48440 research outputs found
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Proof-of-Concept Metal-Air Battery Built by Earth-Abundant Materials
No full textBattery systems play a crucial role in microgrids by balancing supply and demand, ensuring stable energy availability. Today’s options for microgrid batteries include lithium-ion batteries (LIBs), lead acid batteries (LABs), and redox flow batteries (RFBs). However, these battery systems have raised concerns for grid storage due to their limited safety, high cost, and short cycle life. This MQP project will conduct preliminary and proof-of-concept testing of metal-air batteries. The students will work closely with the faculty mentor and PhD student mentors for the project. Project activities include material synthesis, battery assembly and testing, and a possible field trip to Brookhaven National Lab in Long Island, NY
Uninterruptible Power Supply Design: Theoretical and Simulated Modeling of Buck and Boost Converters
No full textAn uninterruptible power supply (UPS) system is a power delivery system capable of providing a steady stream of power for some time through interruptions of a centralized power grid. An important part of UPS systems is stabilizing the interruptible input power before final power output. Some UPS systems produced by Schneider Electric use a two-stage DC power stabilization step, where the rectified DC input is fed in series through a boost converter, then a buck converter. These switching circuits are digitally controlled by digital signal processors which adjust the switching signal to compensate for the circuit’s output. In this project, we aimed to create a design tool for power system engineers to tune the compensators of these digitally controlled switching circuits based on a set of input parameters which described the circuit and its intended behavior. The result of this project is a mathematical modeling and simulation tool which is able to automatically derive compensator transfer functions, analyze the continuous and discrete-time frequency response of the circuits, simulate the time-domain behavior of these circuits under dynamic conditions, and provide difference equations and DSP code which can be implemented by UPS system engineers
Beamforming for Anti-Jamming
No full textMobile jammers pose a critical security threat to 5G networks. Our project is an anti-jamming system that combines an angle of arrival estimation method, beamforming, and a machine learning model. Through simulation, we evaluate our system’s performance against mobile barrage jamming scenarios. Results demonstrate an effectiveness to increase the signal-to-noise ratio from transmit to receive by nulling out jamming interference and minimizing angle of arrival estimation error
Precision 3D Mapping of Cardiac Vasculature using Intracardiac Robotic Catheter Steering
No full textCardiac catheterization is a common procedure used for both diagnosis and/or treatment of various cardiovascular conditions. Standard methods of performing cardiac catheterization require the participation of many clinicians, including a trained surgeon, nurses, and radiology technicians who are knowledgeable and have experience with the procedure. The implementation of robotic steering and 3D-mapping of cardiac anatomy would reduce the amount of healthcare professionals necessary and allow for a more standard process and more detailed intracardiac visualization data. In 2023, the preceding MQP project that this project builds upon, developed a teleoperated robotic system for precise actuation of an intracardiac echocardiography (ICE) catheter. The purpose of this project is to improve the catheter’s mechanical system and integrate robotic control, positioning, and ultrasound imaging systems to communicate with each other as well as develop a precise 3D reconstruction of the vasculature and heart chambers, improving cardiac catheterization by providing a more intuitive system with significantly enhanced visualization data. The final prototype of the device utilizes a stepper motor to power a linear stage which provides translational movement of the entire catheter, while a separate 5-phase stepper motor in tandem with a gear system enables rotational movement of the distal catheter tip. Both stepper motors are controlled using an Arduino Uno. The Robot Operating System (ROS) toolbox in MATLAB was used for communication between MATLAB scripts controlling motion, ultrasound imaging, and the electromagnetic (EM) sensor (used for positioning data). Once the devices are linked on a network, both ultrasound and electromagnetic sensor devices transmit data continuously, with the motion controller polling topics for image and twist pairs when needed. 2D ultrasound images were rendered into a 3D reconstructed volume using a MATLAB code to generate 3D volumes from positional data of the EM sensor as well as intensity or depth information from the ultrasound backscatter data. Reconstructed ultrasound volumes were successfully visualized using maximum intensity projections and isosurface rendering. These advancements contribute to the integration of robotic catheterization and real-time 3D imaging, enhancing procedural precision, reducing operator dependency, and improving clinical outcomes in cardiac interventions
Robotics Within Reach: Developing Pedagogical Materials for Teaching an Introductory Robotics Course in Paraguay
No full textIn response to the shortage of STEM education resources in Paraguay, the team collaborated with Fundación Paraguaya and the Cerrito Agricultural School to develop and test interactive instructional techniques and materials to impart an introductory robotics course to low-income rural youth. Through curriculum evaluation, in-person interviews, and classroom observations, exploratory learning was identified as essential for sustained student engagement. The teaching toolkit will enable instructors to lead dynamic robotics classes, broadening access to STEM education across Spanish-speaking communities
A Reactive Infrastructure for Swarm Programming
No full textWe present PiELo, a novel programming language for swarm robotics. A robot swarm is a decentralized network of robots working to achieve a common goal. Robot swarms have a multitude of useful applications, including exploration, construction, and mining. When programming swarms, the robots need to respond to changes in the environment. If a sensor reading updates, the robots should respond to the new readings and take action if necessary. This process, known as reactivity, is the essential building block for robots to take appropriate actions and contribute to the swarm's overall goals. Additionally, in a problem unique to swarms, robots need to be able to form a consensus, i.e., they must reach an agreement on important aspects of their environment. Programming these behaviors currently requires a significant effort and expertise from the programmer. PiELo explores addressing these concepts as first-class features of a programming language. When programming in PiELo, reactive primitives enable the programmer to easily write functions that will stay up-to-date as the robot performs its duties. Additionally, PiELo provides multiple means through which individual robots can come to a decision and compute problems together. This enables many foundational swarm algorithms, such as flocking and gradient formation. In our paper, we show the effectiveness of this new language through a series of demonstrations of common swarm algorithms and problems, comparing the required code in PiELo to the same algorithms written in other contemporary robotics languages
XRP in Motion: Expanding STEM Opportunities in Paraguay and Spanish-Speaking Countries
No full textThis project, sponsored by Fundación Paraguaya, implemented an advanced robotics course using the eXperiential Robotics Platform (XRP), a cost-effective educational robot, to increase the school's capacity to develop a STEM-based curriculum. The team used hands-on learning activities to engage students and used the XRP to facilitate problem-solving and critical thinking skills for Paraguayan students. Through interviews, surveys, and using the donated 3D printer, the team successfully identified the most effective approaches to integrating robotics into the Cerrito Agricultural School’s values
Arcade Cabinet FTW!
No full textArcade Cabinet FTW! IQP is the opportunity to create a video game for the arcade cabinet located on the basement floor of fuller labs. Our Project culminated in Adsense, a auto-runner heavily inspired by the 90’s internet. Through the game your choices form a story about how heavily our lives are impacted by advertisements and corrupt capitalism. The goal of this IQP was to create a fully fleshed out arcade game that can be indefinitely played for a high score and for it to be released on the arcade cabinet for people to play. This report is a document compiling all of the steps in which it took to release our game and the challenges we faced while working on it
Change through Campaigns: Helping the EcoCentre Inspire Action on Microplastics with Citizen Science
No full textPort Phillip Bay is a valuable ecological, social, and economic resource in the Greater Melbourne region. Yet, it is threatened by a number of environmental issues, the most significant of which is microplastics. Our project, conducted in partnership with the Port Phillip EcoCentre, was designed to encourage individuals to act against environmental problems, including microplastics, by developing several campaigns for the EcoCentre teams. We began our project by discovering the objectives of the EcoCentre by interviewing and observing them firsthand, then creating messages to communicate their mission. Through an iterative design process, we created effective content using the principles of science communication and social marketing strategies. Strategies utilized were simplifying the technical language of science, using the methods of storytelling, creating persuasive images, and introducing behavior change strategies. To gauge the effectiveness of our campaigns, we proposed a framework for future testing and development in terms of metrics such as reach, engagement, and influence. Our project will help the EcoCentre meet its aim of encouraging environmentally sustainable practices in Port Phillip Bay
Development of an Improved Modular System, Swapping Station, and Autonomous Cart for end effectors in a 3D-Printed Humanoid Robot
No full textThe report details the ongoing development of a 3D-printed humanoid robot designed to assist in medical environments and at-home care. The robot is based on the Poppy Project, an open-source 3D-printed humanoid project released in 2014. The 2023-2024 team contributed to a humanoid robot that was originally designed to assist in tasks such as putting away groceries and retrieving items. This functionality was achieved using a flexible gripper hand, a two-finger pinching hand consisting of one rigid and one flexible finger. This year, two additional pick-and-place hands were added, as well as three hands that operate medical instruments, enhancing the robot’s versatility. With these upgrades, the robot is now capable of picking up smaller objects, scooping items in bulk, and even measuring vital signs such as temperature, heart rate, and blood oxygen levels. These advancements significantly broaden the robot's potential applications, particularly in healthcare settings. The robot can switch between specialized end effectors as needed. The system uses a magnetic connection to hold the end effector in place, and pogo pins that maintain electrical continuity for power and data transfer. Each end effector is stored in a portable swapping station that operates similarly to a CNC mill tool changer. The robot communicates with the station to request an end effector, prompting the station to rotate for swapping. An autonomous cart was also developed to assist in humanoid robot operations. It houses a swapping station, a storage basket for item retrieval, a transport platform for the robot, and compartments for additional supplies. Designed with future expansion in mind, the cart includes space allocated for onboard computing boards, an elevator lift, peripheral sensors, and a charging bay. The cart features a custom mecanum drivetrain, ensuring precise omnidirectional movement, which enhances its ability to navigate complex environments. Arm components were redesigned for improved rigidity, capacity, and Design For Manufacturing and Assembly (DFMA). Several components were revamped to streamline the design modification process, and eliminate defects preventing potential fracture propagation. The report also details the exploration of increasing torque in the shoulder and implementing a stronger magnet in the wrist to improve the holding strength of the robot. The humanoid project is 3D printed and open source, so it can be reproduced and tailored for any setting or challenge. Additionally, the modular wrist system enables and encourages the creation of more end effectors to further the robot’s capabilities. Handling auxiliary tasks allows healthcare staff to focus on essential responsibilities, ultimately improving patient care and quality of life. The paper will discuss the design, testing, implementation, and applications of the humanoid robot system and autonomous cart