VTechWorks Repository :: Browsing by Author "Kasarda, Mary E."

Browsing by Author "Kasarda, Mary E."

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Active Magnetic Bearings used as an Actuator for Rotor Health Monitoring in Conjunction with Conventional Support Bearings
Bash, Travis Joel (Virginia Tech, 2005-06-27)
This thesis describes the test rig and results from a project expanding the field of rotor health monitoring by using Active Magnetic Bearings (AMBs) as actuators for applying a variety of known force inputs to a spinning. Similar to modal analysis and other nondestructive evaluation (NDE) techniques which apply input signals to static structures in order to monitor responses; this approach allows for the measurement of both input and output response in a rotating system for evaluation. However, unlike these techniques, the new procedure allows for multiple forms of force input signals to be applied to a rotating structure. This technique is used on a rotating shaft supported in conventional bearings with an AMB actuator added to the system. This paper presents the results from this project including shaft rub and notch. An EDM notch was also tested to attempt a breathing scenario similar to breathing cracks.
Airflow sensing with arrays of hydrogel supported artificial hair cells
Sarlo, Rodrigo (Virginia Tech, 2015-01-19)
Arrays of fully hydrogel-supported, artificial hair cell (AHC) sensors based on bilayer membrane mechanotransduction are designed and characterized to determine sensitivity to multiple stimuli. The work draws upon key engineering design principles inspired by the characteristics of biological hair cells, primarily the use of slender hair-like structures as flow measurement elements. Many hair cell microelectromechanical (MEMS) devices to sense fluid flow have already been built based on this principle. However, recent developments in lipid bilayer applications, namely physically encapsulated bilayers and hydrogel interface bilayers, have facilitated the development of AHCs made primarily from biomolecular materials. The most current research in this field of "membrane based AHCs," shows promise, yet still lacks the modularity to create large sensor arrays similar to those in nature. This paper presents a novel bilayer based AHC platform, developed for array implementation by applying some of the core design principles of biological hair cells. These principles are translated into key design, fabrication and material considerations toward improved sensor sensitivity and modularity. Single hair cell responses to base excitation and short air pulses are to investigate the dynamic coupling between hair and bilayer membrane transducer. In addition, a spectral analysis of the AHC system under varying voltages and air flow velocities helps to build simple, predictive models for the sensitivity properties of the AHC. And finally, based on these results, we implement a spatial sensing strategy that involves mapping frequency content to stimulus location by "tuning" linear, three-unit arrays of AHCs. Individual AHC sensors characterization results demonstrate peak current outputs in the nanoamp range and measure flow velocities as high as 72 m/s. Characterization of the AHC response to base excitation and air pulses show that membrane current oscillates with the first three bending modes of the hair. Output magnitudes reflect of vibrations near the base of the hair. A 2 degree-of-freedom Rayleigh-Ritz approximation of the system dynamics yields estimates of 19 N/m and 0.0011 Nm/rad for the equivalent linear and torsional stiffness of the hair's hydrogel base, although double modes suggest non-symmetry in the gel's linear stiffness. The sensor output scales linearly with applied voltage (1.79 pA/V), avoiding a higher-order dependence on electrowetting effects. The free vibration amplitude of the sensor also increases in a linear fashion with applied airflow pressure (3.39 pA/m s??). Array sensing tests show that the bilayers' consistent spectral responses allow for an accurate localization of the airflow source. However, temporal variations in bilayer size affect sensitivity properties and make airflow magnitude estimation difficult. The overall successful implementation of the array sensing method validates the sensory capability of the bilayer based AHC.
Analysis of a Rotary Ultrasonic Motor for Application in Force-Feel Systems
Murphy, Devon Patrick (Virginia Tech, 2008-08-25)
A qualitative analysis of a rotary traveling wave-type ultrasonic motor (USM) used to supply feedback forces in force-feel systems is carried out. Prior to simulation, the subsystems and contact mechanics needed to define the motor's equations of motion are discussed along with the pitfalls of modeling a USM. A mathematical model is assembled and simulated in MATLAB Simulink. Accompanying the dynamic model, a new reduced model is presented from which predictions of USM performance can be made without a complicated dynamic model. Outputs from the reduced model are compared with those of the dynamic model to show the differences in the transient solution, agreement in the steady state solution, and above all that it is an efficient tool for approximating a motor's steady state response as a function of varying the motor parameters. In addition, the reduced model provides the means of exploring the USMs response to additive loading, loads acting in the direction of motor motion, where only resistive loads, those opposite to the motor rotation, had been considered previously. Fundamental differences between force-feel systems comprising standard DC brushless motors as the feedback actuators and the proposed system using the USM are explained by referencing the USM contact mechanics. Outputs from USM model simulations are explored, and methods by which the motor can be implemented in the force-feel system are derived and proven through simulation. The results show that USMs, while capable of providing feedback forces in feel systems, are far from ideal for the task. The speed and position of the motor can be controlled through varying stator excitation parameters, but the transient motor output torque cannot; it is solely a function of the motor load, whether additive or resistive.
Assembly Optimization for Double Row Ball Bearings
Holland, Michael L. (Virginia Tech, 1998-08-24)
This thesis is a treatise on optimal assembly methods for double row ball bearings. As with common single row bearings, double row ball bearings, consist of four general components, namely, an inner ring, an outer ring, a complement of balls and a cage or retainer to keep the balls separate. Unlike single row bearings, however, double row ball bearings have two complements of balls in two distinct parallel races. Although this double row configuration is desirable in a number of applications, it makes the bearings more difficult and expensive to assemble. In addition, current manual assembly procedures require a great deal of digital manipulation, leading to concern about carpal tunnel syndrome and other long-term repetitive motion injuries. This thesis attempts to develop an improved assembly process for all types of double row bearings. Although the work is intended to be general, the Torrington 5203 double row ball bearing is adopted as a specific application example. This bearing's assembly difficulties and additional cost are a result of its manual Conrad assembly method and a rubber O-ring and groove used solely for bearing assembly. In the assembly process, the O-ring supports the upper balls temporarily until the two rings can be aligned concentrically, thus snapping the balls into the bearing races. This thesis addresses the replacement of the rubber O-ring and explores opportunities for bearing assembly automation. Design synthesis of a retractable or reusable assembly component to replace the rubber O-ring supporting the upper balls during assembly is presented. A large group of design concepts are developed and evaluated, resulting in a small group of feasible designs. These feasible solutions are then tested, and a design that has the potential immediate implementation in an improved manual assembly process is proposed. In addition, two design concepts are presented as candidates for possible implementation in an automated assembly process.
Automatic Detection and Characterization of Parasite Eggs by Image Processing
Ostergaard, Lindsey Eubank (Virginia Tech, 2013-08-26)
The accurate identification of parasites allows for the quick diagnosis and treatment of infections. Current state-of-the-art identification techniques require a trained technician to examine prepared specimens by microscope or other molecular methods. In an effort to automate the process and better facilitate the field identification of parasites, approaches are developed to utilize LabVIEW and MATLAB, which are commercially available image processing software packages, for parasite egg identification. The goal of this project is to investigate different image processing techniques and descriptors for the detection and characterization of the following parasite eggs: Ascaris lumbricoides, Taenia sp., and Paragonimus westermani. One manual approach and four automated approaches are used to locate the parasite eggs and gather parasite characterization data. The manual approach uses manual measurements of the parasite eggs within the digital images. The four automated approaches are LabVIEW Vision Assistant scripts, MATLAB separation code, MATLAB cross-section grayscale analysis, and MATLAB edge signature analysis. Forty-four separate measurements were analyzed through the four different approaches. Two types of statistical tests, single factor global Analysis of Variance (ANOVA) test and Multiple Comparison tests, are used to demonstrate that parasite eggs can be differentiated. Thirty-six of the measurements proved to be statistically significant in the differentiation of at least two of the parasite egg types. Of the thirty-six measurements, seven proved to be statistically significant in the differentiation of all three parasite egg types. These results have shown that it is feasible to develop an automated parasite egg detection and identification algorithm through image processing. The automated image processing techniques have proven successful at differentiating parasite eggs from background material. This initial research will be the foundation for future software structure, image processing techniques, and measurements that should be used for automated parasite egg detection.
Automatic Dynamic Tracking of Horse Head Facial Features in Video Using Image Processing Techniques
Doyle, Jason Emory (Virginia Tech, 2019-02-11)
The wellbeing of horses is very important to their care takers, trainers, veterinarians, and owners. This thesis describes the development of a non-invasive image processing technique that allows for automatic detection and tracking of horse head and ear motion, respectively, in videos or camera feed, both of which may provide indications of horse pain, stress, or well-being. The algorithm developed here can automatically detect and track head motion and ear motion, respectively, in videos of a standing horse. Results demonstrating the technique for nine different horses are presented, where the data from the algorithm is utilized to plot absolute motion vs. time, velocity vs. time, and acceleration vs. time for the head and ear motion, respectively, of a variety of horses and ponies. Two-dimensional plotting of x and y motion over time is also presented. Additionally, results of pilot work in eye detection in light colored horses is also presented. Detection of pain in horses is particularly difficult because they are prey animals and have mechanisms to disguise their pain, and these instincts may be particularly strong in the presence of an unknown human, such as a veterinarian. Current state-of-the art for detecting pain in horses primarily involves invasive methods, such as heart rate monitors around the body, drawing blood for cortisol levels, and pressing on painful areas to elicit a response, although some work has been done for humans to sort and score photographs subjectively in terms of a "horse grimace scale." The algorithms developed in this thesis are the first that the author is aware for exploiting proven image processing approaches from other applications for development of an automatic tool for detection and tracking of horse facial indicators. The algorithms were done in common open source programs Python and OpenCV, and standard image processing approaches including Canny Edge detection Hue, Saturation, Value color filtering, and contour tracking were utilized in algorithm development. The work in this thesis provides the foundational development of a non -invasive and automatic detection and tracking program for horse head and ear motion, including demonstration of the viability of this approach using videos of standing horses. This approach lays the groundwork for robust tool development for monitoring horses non-invasively and without the required presence of humans in such applications as post-operative monitoring, foaling, evaluation of performance horses in competition and/or training, as well as for providing data for research on animal welfare, among other scenarios.
Characteristic Classification of Walkers via Underfloor Accelerometer Gait Measurements through Machine Learning
Bales, Dustin Bennett (Virginia Tech, 2016-06-20)
The ability to classify occupants in a building has far-reaching applications in security, monitoring human health, and managing energy resources effectively. In this work, gender and weight of walkers are classified via machine learning or pattern recognition techniques. Accelerometers mounted beneath the floor of Virginia Tech's Goodwin Hall measured walkers' gait. These acceleration measurements serve as the inputs to machine learning techniques allowing for classification. For this work, the gait of fifteen individual walkers was recorded via fourteen accelerometers as they, alone, walked down the instrumented hallway, in multiple trials. These machine learning algorithms produce an 88 % accurate model for gender classification. The machine learning algorithms included are Bagged Decision Trees, Boosted Decision Trees, Support Vector Machines (SVMs), and Neural Networks. Data reduction techniques achieve a higher gender classification accuracy of 93 % and classify weight with 64% accuracy. The data reduction techniques are Discrete Empirical Interpolation Method (DEIM), Q-DEIM, and Projection Coefficients. A two-part methodology is proposed to implement the approach completed in this thesis work. The first step validates the algorithm design choices, i.e. using bagged or boosted decision trees for classification. The second step reduces the walking data measured to truncate accelerometers which do not aid in increasing characteristic classification.
Characterizing the Behavior of Magnetorheological Fluids at High Velocities and High Shear Rates
Goncalves, Fernando D. (Virginia Tech, 2005-01-21)
Magnetorheological (MR) fluids offer solutions to many engineering challenges. The success of MR fluid is apparent in many disciplines, ranging from the automotive and civil engineering communities to the biomedical engineering community. This well documented success of MR fluids continues to motivate current and future applications of MR fluid. One such application that has been considered recently is MR fluid devices for use in impact and other high velocity applications. In such applications, the fluid environment within the device may be well beyond the scope of our understanding for these fluids. To date, little has been done to explore the suitability of MR fluids in such high velocity and high shear applications. While future applications may expose the fluid to adverse flow conditions, we must also consider current and existing applications which expose the fluid to extreme flow environments. Consider, for example, an MR damper intended for automotive primary suspensions, in which shear rates may exceed 10^5 s^-1. Flow conditions within these dampers far exceed existing fluid behavior characterization. The aim of the current study is to identify the behavior of the fluid under these extreme operating conditions. Specifically, this study intends to identify the behavior of MR fluid subject to high rates of shear and high flow velocities. A high shear rheometer is built which allows for the high velocity testing of MR fluids. The rheometer is capable of fluid velocities ranging from 1 m/s to 37 m/s, with corresponding shear rates ranging from 0.14x10^5 s^-1 to 2.5x10^5 s^-1. Fluid behavior is characterized in both the off-state and the on-state. The off-state testing was conducted in order to identify the high shear viscosity of the fluid. Because the high shear behavior of MR fluid is largely governed by the behavior of the carrier fluid, the carrier fluid behavior was also identified at high shear. Experiments were conducted using the high shear rheometer and the MR fluid was shown to exhibit nearly Newtonian post-yield behavior. A slight thickening was observed for growing shear rates. This slight thickening can be attributed to the behavior of the carrier fluid, which exhibited considerable thickening at high shear. The purpose of the on-state testing was to characterize the MR effect at high flow velocities. As such, the MR fluid was run through the rheometer at various flow velocities and a number of magnetic field strengths. The term "dwell time" is introduced and defined as the amount of time the fluid spends in the presence of a magnetic field. Two active valve lengths were considered, which when coupled to the fluid velocities, generated dwell times ranging from 12 ms to 0.18 ms. The yield stress was found from the experimental measurements and the results indicate that the magnitude of the yield stress is sensitive to fluid dwell time. As fluid dwell times decrease, the yield stress developed in the fluid decreases. The results from the on-state testing clearly demonstrate a need to consider fluid dwell times in high velocity applications. Should the dwell time fall below the response time of the fluid, the yield stress developed in the fluid may only achieve a fraction of the expected value. These results imply that high velocity applications may be subject to diminished controllability for falling dwell times. Results from this study may serve to aid in the design of MR fluid devices intended for high velocity applications. Furthermore, the identified behavior may lead to further developments in MR fluid technology. In particular, the identified behavior may be used to develop or identify an MR fluid well suited for high velocity and high shear applications.
Computational Analysis and Design of the Electrothermal Energetic Plasma Source Concept
Mittal, Shawn (Virginia Tech, 2015-05-27)
Electrothermal (ET) Plasma Technology has been used for many decades in a wide variety of scientific and industrial applications. Due to its numerous applications and configurations, ET plasma sources can be used in everything from small scale space propulsion thrusters to large scale material deposition systems for use in a manufacturing setting. The sheer number of different types of ET sources means that there is always additional scientific research and characterization studies that can be done to either explore new concepts or improve existing designs. The focus of this work is to explore a novel electrothermal energetic plasma source (ETEPS) that uses energetic gas as the working fluid in order to harness the combustion and ionization energy of the subsequently formed energetic plasma. The goal of the work is to use computer code and engineering methods in order to successfully characterize the capabilities of the ETEPS concept and to then design a prototype which will be used for further study. This thesis details the background of ET plasma physics, the ETEPS concept physics, and the computational and design work done in order to demonstrate the feasibility of using the ETEPS source in two roles: space thrusters and electrothermal plasma guns.
Computational Fluid Dynamic and Rotordynamic Study on the Labyrinth Seal
Gao, Rui (Virginia Tech, 2012-06-14)
The labyrinth seal is widely used in turbo machines to reduce leakage flow. The stability of the rotor is influenced by the labyrinth seal because of the driving forces generated in the seal. The working fluid usually has a circumferential velocity component before entering the seal; the ratio of circumferential velocity and shaft synchronous surface velocity is defined as pre-swirl rate. It has been observed that pre-swirl rate is an important factor affecting driving forces in the labyrinth seal thus affecting the stability of the rotor. Besides the pre-swirl, the eccentricity, the clearance, and the configuration of tooth locations are all factors affecting the rotordynamic properties of the labyrinth seal. So it is of interest to investigate the exact relationships between those factors and the seal's rotordynamic properties. In this research, three types of labyrinth seals have been modeled: the straight eye seal, the stepped eye seal, and the balance drum seal. For the straight eye seal, a series of models were built to study the influence of eccentricity and clearance. The other two seals each have only one model. All models were built with Solid Works and meshed with ANSYS-ICEM. Flows in those models were simulated by numerically solving the Reynolds-Averaged Navier-Stokes (RANS) equations in the ANSYS-CFX and then rotordynamic coefficients for each seal were calculated based on the numerical results. It had previously been very difficult to generate a pre-swirl rate higher than 60% in a numerical simulation. So three ways to create pre-swirl in ANSYS-CFX were studied and finally the method by specifying the inlet velocity ratio was employed. Numerical methods used in this research were introduced including the frame transfer, the k-ε turbulence model with curvature correction, and the scalable wall function. To obtain the optimal mesh and minimize the discretization error, a systematical grid study was conducted including grid independence studies and discretization error estimations. Some of the results were compared with previous bulk-flow or experimental results to validate the numerical model and method. The fluid field in the labyrinth seal must be analyzed before conducting rotordynamic analysis. The predicted pressure distributions and leakages were compared with bulk-flow results. A second small vortex at the downstream edge of each tooth was found in the straight eye seal. This has never been reported before and the discovery of this small vortex will help to improve seal designs in the future. The detailed flows in discharged region and in chambers were also discussed. Radial and tangential forces on the rotor were solved based on the fluid field results. It is shown that the traditional first-order rotordynamic model works well for low pre-swirl cases but does not accurately reflect the characteristics for high pre-swirl cases. For example compressor eye seals usually have pre-swirl rates bigger than 70% and the second order model is required. Thus a second-order model including inertia terms was built and applied to the rotordynamic analysis in this research. The influence of pre-swirl, eccentricity and clearance were studied using the straight eye seal model. The rotordynamic characteristics of the stepped eye seal and the balance drum seal were studied considering high pre-swirl rates. Some relationships between influencing factors and the four rotordynamic coefficients were concluded. The results also showed that for all the three seals higher pre-swirl leads to higher cross-coupled stiffness which is one of the main factors causing rotor instability. The rotor stability analysis was conducted to study the influence of drum balance seal on the stability. The rotor was designed with typical dimensions and natural frequencies for a centrifugal compressor rotor. The parameters for bearing and aerodynamic force were also set according to general case in compressors to minimize the effects from them. The result shows that the high pre-swirl rate in balance drum seal leads to rotor instability, which confirmed the significant effect of pre-swirl on the seal and the rotor system.
Crack Detection in Aluminum Structures
Butrym, Brad A. (Virginia Tech, 2010-04-26)
Structural health monitoring (SHM) is the process of using measurements of a structure's response to known excitations and trying to determine if damage has occurred to the structure. This also fits the description of non-destructive evaluation (NDE). The main difference is that NDE takes place while the structure is out of service and SHM is intended to take place while the structure is in service. As such, SHM provides the opportunity to provide early warning against structural failure. This thesis intends to advance the state of the art in SHM by examining two approaches to SHM: vibration based and impedance based, and to associate these with the NDE method of stress intensity factors. By examining these methods the goal is to try and answer some of the important questions in SHM process. The first is to experimentally validate a crack model and to see how small of a crack can be detected by vibration methods. The second is to use the concept of stress intensity factor to perform an SHM type of measurement to determine the remaining life of a structure once the impedance method has determined that damage has occurred. The measurement system considered consists of using several different piezoceramic materials as self-sensing actuators and sensors. The structures are a simple beam and a more complex lug element used in aircraft applications. The approach suggested here is to use the impedance and vibration methods to detect crack initiation and then to use the proposed stress intensity method to measure the stress intensity factor of the structure under consideration.
Design and Evaluation of an Automated Experimental Test Rig for Determination of the Dynamic Characteristics of Fluid-Film Bearings
Swanson, Erik Evan (Virginia Tech, 1998-08-07)
Hydrodynamic journal bearings are applied in a wide range of both old and new, advanced rotating machinery designs. To maintain existing machinery, as well as to design new, state of the art machines, validated analytical models for these bearings are needed. This work documents the development and evaluation of an automated test rig for the evaluation of hydrodynamic journal bearings to provide some of the needed experimental data. This work describes the test rig in detail, including the results of experimental characterization of many of the test rig subsystems. Experimental data for a two axial groove bearing and a pressure dam bearing under steady load conditions are presented for a range of loads at two different shaft speeds. Experimental data and analytical results for dynamic loading are also discussed. The work concludes with a summary of the state of the test rig and recommendations for further work.
Design and implementation of vibration data acquisition in Goodwin Hall for structural health monitoring, human motion, and energy harvesting research
Hamilton, Joseph Marshall (Virginia Tech, 2015-04-28)
From 2012 - 2015 a foundation for future research in Goodwin Hall was designed, tested,developed, and implemented through an instrumentation project supported by the College of Engineering at Virginia Polytechnic Institute and State University. This required the design and implementation of a distributed, networked, and synchronized data acquisition system along with supporting hardware and software capable of measuring 227 accelerometers placed in 129 locations throughout the building. This system will provide a platform for research into a variety of topics, including structural health monitoring, building dynamics, human motion, and energy harvesting. Additionally, the system will be incorporated into the education curriculum by providing real-world data and hardware for students to interact with. This thesis covers the contributions of the author to the project.
Design Space and Motion Development for a Pole Climbing Serpentine Robot Featuring Actuated Universal Joints
Goldman, Gabriel Jacob (Virginia Tech, 2009-02-24)
Each year, falls from elevated structures, like scaffolding, kill or seriously injure over a thousand construction workers (Bureau of Labor Statistics, 2007). To prevent such falls, the development of a robotic system is proposed that can climb and navigate on the complex structures, performing hazardous inspection and maintenance in place of humans. In this work, a serpentine robotic system is developed that will be able to climb pole-like structures, such as scaffolding and trusses, commonly found on work sites. Serpentine robots have been proven to be effective at traversing unstructured terrains and manipulating complex objects. The work presented in this thesis adds a new method of mobility for serpentine robots, specifically those with actuated universal joint structures. Movement is produced by inducing a wobbling motion between adjacent modules through oscillatory motions in the actuated axis of the universal joint. Through the frictional interactions between the modules of the serpentine and the surface of the pole, the wobbling motion lets the serpentine effectively roll up the pole's surface. This work investigates theoretical and experimental results for a serpentine robot climbing a pole structure. It discusses the structure and design parameters of the robot and develops relationships between them. These geometric and performance-based relationships are then used to create a design space that provides a guide for choosing a combination of module dimensions for a desired set of performance parameters. From this, case studies are shown which give examples of how the design space can be used for several different applications. Based on the design space procedure, a serpentine robot, HyDRAS (Hyper-Redundant Discrete Robotic Articulated Serpentine) was designed and built. The robot was used to prove the validity of the design space procedure and to validate the climbing motion algorithms. Several tests were performed with HyDRAS that showed the practicality of the helical rolling motion, as well as the feasibility of serpentine pole climbing. Observations and discussion based on the experiments are given, along with the plans for future work involving pole-climbing serpentine robots.
Development of Active Artificial Hair Cell Sensors
Joyce, Bryan Steven (Virginia Tech, 2015-06-04)
The cochlea is known to exhibit a nonlinear, mechanical amplification which allows the ear to detect faint sounds, improves frequency discrimination, and broadens the range of sound pressure levels that can be detected. In this work, active artificial hair cells (AHC) are proposed and developed which mimic the nonlinear cochlear amplifier. Active AHCs can be used to transduce sound pressures, fluid flow, accelerations, or another form of dynamic input. These nonlinear sensors consist of piezoelectric cantilever beams which utilize various feedback control laws inspired by the living cochlea. A phenomenological control law is first examined which exhibits similar behavior as the living cochlea. Two sets of physiological models are also examined: one set based on outer hair cell somatic motility and the other set inspired by active hair bundle motility. Compared to passive AHCs, simulation and experimental results for active AHCs show an amplified response due to small stimuli, a sharpened resonance peak, and a compressive nonlinearity between response amplitude and input level. These bio-inspired devices could lead to new sensors with lower thresholds of sound or vibration detection, improved frequency sensitivities, and the ability to detect a wider range of input levels. These bio-inspired, active sensors lay the foundation for a new generation of sensors for acoustic, fluid flow, or vibration sensing.
Development of an Electromagnetic Energy Harvester for Monitoring Wind Turbine Blades
Joyce, Bryan Steven (Virginia Tech, 2011-12-12)
Wind turbine blades experience tremendous stresses while in operation. Failure of a blade can damage other components or other wind turbines. This research focuses on developing an electromagnetic energy harvester for powering structural health monitoring (SHM) equipment inside a turbine blade. The harvester consists of a magnet inside a tube with coils outside the tube. The changing orientation of the blade causes the magnet to slide along the tube, inducing a voltage in the coils which in turn powers the SHM system. This thesis begins with a brief history of electromagnetic energy harvesting and energy harvesters in rotating environments. Next a model of the harvester is developed encompassing the motion of the magnet, the current in the electrical circuit, and the coupling between the mechanical and electrical domains. The nonlinear coupling factor is derived from Faraday's law of induction and from modeling the magnet as a magnetic dipole moment. Three experiments are performed to validate the model: a free fall test to verify the coupling factor expression, a rotating test to study the model with a load resistor circuit, and a capacitor charging test to examine the model with an energy storage circuit. The validated model is then examined under varying tube lengths and positions, varying coil sizes and positions, and variations in other parameters. Finally a sample harvester is presented that can power an SHM system inside a large scale wind turbine blade spinning up to 20 RPM and can produce up to 14.1 mW at 19 RPM.
Development of an Inertially-Actuated Passive Dynamic Technique to Enable Single-Step Climbing by Wheeled Robots
Humphreys, John Christopher (Virginia Tech, 2008-04-28)
For their inherent stability and simple dynamics of motion, wheeled robots are very common in robotics applications. Many highly complex robots are being developed in research laboratories, but wheeled robots remain the most used robot in real-world situations. One of the most significant downfalls of wheeled robots is their inability to navigate over large obstacles or steps without assistance. A wheeled robot is capable of climbing steps that are no larger than the radius of the robot's tires, but steps larger than this are impassable by simply rolling over the object. Active systems that have been designed for use on wheeled robots to lift the robot over a step are effective, but are generally not easily implemented on a range of robotic platforms. Also, the additional size, cost, and power required for the additional actuators is a major drawback to these options. A solution to these problems is a novel, passive dynamic system that is inertially excited by the motion of the robot to allow the robot to rotate on each axle and "hop" over the step. The system that was investigated for this project is a sliding mass-spring that shifts forward and backward based on the acceleration of the base robot. With high acceleration, the mass is pushed towards the rear wheel from an inertial force and compresses a spring that creates a moment on the body to induce rotation. This torque can cause the robot to "pop a wheelie", lifting its front wheels off the ground. To pull the rear wheels up, the inertial force from a large deceleration of the robot shifts the mass forward and extends a spring. These effects result in a moment acting in the opposite direction that can rotate the robot on its front axle and pull the rear wheels up. By coordinating the acceleration and deceleration of the robot, the front wheels can lift over a step and the rear wheels can be pulled up afterward — both actions being a product of inertial actuation. This passive system does not need additional actuators or direct control of the sliding mass, so it can be more durable over a robot's lifetime. Other advantages of this system are that the design is simple, cost-effective, and can be adjusted and retrofit to a different wheeled robot in the future with little effort. By deriving the equations of motion of this inertially actuated sliding mass, the dynamics show how design parameters of the system can be tuned to better optimize the overall step-climbing process. A computer simulation was created to visualize the robotic step-climbing process and demonstrate the effects of changing design parameters. An implementation of this sliding mass system was added to a wheeled robot, and the results from experiments were compared to simulated trials. This research has shown that an inertially actuated sliding mass can effectively enable a wheeled robot to climb a step that was previously impassable and that the system can be tuned for other wheeled robots using an understanding of the system dynamics.
The Distributed Spacecraft Attitude Control System Simulator: From Design Concept to Decentralized Control
Schwartz, Jana Lyn (Virginia Tech, 2004-07-07)
A spacecraft formation possesses several benefits over a single-satellite mission. However, launching a fleet of satellites is a high-cost, high-risk venture. One way to mitigate much of this risk is to demonstrate hardware and algorithm performance in groundbased testbeds. It is typically difficult to experimentally replicate satellite dynamics in an Earth-bound laboratory because of the influences of gravity and friction. An air bearing provides a very low-torque environment for experimentation, thereby recapturing the freedom of the space environment as effectively as possible. Depending upon con- figuration, air-bearing systems provide some combination of translational and rotational freedom; the three degrees of rotational freedom provided by a spherical air bearing are ideal for investigation of spacecraft attitude dynamics and control problems. An interest in experimental demonstration of formation flying led directly to the development of the Distributed Spacecraft Attitude Control System Simulator (DSACSS). The DSACSS is a unique facility, as it uses two air-bearing platforms working in concert. Thus DSACSS provides a pair of "spacecraft" three degrees of attitude freedom each. Through use of the DSACSS we are able to replicate the relative attitude dynamics between nodes of a formation such as might be required for co-observation of a terrestrial target. Many dissertations present a new mathematical technique or prove a new theory. This dissertation presents the design and development of a new experimental system. Although the DSACSS is not yet fully operational, a great deal of work has gone into its development thus far. This work has ranged from configuration design to nonlinear analysis to structural and electrical manufacturing. In this dissertation we focus on the development of the attitude determination subsystem. This work includes development of the equations of motion and analysis of the sensor suite dynamics. We develop nonlinear filtering techniques for data fusion and attitude estimation, and extend this problem to include estimation of the mass properties of the system. We include recommendations for system modifications and improvements.
Dynamic Stability Evaluation of an Automotive Turbocharger Rotor-Bearing System
Alsaeed, Ali A. (Virginia Tech, 2005-05-03)
This project was initiated to more fully understand the dynamic stability of an automotive turbocharger rotor-bearing system using both linear and nonlinear analyses. The capabilities of a commercial Finite Element Analysis (FEA) code (computer program) were implemented in the investigation process. Several different hydrodynamic journal bearings were employed in the study of the turbocharger linearized dynamic stability. The research demonstrates how the linear analysis of a turbocharger rotordynamics can be very beneficial for the design evaluation and maintenance purposes.
The Effects of Quantum Dot Nanoparticles on Polyjet Direct 3D Printing Process
Elliott, Amelia M. (Virginia Tech, 2014-03-18)
Additive Manufacturing (AM) is a unique method of fabrication that, in contrast to traditional manufacturing methods, builds objects layer by layer. The ability of AM (when partnered with 3D scanning) to clone physical objects has raised concerns in the area of intellectual property (IP). To address this issue, the goal of this dissertation is to characterize and model a method to incorporate unique security features within AM builds. By adding optically detectable nanoparticles into transparent AM media, Physical Unclonable Function (PUFs) can be embedded into AM builds and serve as an anti-counterfeiting measure. The nanoparticle selected for this work is a Quantum Dot (QD), which absorbs UV light and emits light in the visible spectrum. This unique interaction with light makes the QDs ideal for a security system since the challenge (UV light) is a different signal from the response (the visible light emitted by the QDs). PolyJet, the AM process selected for this work, utilizes inkjet to deposit a photopolymer into layers, which are then cured with a UV light. An investigation into the visibility of the QDs within the printed PolyJet media revealed that the QDs produce PUF patterns visible via fluorescent microscopy. Furthermore, rheological data shows that the ink-jetting properties of the printing media are not significantly affected by QDs in sufficient concentrations to produce PUFs. The final objective of this study is to characterize the effects of the QDs on photocuring. The mathematical model to predict the critical exposure of the QD-doped photopolymer utilizes light scattering theory, QD characterization results, and photopolymer-curing characterization results. This mathematical representation will contribute toward the body of knowledge in the area of Additive Manufacturing of nanomaterials in photopolymers. Overall, this work embodies the first investigations of the effects of QDs on rheological characteristics of ink-jetted media, the effects of QDs on curing of AM photopolymer media, visibility of nanoparticles within printed AM media, and the first attempt to incorporate security features within AM builds. Finally, the major scientific contribution of this work is the theoretical model developed to predict the effects of QDs on the curing properties of AM photopolymers.

Browsing by Author "Kasarda, Mary E."

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