This report demonstrates improvements made in battery charging and battery management technology through the design of a universal programmable battery charger with optional battery management system attachment. This charger offers improvements in charge efficiency and unique battery charging algorithms to charge a variety of battery chemistries with variety of power requirements. Improvements in efficiency result from a synchronous Buck Controller topology as compared to previous universal chargers that use asynchronous Buck-Boost Converter topologies. This battery charger also surpasses current universal battery chargers by offering different charge modes for different battery chemistries. Charge modes provide the user an option between extending the life of the battery by selecting a mode with a slower, less stressful charge rate or a shorter charge time with a fast, more stressful charging mode. The user can also choose a charge mode in which the battery charges to full capacity, resulting in maximum runtime or a less than full capacity, which puts less stress on the battery thus extending the lifetime. Ultimately, this system permits weighing the performance tradeoff of battery lifetime and charge time. The optional battery management system attachment offers more precise monitoring of each cell and cell balancing for Li-Ion batteries. This further enhances the performance of the charger when integrated, but is not necessary for charger operation. The battery charger consists of three subcircuits: A microcontroller unit, a power stage, and a current sensing circuit. A C2000 Piccolo F28069 microcontroller controls a LM5117 Buck Controller by injecting a pulse-width modulated signal into the feedback node controlling the output of the buck to set a constant current or constant voltage thus creating a programmable battery charger. The pulse-width modulated signal changes according to charge algorithms created in software for specific battery chemistries and charge requirements. An analog-to-digital converter on the microcontroller monitors battery voltage by using a voltage divider and an INA169 current shunt monitor, which outputs a voltage corresponding to the charge current to another analog-to-digital converter on the microcontroller, monitors the charge current. This allows the charger program to maintain correct and safe charging conditions for each charge mode in addition to measuring output power. Lights on the microcontroller display a real-time status to the user of which portion of the charge profile the charger is in. A solid red light means the charger is in the constant current portion of the charge profile. A blinking red light means the charger is in the constant voltage portion. No red light means the battery charger finished and the battery is currently charged above nominal voltage. The battery charger works with the battery management system in the next section to provide ultimate battery charging and managing capabilities. The battery management system consists of two subcircuits: A microcontroller and a battery monitoring circuit. The MSP430FR5969 microcontroller unit communicates with BQ76PL536 battery management integrated circuits to create a battery management system that monitors data such as cell voltage, pack voltage, pack temperature, state of charge, fault statuses, alert statuses, and a variety of other useful cell parameters. This data displays on a liquid crystal display screen through different menu options. The user scrolls through the menus using a capacitive touch slider on the microcontroller unit and selects a given option using the option select button. A cell balance mode allows the user to check the balance of the cells and allows cell balancing if the cells differ by more than a set threshold.

Every year the automotive industry strives to increase fuel efficiency in vehicles. When most vehicles are designed, fuel efficiency cannot always come first. The Shell Eco-marathon changes that by challenging students everywhere to develop the most fuel-efficient vehicle possible. There are many different factors that affect fuel efficiency, and different teams focus on different vehicle parameters. Currently, there is no straightforward design tool that can be used to help in Shell Eco-marathon vehicle design. For this reason, it is difficult to optimize every vehicle parameter for maximum fuel efficiency. In this study, a simulation is developed by using basic vehicle models and experimental data to accurately represent any prototype-class vehicle in the Shell Eco-marathon. This simulation is verified using different experimental data from an on-vehicle data acquisition system. An easy-to-use design tool is developed, and this tool is used to optimize driving strategy and final drive ratio to maximize fuel efficiency.

The Miniaturized Ultraviolet Imager (MUVI), is a compact wide field UV imaging instrument in development at UC Berkeley Space Sciences Laboratory and Cal Poly, San Luis Obispo. MUVI is designed to fit in a 2U CubeSat form factor and provide wide field, high resolution images of the ionosphere at far ultraviolet wavelengths. This thesis details the design and analyses of MUVI’s deployable cover mirror mounting flexures. Three different flexure geometries were evaluated, an optimal candidate was determined based on a number of criteria including isolation of vibration and stress to the mirrors, manufacturability and cost. The design of the flexure system includes the flexure blades themselves, Invar pads bonded to the mirror to mitigate the difference in CTEs of the different material, mounting of flexure blades to the deployable cover and ground support equipment for assembly and testing. During the design of the flexures, various materials were studied, and Titanium was concluded as the optimum material due to its combination of high strength and flexibility compared to stainless steel, aluminum and other metals. Utilizing titanium, several flexure designs were proposed, and three candidates were selected to be manufactured and tested. Throughout the design phase, all flexures went through several rounds of analysis utilizing finite element analysis to simulate quasi-static loads, modal analysis of the systems natural frequency as well as random vibration simulations to simulate testing environments. Once the front-runner designs were selected and manufactured, several tests were conducted. Testing included adhesive bond coupon testing of the adhesive in tension and bending to experimentally validate the bonding size of the invar pads would be sufficient. The adhesive bond testing conducted tension and three-point bend tests to characterize the epoxy adhesive used in the flexure assembly. Testing also consisted of sine sweep and random vibration environment in accordance with the NASA General Environmental Verification Standard to qualify the hardware for spaceflight. Throughout the vibration testing, an autocollimator was used pre and post-test to measure shifts in the optical alignment of the mirror after it underwent vibration qualification testing. Experimental and analytical models were compared once all testing was completed. The Curved Blade showed to test in the real world very close to that predicted by the finite element model, however, the Bent Blade and Z Blade showed a larger difference between analysis and test. Discussion into the reasoning for this difference and lessons learned is included.

Municipal separate storm sewer system (MS4) permittees face costly obligations to reduce pollutant loadings needed to achieve waste load allocations (WLAs) and meet total maximum daily loads (TMDLs). Street sweeping is potentially an effective BMP since streets exist throughout urban watersheds, often are directly connected to the storm sewer, and are found to contain an abundance of contaminants. Although pollutant removal from street sweeping has been evaluated for decades, an understanding of the impact on water quality in receiving streams is elusive. Due to numerous variables, the large number of samples necessary to measure impact in receiving streams may never be obtained. In response, modeled pollutant removal efficiencies based on frequency of sweeping have been recommended to the Chesapeake Bay Program, but these results are suspect. Alternatively, the amount of swept material has emerged as a method to quantify reductions. A sampling study was conducted to measure pollutants in swept material. The study identified the fraction of material susceptible to transport in runoff based on timing of sweeping in relation to runoff events. Based on observed pollutant concentration associations with particle size, the study results in estimates of pollutant concentrations for the fraction of material susceptible to downstream transport, dependent on duration since the last rainfall and type of surface swept, whether the area is a streets or a parking lot. Pollutant loadings and required reductions to achieve the Chesapeake Bay WLAs for various land use sample areas are computed for an average year. Modeled removal efficiencies and results from the sampling study were employed to assess impacts from street sweeping. Modeled efficiencies predict significantly lower impact than measurements of pollutants susceptible to runoff in swept material. Modeled loadings are inconsistent with measurements of swept materials and the rigorous sweeping frequency required for modeled removal efficiency credit appears to be unnecessary. / Doctor of Philosophy / Many localities, state agencies and other public entities that own storm sewer systems are increasingly required to reduce pollutants discharged from their systems to surface waters as a result of programs stemming from the Clean Water Act. Traditional stormwater management practices, such as retention ponds, appear limited towards providing the total pollutant reductions necessary due to physical constraints, opportunity and cost. Street sweeping is potentially an effective alternative practice since streets exist throughout urban watersheds, often are directly connected to the storm sewer, are found to contain an abundance of contaminants and can be cost effective. Although pollutant removal from street sweeping has been evaluated for decades, an understanding of the pollutants removed from stormwater is elusive. Past studies suggest the large number of samples necessary to measure impact from sweeping in receiving streams may never be obtained. In response, pollutant removal estimates have been made using computer models, but modeled results are suspect since they cannot be calibrated. Alternatively, a measure of swept material has emerged as a method to quantify pollutant reductions. A sampling study was conducted to measure pollutants in swept material. Results identify the fraction of swept material washed from the swept surface dependent on timing of sweeping in relation to the duration since the last rainfall. Based on observed pollutant concentration associations with particle size, the study results in estimates of concentrations for the fraction of material susceptible to downstream transport, dependent on duration since the last rainfall and type of surface swept, whether the area is a streets or a parking lot. Application of the results are compared to modeled removal efficiencies towards achieving regulatory compliance within various land use sample areas. Modeled efficiencies predict significantly lower impact than measurements of pollutants susceptible to runoff in swept material. Rigorous sweeping frequency required for modeled removal efficiency credit appears to be unnecessary.

For over 30 years research has been done concerning the solidification and quenching of light metal alloys for the purpose of improving material properties. This thesis is concerned with an interesting new process for casting metals, by spraying water onto a sand mould, removing the sand and the directly quenching the part. This process is challenging since the component during solidification is extremely fragile, and the rate of cooling that is needed could seriously damage it. The water flow rate to the component needs to be quickly and precisely controlled. Additionally as this a new method there is very little prior art. The purpose of this thesis to develop a control system for the water sprayers flow rates. With this system the flow rate through the nozzles will be controlled indirectly using pressure feedback. The material properties and casting process, and how they influenced the design and construction of the spraying apparatus, are explained first. The hydraulic plant being controlled consists of three proportional valves connected to six spray nozzles. Based on experiments, the plant is extremely nonlinear making it difficult to control. Several controllers were developed and compared experimentally. The best performance was produced by extending a proportional plus integral plus derivative controller by adding an empirical nonlinear feedforward component; smoothing the setpoint; bounding the integration term; adding one bias at time zero and a 2nd bias for the remaining time (to mitigate valve stiction and to prime the hoses). This extended PID controller produced a 0.7% mean error and 1.9% mean absolute error for a multi-step setpoint covering a range of 0 to 80 PSI. Its performance was also highly repeatable. The standard deviations of the mean error, mean absolute error and maximum absolute error were less than 0.2 PSI over five runs. / Thesis / Master of Applied Science (MASc) / During the sand casting of aluminium and magnesium rapid cooling will greatly improve the material properties. By containing the liquid metal in a water soluble sand mould, and spraying it with water; the desired part shape and rapid cooling can be achieved. Removing the mould requires a powerful high flow rate jet. During the solidification of the metal, the flow rate must be reduced or the part would be demolished. This necessitated the development of a high speed, high flow rate controller to adjust the flow rate to remove the sand but not damage the part, and to maintain a smooth continuous cooling rate. The hydraulic system being controlled consists of three electronic valves connected to six spray nozzles. Several controllers are developed and compared experimentally. The best controller is shown to provide a quick and precise response.

Technological advances such as mobile technology, big data, and machine learning allow businesses to associate advertisements with consumer behaviors to maximize sales. Thus, information about consumer behavior became the central resource of businesses. Recent discussions and concerns about the emerging economic order centered around capturing consumers' data suggest that more research efforts be allocated to address new challenges in different domains, such as health, education, smart cities, and communication. Research on individual cybersecurity behavior is relatively new and requires more attention in academic research. This study has proposed and validated a cybersecurity behavioral model to enrich our understanding of users' behavioral intention (BI) to use cybersecurity controls. An online survey was used to collect information from University of North Texas (UNT) students to explore various technology usage determinants and specific computer security practices. The instrument measured the actual cybersecurity controls behaviors (ACB) by incorporating technical and social factors. Accordingly, the construct of ACB was created and validated to test how it relates to the participants' behavioral intentions. The findings confirm a large number of the proposed relationships. Additionally, the results show that the model explained a significant amount of variance in the proposed dependent variables BI and ACB. Within the context of information control behavior, the relationships between the study's constructs suggest adequate generalizability and robustness of the study's theoretical framework.

Myoelectric control schemes aim to utilize the surface electromyography (EMG) signals which are the electric potentials directly measured from skeletal muscles to control wearable robots such as exoskeletons and prostheses. The main challenge of myoelectric controls is to increase and preserve the signal quality by minimizing the effect of confounding factors such as muscle fatigue or electrode shift. Current research in myoelectric control schemes are developed to work in ideal laboratory conditions, but there is a persistent need to have these control schemes be more robust and work in real-world environments. Following the manifold hypothesis, complexity in the world can be broken down from a high-dimensional space to a lower-dimensional form or representation that can explain how the higher-dimensional real world operates. From this premise, the biological actions and their relevant multimodal signals can be compressed and optimally pertinent when performed in both laboratory and non-laboratory settings once the learned representation or manifold is discovered. This thesis outlines a method that incorporates the use of a contrastive variational autoencoder with an integrated classifier on multimodal sensor data to create a compressed latent space representation that can be used in future myoelectric control schemes.

In this dissertation, I study econometric issues in network and health economics. Measurement error is a ubiquitous problem in the peer effects literature that is not well understood. In Chapter 1, ``Measurement error in peer effects,'' I develop a constructive approach to empirically assess the bias caused by links missing at random. I apply my method to study the bias in peer effect estimates of recreational and physical activities among adolescents in the United States. I find that the magnitude and direction of the bias depends on the estimator. Estimators that measure the aggregate effect of peers' outcomes are more robust to measurement error and can be unbiased even when fifty percent of peer interactions are unobserved. Estimators that measure the average effect of peers'’ outcomes are more susceptible to measurement error and suffer from a persistent downward bias. My findings illustrate the importance of understanding measurement error's impact, when measurement error will likely bias results and when it can be safely ignored. In Chapter 2, ``Non-random errors in peer effects,'' I study the effects of measurement error on a generalized peer effect model that nests two of the most commonly used estimators. Measurement error in the specification of peer groups leads to biased estimates. I adapt Monte Carlo methods developed for studying measurement error when peers' interactions are missing at random to understand the effects of top-coding, non-random errors and spurious peer interactions. I find that non-random errors pose the greatest threat, often leading to overestimation and persistent biases. Top-coding can also severely bias estimates when the constraint impacts a majority of individuals but otherwise has a mild effect. While spurious links in limited quantities can often be ignored. Chapter 3, ``Nurse outreach and frequent emergency department users: A synthetic control analysis,'' studies the effects of an intervention to promote primary care engagement among frequent emergency department users. Emergency departments are one of the costliest places to receive care and are routinely overcrowded. Various policy initiatives have yielded mixed findings. I use synthetic control methods to analyze the effects of a nurse outreach program for frequent emergency department users implemented by a major U.S. insurer. The program seeks to reduce emergency department utilization by promoting primary care engagement. I leverage a unique commercial claims data set to measure the effects of the program on primary care and emergency department utilization. My findings suggest that six months after treatment nurse outreach increased primary care utilization by 15 percent; however, I find no clear effect on emergency department utilization. My findings indicate that increasing primary care engagement may not be sufficient to prevent emergency department over utilization. / Economics

Legged robots have the potential to be a valuable technology that provides agile and adaptive locomotion over complex terrain. To realize legged locomotion's full abilities a control design must consider the nonlinear piecewise dynamics of the systems. This paper aims to develop a controller for the planar bounding of a quadrupedal robot. The bounding of the quadruped robot is characterized by a simplified hybrid model that consists of two subsystems for stance and flight phases and the switching laws between the two states. An additional model, the Multibody model, with fewer simplifications, is used concurrently to best approximate real-world behavior. The bounding gait (periodic orbit) of the robot is predicted by an optimization method based on the numerical integration of the differential equations of subsystems. To stabilize the gait, a switching controller is applied which can be split into two separate phases: stance-phase and swing-phase control. The stance phase implements reaction force control utilizing a body state feedback controller and a gait stabilizer, while the swing phase deploys position control in conjunction with a trajectory planning algorithm to ensure proper footfall. Numerical simulations are carried out for the system with/without control. The control strategy is further validated by simulations of the Simscape multibody model. The overall simulated controller results are promising and demonstrate stable bounding for four system cycles.

Laser interferometry, commonly used in high-precision motion control systems, is rarely adopted in experimental vibration analysis because its installation and mounting is invasive to dynamical systems. However, metrology systems that already utilize laser interferometry, such as profilometry in semiconductor manufacturing, may benefit from interferometer feedback for signal processing. This study investigates the use of laser interferometry for system identification through a piezoelectrically actuated cantilevered beam. The model of the beam including piezo actuators and optical measurement components are established through the Euler-Bernoulli beam theory. From the method of separation of variables, the continuous system is transformed into a discrete system represented in a state-space form. By performing the Laplace transformation of the state-space form, we obtain the analytical transfer function of interferometer displacement versus actuator input, which is then validated numerically and experimentally. Adaptive filters based on FIR and IIR are designed to identify the transfer function. Because of the slow convergence of such filters, a recursive LMS algorithm is designed to accelerate computation. It is experimentally demonstrated that the precision measurement of interferometer can lead to highly accurate results of system identification.