet, tillförlitlighet och motståndskraft mot stänk från etanol och vattenbaserad färg. Initialt ställde företaget preliminära krav på att endast existerande hål på färgverket fick användas. För att välja givare till systemetutfördes litteraturstudier med avseende på laser, ultraljud och viktavläsning, vilket låg till grund för konceptvalsanalys med en Pughsmatris.Med hjälp av Pughsmatrisen riktades projektet in på att uppskatta färgmängden genom viktavläsning med lastceller, vars data skulle hanteras av ett Arduino uno R3 kort. Detta efterföljdes av att sju koncept skapades i Autodesk Inventor för infästning i existerande sprinthål på kisthållaren. Det sista konceptet tillverkades genom att på egen hand – under uppsikt –maskinbearbeta aluminiumstavar. Parallellt med tillverkningen programmerades och testades elektroniken med stegvis borttagning av vikt och kontinuerligt avrinnande vatten från hålig behållare, vars resultat visade på att systemet klarar den tänkta funktionen. Resultatet av det maskintillverkade konceptet visade att systemet även fungerade på färgverket men att positionen i sprinthålet inte var optimal då för lite krafter upptogs. Genom att tillverka en provisorisk monteringssats och testa systemet monterat under färgkistan påvisades att denna position tog upp avsevärt mer kraft. Detta medförde att kisthållaren maskinbearbetades för permanent montering av lastcell. Ett stort antal olika tester efter slutlig montering visade att systemet har goda möjligheter för att fungera med färgläggningsmaskinen men att montering under kisthållaren inte var lämplig eftersom friktion från bland annat inspänningsskruvar hade betydandeinverkan på de avlästa värdena.

The purpose of this work was to investigate how a last mile-transport vehicle can be constructed around a shoe. The prototype, which is controlled without a handheld controller, was designed to propel an adult forward with the use of an electric driveline. The user can easily stop driving, and instead walk short distances without removing the prototype. Research questions have been answered regarding how the battery and motor can be configured to reach a top speedof 15 km/h and a range of 3 km. In addition, answers were given as to how a user should control the vehicle’s speed in a safe and simple way, without the use of a handheld remote controller. The results show that the prototype reaches the specified top speed, and that the specified range is reached and exceeded. The user controls the motor power by moving their weight from the left to the right foot. The applied weight is measured by load cells under the heel, and after calibration, this user input method can be seen as satisfactory. The electric driveline, which is mounted under the shoe, allows the user to walk short distances without removing the prototype. Future work may add safety equipment such as lamps and a bell to make the product legal for use in public areas. In addition, a left shoe needs to be developed further, due to how the concept is dependent on it to function optimally. / Det här arbetet hade till avsikt att undersöka hur ett sistasträckan-fordon kan konstrueras kring en sko. Prototypen, vilken styrs utan en handkontroller, utformades för att förflytta en vuxen person med hjälp av en elektrisk drivlina. Användaren kan enkelt sluta åka, och istället gå kortare sträckor utan att ta av sig prototypen. Forskningsfrågor har besvarats angående hur batteri och motor kan konfigureras för att uppnå topphastigheten 15km/h och färdsträckan 3 km. Dessutom besvarades hur en användare ska kontrollera fordonets hastighet på ett säkert och enkelt sätt, utan användning av en handkontroll. Resultaten visar att prototypen uppnår topphastigheten, och att den angivna räckvidden uppnås och överskrids. Användaren styr motoreffekten genom att förflytta sin vikt från vänster till höger fot. Den applicerade vikten mäts av lastceller under hälen, och efter kalibrering kan denna användar-inmatningsmetod ses som tillfredsställande. Den elektriska drivlinan, som monteras under skon, tillåter att användaren går kortare sträckor utan att ta av sig prototypen. Framtida arbete kan tillägga säkerhetsutrustning, som lampor och ringklocka för att göra produkten laglig för användning på allmän plats. Dessutom behöver en vänstersko utvecklas mer, på grund av hur konceptet är beroende av denna för att fungera optimalt.

This master thesis focuses on designing of an external six-component balance. This universal concept would provide access of results from different models of wings, aircraft and automobiles with relatively small scales. This work also includes theoretical background needed in aerodynamic testing, analysis of 1D beam element model of scale and explanation of components used in scale. Lastly methods of calibration and measurement in aerodynamic tunnel are described, which can be adopted for this design to achieve the adequate level of accuracy.

Indiana University-Purdue University Indianapolis (IUPUI) / Soft tissue manipulation is a widely used practice by manual therapists from a variety of healthcare disciplines to evaluate and treat neuromusculoskeletal impairments using mechanical stimulation either by hand massage or specially-designed tools. The practice of a specific approach of targeted pressure application using distinguished rigid mechanical tools to breakdown adhesions, scar tissues and improve range of motion for affected joints is called Instrument-Assisted Soft Tissue Manipulation (IASTM). The efficacy of IASTM has been demonstrated as a means to improve mobility of joints, reduce pain, enhance flexibility and restore function. However, unlike the techniques of ultrasound, traction, electrical stimulation, etc. the practice of IASTM doesn't involve any standard to objectively characterize massage with physical parameters. Thus, most IASTM treatments are subjective to practitioner or patient subjective feedback, which essentially addresses a need to quantify therapeutic massage or IASTM treatment with adequate treatment parameters to document, better analyze, compare and validate STM treatment as an established, state-of-the-art practice. This thesis focuses on the development and implementation of Quantifiable Soft Tissue Manipulation (QSTM™) Technology by designing an ergonomic, portable and miniaturized wired localized pressure applicator medical device (Q1), for characterizing soft tissue manipulation. Dose-load response in terms of forces in Newtons; pitch angle of the device ; stroke frequency of massage measured within stipulated time of treatment; all in real-time has been captured to characterize a QSTM session. A QSTM PC software (Q-WARE©) featuring a Treatment Record System subjective to individual patients to save and retrieve treatment diagnostics and a real-time graphical visual monitoring system has been developed from scratch on WINDOWS platform to successfully implement the technology. This quantitative analysis of STM treatment without visual monitoring has demonstrated inter-reliability and intra-reliability inconsistencies by clinicians in STM force application. While improved consistency of treatment application has been found when using visual monitoring from the QSTM feedback system. This system has also discriminated variabilities in application of high, medium and low dose-loads and stroke frequency analysis during targeted treatment sessions. / 2023-04-26

This bachelor’s thesis aims to show an extensive overview of all the parts that build up an electric load driven longboard and see if a load controlled longboard can be seen as a safe, comfortable and convenient alternative to the more common remote controlled longboard. The thesis will also answer how weight can be measured on a longboard in the most effective way, what the most comfortable riding technique is and what a good motor-battery configuration to be able to travel at 30 km/h and 10 km would be. The longboard measures the weight distribution with load cells located between the deck and the trucks. An Arduino translates the input from the load cells to a certain speed and then sends it to an ODrive which controls a BLDC motor that is powered by two LiPo batteries. The results show that a load controlled longboard can very well be seen as a good alternative if right riding technique is used. The best technique is when the longboard accelerates when the rider tilts and keeps a constant speed when the rider stands straight. The best way to measure the weight is to fasten the trucks with hinges which lets the load cells register weight without anything interfering. Not all tests could be done because of Covid-19 but a measured top speed of 15 km/h with a high gear ratio is a promising result for the future when more suitable gear ratios will be tested to try to reach the goal of 30 km/h. / Det här kandidatexamensarbetet strävar efter att visa en omfattande överblick på alla delar som bygger upp en elektrisk lastdriven longboard och se om en laststyrd longboard kan ses som ett säkert, komfortabelt och behändigt alternativ till den vanligare radiostyrda longboarden via handkontroll. Det här arbetet kommer också svara på hur vikt kan mätas på en longboard på ett så effektivt sätt som möjligt, vad som är den mest bekväma åkstilen och vad är en bra motor-batteri konfiguration för att kunna åka i 30 km/h och nå 10 km skulle vara. Longboarden mäter viktfördelningen med lastceller som är placerade mellan brädan och truckarna. En Arduino omvandlar indatan från lastcellerna till en specifik hastighet som den sedan skickar till en ODrive som kontrollerar en borstlös likströmsmotor som i sin tur är driven av två LiPo batterier. Resultaten visar att en laststyrd longboard kan mycket väl ses som ett bra alternativ om rätt åkstil används. Den bästa stilen är att longboarden accelererar när åkaren lutar sig och håller en konstant hastighet när åkaren står rakt. Det bästa sättet att mäta vikt är att montera truckarna på gångjärn som låter lastcellerna mäta vikt utan att något stör. Alla tester kunde inte utföras på grund av Covid-19 men en uppmätt topphastighet på 15 km/h med en hög utväxling är ett lovande resultat för framtiden när lämpligare utväxlingar kommer testas för att försöka nå målet på 30 km/h.

Early in the ship design process, naval architects must often evaluate and compare multiple hull forms for a specific set of requirements. Analytical tools are useful for quick comparisons, but they usually specialize in a specific hull type and are therefore not adequate for comparing dissimilar hull types. Scale model hydrodynamic testing is the traditional evaluation method, and is applicable to most hull forms. Scale model tests are usually performed on the largest model possible in order to achieve the most accurate performance predictions. However, such testing is very resource intensive, and is therefore not a cost effective method of evaluating multiple hull forms. This thesis explores the testing of small scale models. It is hypothesized that although the data acquired by these tests will not be accurate enough for performance predictions, they will be accurate enough to rank the performance of the multiple hull forms being evaluated.

<div>Soft tissue manipulation is a widely used practice by manual therapists from a variety of healthcare disciplines to evaluate and treat neuromusculoskeletal impairments using mechanical stimulation either by hand massage or specially-designed tools. The practice of a specific approach of targeted pressure application using distinguished rigid mechanical tools to breakdown adhesions, scar tissues and improve range of motion for affected joints is called Instrument-Assisted Soft Tissue Manipulation (IASTM). The efficacy of IASTM has been demonstrated as a means to improve mobility of joints, reduce pain, enhance flexibility and restore function. However, unlike the techniques of ultrasound, traction, electrical stimulation, etc. the practice of IASTM doesn't involve any standard to objectively characterize massage with physical parameters. Thus, most IASTM treatments are subjective to practitioner or patient subjective feedback, which essentially addresses a need to quantify therapeutic massage or IASTM treatment with adequate treatment parameters to document, better analyze, compare and validate STM treatment as an established, state-of-the-art practice.</div><div><br></div><div>This thesis focuses on the development and implementation of Quantifiable Soft Tissue Manipulation (QSTM™) Technology by designing an ergonomic, portable and miniaturized wired localized pressure applicator medical device (Q1), for characterizing soft tissue manipulation. Dose-load response in terms of forces in Newtons; pitch angle of the device with respect to treatment plane; stroke frequency of massage measured within stipulated time of treatment; all in real-time has been captured to characterize a QSTM session. A QSTM PC software (Q-WARE©) featuring a Treatment Record System subjective to individual patients to save and retrieve treatment diagnostics and a real-time graphical visual monitoring system has been developed from scratch on WINDOWS platform to successfully implement the technology. This quantitative analysis of STM treatment without visual monitoring has demonstrated inter-reliability and intra-reliability inconsistencies by clinicians in STM force application. While improved consistency of treatment application has been found when using visual monitoring from the QSTM feedback system. This system has also discriminated variabilities in application of high, medium and low dose-loads and stroke frequency analysis during targeted treatment sessions.</div>

This master thesis aims to develop a test methodology for electromechanical linear actuators. A linear actuator acts as a linear motor, converting a power source to linear motion. The electromechanical linear actuator in this project has an electric motor as its power source and uses a rack and pinion system to transfer that power to linear motion.  The test methodology is to impose a force onto the rack of the actuator, to ensure that operation under a load scenario is within specification. To accomplish this, the design of a test rig implementation is analyzed. The test rig consists of the test unit, which is to be tested, the load unit, which is to provide the load force, and a control system for the load unit. The load unit is another linear actuator and is controlled via a load cell. The load cell gives out the load force being applied, and the controller gives out the corresponding appropriate motor command to the load unit to ensure the load force is as desired. This analysis is done through simulation of the setup. Viable options for the setup were first analyzed in order to implement the deemed promising options for a setup into a simulation environment. The simulation environment in this project was Simscape, an extension of MATLAB’s Simulink. In simulation the parameters for the test rig were rigorously analyzed, in order to determine acceptable thresholds. The primary load unit tested was another electromechanical linear actuator from Cascade Drives, the model A-100-8P. Two secondary setups, one using the same model as being tested, and another setup using two of the models being tested. Simulation found that the suggested options’ applied load force have a poor rise time, large overshoot and substantial oscillation errors. The primary source for this was determined to be the latency between load cell input, and motor command output in the controller. The poor metrics from the result could lead to problems when emergency braking, and with a long honing period, which would render most test data unusable.