Metrology Computer Redesign

We are M[EE]2 and our project is to redesign Micro-Vu’s metrology computer (the Q16) with modern components and updated firmware. Metrology machines take high precision and high accuracy measurements, and a computer attached to each machine reads out the measurements. We will be redesigning the logic and display circuit boards on the Q16. The ports and communication methods with the machine will stay the same as it must be a drop-in replacement. The motivation behind the redesign stems from the age of the current design. The current design was created in 1986, and has not had significant modifications since. As technology has improved in the last 30 years, the current design is now expensive, obsolete, and time consuming to fabricate. The stakeholders include Natalie Lizama (our primary contact with the sponsor), Melinda Ong, Mitchell Aiken, Micro-Vu, Micro-Vu’s consumers, and Karla Carichner. The Micro-Vu sponsor is Zack Reinman. Our faculty advisor is Karla Carichner. Our goal is to successfully deliver a functional design in which its assembly can be further automated and streamlined

UWB system and algorithms for indoor positioning

This research work presents of study of ultra-wide band (UWB) indoor positioning considering different type of obstacles that can affect the localization accuracy. In the actual warehouse, a variety of obstacles including metal, board, worker and other obstacles will have NLOS (non-line-of-sight) impact on the positioning of the logistics package, which influence the measurement of the distance between the logistics package and the anchor , thereby affecting positioning accuracy. A new developed method attempts to improve the accuracy of UWB indoor positioning, through and improved positioning algorithm and filtering algorithm. In this project, simulate the warehouse environment in the laboratory, several simulation proves that the used Kalman filter algorithm and Markov algorithm can effectively reduce the error of NLOS. Experimental validation is carried out considering a mobile tag mounted on a robot platform.Este trabalho de pesquisa apresenta um estudo de posicionamento de banda ultra-larga (UWB) em ambientes internos considerando diferentes tipos de obstáculos que podem afetar a precisão de localização. No armazém real, uma variedade de obstáculos incluindo metal, placa, trabalhador e outros obstáculos terão impacto NLOS (não linha de visão) no posicionamento do pacote logístico, o que influencia a medição da distância entre o pacote logístico e a âncora, afetando assim a precisão do posicionamento. Um novo método desenvolvido tenta melhorar a precisão do posicionamento interno UWB, através de um algoritmo de posicionamento e algoritmo de filtragem aprimorados. Neste projeto, para simular o ambiente de warehouse em laboratório, diversas simulações comprovam que o algoritmo de filtro de Kalman e o algoritmo de Markov usados podem efetivamente reduzir o erro de NLOS. A validação experimental é realizada considerando um tag móvel montado em uma plataforma de robô

Learning and Automation GPIO Platform

Tato práce popisuje vývoj univerzální softwarové a hardwarové platformy pro přístup k hardwarovým sběrnicím a elektrickým obvodům z prostředí vysokoúrovňových programovacích jazyků a aplikací běžících na PC, a to za využití USB, UARTU a také bezdrátově. Byly vyhodnoceny požadavky typických problémů vyskytujících se při práci s vestavěnými systémy a ve výuce za účelem návrhu snadno rozšiřitelného a přenastavitleného hardwarového modulu který bude praktickým, pohodlným a dostupným nástrojem, který navíc v některých případech může nahradit profesionální laboratorní přístroje. Bylo navrženo několik prototypů hardwarových modulů spolu s obslužnými knihovnami v jazycích C a Python; Python knihovnu lze dále používat z prostředí MATLAB. Navržené moduly umožňují přístup k většině běžných hardwarových sběrnic (I2C, SPI, USART, 1-Wire) a umožňují také měřit frekvenci a vzorkovat či generovat analogové signály.This thesis documents the development of a universal software and hardware platform providing high-level user applications running on a PC with access to GPIO pins, hardware buses, and signal acquisition and generation functions, using USB, USART, or a wireless connection. The requirements of common engineering tasks and problems occurring in the university environment were evaluated to design an extensible, reconfigurable hardware module that would make a versatile and low-cost tool that in some cases eliminates the need for professional measurement and testing equipment. We designed custom hardware modules, an extensible microcontroller firmware, and PC support libraries for programming languages C and Python. The Python library may further be used in MATLAB scripts. The devices provide access to hardware buses (I2C, SPI, USART, and 1-Wire) and microcontroller peripherals (GPIO, ADC, and DAC), implement frequency measurement and other useful features. They are configured in INI files accessed through on a virtual USB mass storage device, or programmatically

A robotic arm for safe and accurate control of biomedical equipment during COVID-19

Purpose Hospital facilities and social life, along with the global economy, have been severely challenged by COVID-19 since the World Health Organization (WHO) declared it a pandemic in March 2020. Since then, countless ordinary citizens, as well as healthcare workers, have contracted the virus by just coming into contact with infected surfaces. In order to minimise the risk of getting infected by contact with such surfaces, our study aims to design, prototype, and test a new device able to connect users, such as common citizens, doctors or paramedics, with either common-use interfaces (e.g., lift and snack machine keyboards, trafc light push-buttons) or medical-use interfaces (e.g., any medical equipment keypad) Method To this purpose, the device was designed with the help of Unifed Modelling Language (UML) schemes, and was informed by a risk analysis, that highlighted some of its essential requirements and specifcations. Consequently, the chosen constructive solution of the robotic system, i.e., a robotic-arm structure, was designed and manufactured using computeraided design and 3D printing. Result The fnal prototype included a properly programmed micro-controller, linked via Bluetooth to a multi-platform mobile phone app, which represents the user interface. The system was then successfully tested on diferent physical keypads and touch screens. Better performance of the system can be foreseen by introducing improvements in the industrial production phase. Conclusion This frst prototype paves the way for further research in this area, allowing for better management and preparedness of next pandemic emergencies. © 2023, The Author(s)

International Summerschool Computer Science 2014: Proceedings of Summerschool 7.7. - 13.7.2014

Proceedings of International Summerschool Computer Science 201

Poly Spotlight Control

When this project began, The Cambria Center for the Arts Theater used a manually-operated spotlight. The sound created by the fans, along with the sheer size of the spotlight, required that it be housed in an attic room above the theater and shined through a closed window. This trapped a lot of heat in the room and involved some risk with climbing into and out of the attic room. This project sought to remedy those issues by mounting a pair of newer LED spotlights inside the theater. Doing this required a method for remotely controlling and actuating the angular position of each spotlight in two axes. Over the course of one year, the Dynalux team researched, designed, and built a solution to CCAT’s problem. The process by which they completed those steps is written in detail within this report. The first third of the year was spent in research and development. The team compared commercial and industry options to determine the best practices and designs. Many of the available options were too complicated or expensive and this reiterated that a cheaper and easier system was needed. At this point, Team Dynalux came up with a preliminary design that met all the design constraints. The next third of the year was dedicated to detailed analysis and proving that the design would work as intended. This included looking at all aspects of the system from motor torque requirements to strength and material properties. At this stage, the design was presented to the sponsor and advisors to begin manufacturing. The remainder of the project consisted of manufacturing, assembling, and testing. Some aspects had to be changed on-the-fly but the majority of the design remained the same throughout. Upon concluding machining and welding, the metal parts were finished and assembled with off-the-shelf components. When the mounts were complete, the electronics were added and tested in the overall system. Testing and manufacturing were time intensive but kept safety and reliability as the highest priority. The contents of this report are intended to document the process by which the project was completed but also provide reference to the parts and techniques used to build the system. Also included are comprehensive drawings and instructions to make sure the system is running smoothly, and if needed, provide maintenance

A robotic arm for safe and accurate control of biomedical equipment during COVID-19

Purpose Hospital facilities and social life, along with the global economy, have been severely challenged by COVID-19 since the World Health Organization (WHO) declared it a pandemic in March 2020. Since then, countless ordinary citizens, as well as healthcare workers, have contracted the virus by just coming into contact with infected surfaces. In order to minimise the risk of getting infected by contact with such surfaces, our study aims to design, prototype, and test a new device able to connect users, such as common citizens, doctors or paramedics, with either common-use interfaces (e.g., lift and snack machine keyboards, traffic light push-buttons) or medical-use interfaces (e.g., any medical equipment keypad) Method To this purpose, the device was designed with the help of Unified Modelling Language (UML) schemes, and was informed by a risk analysis, that highlighted some of its essential requirements and specifications. Consequently, the chosen constructive solution of the robotic system, i.e., a robotic-arm structure, was designed and manufactured using computer-aided design and 3D printing. Result The final prototype included a properly programmed micro-controller, linked via Bluetooth to a multi-platform mobile phone app, which represents the user interface. The system was then successfully tested on different physical keypads and touch screens. Better performance of the system can be foreseen by introducing improvements in the industrial production phase. Conclusion This first prototype paves the way for further research in this area, allowing for better management and preparedness of next pandemic emergencies

Applications in Electronics Pervading Industry, Environment and Society

This book features the manuscripts accepted for the Special Issue “Applications in Electronics Pervading Industry, Environment and Society—Sensing Systems and Pervasive Intelligence” of the MDPI journal Sensors. Most of the papers come from a selection of the best papers of the 2019 edition of the “Applications in Electronics Pervading Industry, Environment and Society” (APPLEPIES) Conference, which was held in November 2019. All these papers have been significantly enhanced with novel experimental results. The papers give an overview of the trends in research and development activities concerning the pervasive application of electronics in industry, the environment, and society. The focus of these papers is on cyber physical systems (CPS), with research proposals for new sensor acquisition and ADC (analog to digital converter) methods, high-speed communication systems, cybersecurity, big data management, and data processing including emerging machine learning techniques. Physical implementation aspects are discussed as well as the trade-off found between functional performance and hardware/system costs

Development of an optimal magneto-rheological elastomer for application on a controllable bioinspired adhesive mechanism

Dissertação de mestrado integrado em Engenharia MecânicaMagneto-rheological elastomers (MREs) are considered to be a type of smart material, as their rheological and mechanical properties can be changed when an external magnetic field is applied, as well as their shape or dimensions, which is known as magnetostriction. This unique feature makes this kind of elastomer a suitable candidate for the application on a controllable bioinspired adhesive mechanism, such as those that attempt to mimic the attachment pads of insects or geckos. MREs are composed of a polymeric matrix with embedded magnetic particles, along with other additives. In this work, magneto-rheological elastomers were fabricated, using PDMS Sylgard 184 as a matrix and three types of magnetic particles were tested: iron oxide, recycled iron and carbonyl iron particles. Each type of particle was characterized morphologically having been found that the carbonyl iron particles have a more homogenous size distribution, while the iron oxide and recycled iron particles have more tendency to form agglomerates of distinct sizes. By performing a magnetic characterization, it was found that carbonyl iron particles have exhibited a higher saturation magnetization and magnetic remanence. The effect of particle concentration on the mechanical properties of the MREs was investigated, through the performance of tensile and compressive tests for MREs with different mass concentrations of particles (20%, 40%, 60%, 80%). The results have shown that the Young’s modulus increase as the concentration of particles rises. A preliminary model for the magnetic force was developed and experimental measurements of this force were performed for the same MRE samples. It was found that the magnetic force is dependent and increases with particle concentration, as well as the magnetic field. The property change capacity was also investigated with compressive tests performed on the MRE samples with an indenter under an external magnetic field and without a magnetic field. It was expected to obtain a higher Young’s modulus for the tests performed under a magnetic field, but the opposite happened. Although the Young’s modulus of the samples was different under and without magnetic field, it cannot be concluded that this was due to the magnetic field, as other external factors could have influenced the obtained results. An MRE-based adhesive prototype was also developed, incorporating the MRE mixture into a micropillar mold, with adhesion tests being performed.Os elastómeros magneto-reológicos (MREs) são um tipo de material inteligente, uma vez que as suas propriedades reológicas e mecânicas, assim como as suas dimensões e forma, alteram na presença de um campo magnético externo. Este aspeto único torna este tipo de elastómeros como candidatos adequados para a aplicação num mecanismo de adesão controlável, de inspiração biológica. Os MREs são constituídos por uma matriz polimérica, na qual estão embebidas partículas magnéticas, assim como outros aditivos. Nesta dissertação, recorreu-se ao fabrico de MREs cuja matriz consistia em PDMS Sylgard 184, tendo sido testadas três tipos de partículas magnéticas: ferro carbonílico, óxido de ferro e ferro reciclado. Cada tipo de partícula foi caracterizado morfologicamente, tendo sido observado que as partículas de ferro carbonílico apresentavam uma distribuição de tamanho mais homogénea, enquanto que as partículas de óxido de ferro e de ferro reciclado mostraram tendência para formar aglomerados de tamanhos distintos. Através de uma caracterização magnética, concluiu-se que as partículas de ferro carbonílico exibiam maior saturação e remanência magnética. O efeito da concentração das partículas nas propriedades mecânicas dos MREs foi investigado, através da realização de testes de tensão e compressão, para MREs produzidos com diferentes concentrações, em massa, de 20%, 40%, 60%, 80% de partículas. Os resultados mostraram que o módulo de Young aumenta com o aumento da concentração de partículas. Um modelo da força magnética foi desenvolvido e testes experimentais de medição dessa força foram realizados. Os resultados demonstraram a dependência da força magnética em relação à concentração de partículas, assim como ao fluxo magnético. A capacidade de alteração das propriedades mecânicas com a aplicação de um campo magnético foi testada para as amostras de MREs, através da realização de um teste compressivo com e sem campo magnético. Era esperado que o módulo de Young aumentasse com a aplicação do campo magnético, tendo acontecido o oposto. Apesar de o módulo de Young registado ter sido diferente para as situações com e sem campo magnético, não pode ser concluído que essa diferença foi provocada pelo campo magnético, uma vez que outros fatores externos podem ter afetado os resultados. Por último, foi fabricado um protótipo de um adesivo, através da implementação de um MRE

Autonomous Driving Segway Robots

In this thesis, an autonomous driving robot has been proposed and built based on a two-wheel Segway self-balancing scooter. Sensors including LiDAR, camera, encoder, and IMU were implemented together with digital servos as actuators. The robot was tested simultaneously with the functionality features including obstacle avoidance based on fuzzy logic and 2D grid map, data fusion based on co-calibration, 2D simultaneously localization and mapping (SLAM) and path planning under different scenarios both indoor and outdoor. As a result, the robot initially has the ability of self-exploration with avoiding obstacles and constructing 2D grid map simultaneously. A simulation of the robot with same functionalities except data fusion has also been tested and performed based on robot operating system (ROS) and Gazebo as the simple comparison of the robot in real world.MSEElectrical Engineering, College of Engineering & Computer ScienceUniversity of Michigan-Dearbornhttp://deepblue.lib.umich.edu/bitstream/2027.42/167349/1/Jiaming Liu - Final Thesis.pd