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Georgia Tech
1.
Leonard, Andrew.
Vehicle tracking using ultra-wideband radar.
Degree: MS, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/56265 
► In this thesis a vehicle tracking problem using an ultra-wideband radar sensor is considered. Prior research is heavily focused on specific applications, such as highway…
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▼ In this thesis a vehicle tracking problem using an ultra-wideband radar sensor is considered. Prior research is heavily focused on specific applications, such as highway driving, where tracked-vehicle motion is confined and limited. The target application of this thesis is one of low speed but high variability in tracked-vehicle’s entry and exit points. After analysis of common nonlinear estimation techniques, and with the target application in mind, the tracker is developed within a Particle Filter framework. Given the cluttered nature of the radar-sensor data, pruning and gating methods are formulated for use in the measurement update procedure. Considering the quality and separation of vehicle data points within the radar-sensor data, a simple data association step is developed that facilitates the tracking of multiple vehicles simultaneously and independently. The system is extended to a moving platform via developed mappings from the radar frame-of-reference to an inertial frame, and vice versa. An Extended Kalman Filter is developed to estimate the platform’s state from limited, noisy sensor measurements. The results show that the developed system is successful in detecting and tracking single and multiple vehicles when using real-world data from the radar sensor. The Extended Kalman Filter is also shown to provide a suitable state estimate when using real-world data. Testing of the two systems jointly is advised for future research.
Advisors/Committee Members: Rogers, Jonathan (advisor), Costello, Mark (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Vehicle tracking; Ultra-wideband; Radar; Particle filter
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APA (6th Edition):
Leonard, A. (2016). Vehicle tracking using ultra-wideband radar. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56265
Chicago Manual of Style (16th Edition):
Leonard, Andrew. “Vehicle tracking using ultra-wideband radar.” 2016. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/56265.
MLA Handbook (7th Edition):
Leonard, Andrew. “Vehicle tracking using ultra-wideband radar.” 2016. Web. 19 Mar 2019.
Vancouver:
Leonard A. Vehicle tracking using ultra-wideband radar. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/56265.
Council of Science Editors:
Leonard A. Vehicle tracking using ultra-wideband radar. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56265
Georgia Tech
2.
Oei, Marius Florian Bruno.
Assignment and pursuit in temporally heterogeneous robotic teams.
Degree: MS, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/55677
► Traditionally, robotic systems are built to move as fast as possible. In contrast to this, we investigate slowness and its effects on heterogeneous robotic teams…
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▼ Traditionally, robotic systems are built to move as fast as possible. In contrast to this, we investigate slowness and its effects on heterogeneous robotic teams inspired by biological systems. An assignment problem for static targets and a team pursuit problem for heterogeneous evaders are addressed.
The value of slowness in solving these problems optimally is examined. We further assemble the optimal teams for given problems by finding a compromise between performance and energy consumption or monetary cost. The results are validated in simulation and implemented on a robotic testbed.
Advisors/Committee Members: Egerstedt, Magnus B. (advisor), Ames, Aaron (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Robotics; Slowness; Temporal heterogeneity; Assignment; Pursuit; Robotarium
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APA (6th Edition):
Oei, M. F. B. (2016). Assignment and pursuit in temporally heterogeneous robotic teams. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/55677
Chicago Manual of Style (16th Edition):
Oei, Marius Florian Bruno. “Assignment and pursuit in temporally heterogeneous robotic teams.” 2016. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/55677.
MLA Handbook (7th Edition):
Oei, Marius Florian Bruno. “Assignment and pursuit in temporally heterogeneous robotic teams.” 2016. Web. 19 Mar 2019.
Vancouver:
Oei MFB. Assignment and pursuit in temporally heterogeneous robotic teams. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/55677.
Council of Science Editors:
Oei MFB. Assignment and pursuit in temporally heterogeneous robotic teams. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/55677
Georgia Tech
3.
Sam Baaij, Ferdinand Johannes.
Advances in sheet molding compounds for automotive applications.
Degree: MS, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/59188
► This master thesis addresses new approaches in the manufacturing of lightweight composites for the automotive industry. Governmental regulatory and customer requirements force car manufacturers to…
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▼ This master thesis addresses new approaches in the manufacturing of lightweight composites for the automotive industry. Governmental regulatory and customer requirements force car manufacturers to reduce the weight of new car models on an ongoing basis. Therefore, the goal of this thesis was to find new techniques to create lightweight sheet molding compound (SMC) composites for automotive applications. Two general approaches were chosen: 1) Investigating basalt fibers as an alternative reinforcement to the commonly used glass fibers and 2) light-weighting of SMC composites by replacing a portion of the heavy reinforcing fibers with a small amount of cellulose nano-crystals (CNC). An SMC production line similar to the ones used in industry was used to make the various SMC sheets. The composites were then made by compression molding of the SMC and were characterized using various characterization techniques, e.g. single fiber fragmentation test, differential scanning calorimetry, thermo-/mechanical testing and microscopy. In the first part of the study, it was found that SMC composites made with basalt fibers show overall similar properties to those made with glass fiber reinforced composites. The advantage of basalt fibers is that they are an ecofriendly and lower cost alternative to glass fibers. The second part of the study showed that adding small amounts of CNC can enhance the mechanical properties of glass fiber reinforced SMC composites significantly, allowing to reduce the fiber content leading thus to a weight reduction of 11%.
Advisors/Committee Members: Kalatizidou, Kyriaki (advisor), Moon, Robert (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Sheet molding compound; Manufacturing; Lightweight; Composite; Basalt fiber; Cellulose nano-crystals; CNC
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APA (6th Edition):
Sam Baaij, F. J. (2017). Advances in sheet molding compounds for automotive applications. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/59188
Chicago Manual of Style (16th Edition):
Sam Baaij, Ferdinand Johannes. “Advances in sheet molding compounds for automotive applications.” 2017. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/59188.
MLA Handbook (7th Edition):
Sam Baaij, Ferdinand Johannes. “Advances in sheet molding compounds for automotive applications.” 2017. Web. 19 Mar 2019.
Vancouver:
Sam Baaij FJ. Advances in sheet molding compounds for automotive applications. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/59188.
Council of Science Editors:
Sam Baaij FJ. Advances in sheet molding compounds for automotive applications. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/59188
Georgia Tech
4.
Schlagenhauf, Franziska Sabine.
A kinematic human upper body model for evaluating clothing.
Degree: MS, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/60170
► In this thesis a kinematic human upper body model for evaluating clothing fit and appearance is developed and validated. Realistic and accurate human body models…
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▼ In this thesis a kinematic human upper body model for evaluating clothing fit and appearance is developed and validated. Realistic and accurate human body models are required in many different application areas, including medicine, computer graphics, biomechanics, and sport science. A particular application of interest for a human body model is a virtual reality clothing model to evaluate fit and appearance of garments. A robotics-based model for the human upper body skeleton is derived. To validate the model, upper body motion data is collected with a markerless motion capture system using Microsoft Kinect. A baseline evaluation of markerless motion capture with a single Kinect sensor presents results from tracking a robot arm trajectory, frequency tests, and human motion capture experiments. Because occlusion causes a single Kinect sensor to fail in accurately predicting the human pose, a second Kinect sensor is integrated into the system. Data from the two sensors is fused and filtered using an Extended Kalman filter. The results are compared to marker-based tracking with a Vicon Motion Capture system. The Extended Kalman filter is shown to ensure constant body segment lengths, thus producing a more realistic estimation of the joint positions than obtained from the raw Kinect data. The proposed setup offers a low-cost, markerless, and portable alternative to marker based motion tracking.
Advisors/Committee Members: Singhose, William (advisor), Lee, Kok-Meng (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Human motion capture; Tracking; Extended Kalman filter; Kinect; Upper body model
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APA (6th Edition):
Schlagenhauf, F. S. (2017). A kinematic human upper body model for evaluating clothing. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60170
Chicago Manual of Style (16th Edition):
Schlagenhauf, Franziska Sabine. “A kinematic human upper body model for evaluating clothing.” 2017. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/60170.
MLA Handbook (7th Edition):
Schlagenhauf, Franziska Sabine. “A kinematic human upper body model for evaluating clothing.” 2017. Web. 19 Mar 2019.
Vancouver:
Schlagenhauf FS. A kinematic human upper body model for evaluating clothing. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/60170.
Council of Science Editors:
Schlagenhauf FS. A kinematic human upper body model for evaluating clothing. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/60170
Georgia Tech
5.
Ameur, Amir.
Voxel-based tool sequence optimization for 5-axis machining using high performance computing.
Degree: MS, Mechanical Engineering, 2017, Georgia Tech
URL: http://hdl.handle.net/1853/60655
► This thesis presents an approach for tool sequence optimization in the case of 5-axis machining. Most of the reported work suggests tooling optimization methods involving…
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▼ This thesis presents an approach for tool sequence optimization in the case of 5-axis machining. Most of the reported work suggests tooling optimization methods involving parametric surfaces and CPU-enabled algorithms. In the current work, a novel voxel-based approach is presented. The main advantage of this 3D-representation is the ability to parallelize different operations executed on single voxels and run them on parallel platforms such as GPU cores. This work is realized through Sculptrprint, a voxelized GPGPU-enabled CAM software, and introduces 3 different algorithms to optimize the tool sequence selection. Each of the formulated strategies is based on the optimization of one or two machining objectives and has a GPU-only implementation.
Advisors/Committee Members: Kurfess, Thomas (advisor), Saldana, Christopher (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Voxels; GPU; 5-axis machining; Tool selection
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APA (6th Edition):
Ameur, A. (2017). Voxel-based tool sequence optimization for 5-axis machining using high performance computing. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/60655
Chicago Manual of Style (16th Edition):
Ameur, Amir. “Voxel-based tool sequence optimization for 5-axis machining using high performance computing.” 2017. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/60655.
MLA Handbook (7th Edition):
Ameur, Amir. “Voxel-based tool sequence optimization for 5-axis machining using high performance computing.” 2017. Web. 19 Mar 2019.
Vancouver:
Ameur A. Voxel-based tool sequence optimization for 5-axis machining using high performance computing. [Internet] [Masters thesis]. Georgia Tech; 2017. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/60655.
Council of Science Editors:
Ameur A. Voxel-based tool sequence optimization for 5-axis machining using high performance computing. [Masters Thesis]. Georgia Tech; 2017. Available from: http://hdl.handle.net/1853/60655
Georgia Tech
6.
Gaddes, Daniel William.
The effects of pulsed charging on lithium ion cells.
Degree: MS, Mechanical Engineering, 2016, Georgia Tech
URL: http://hdl.handle.net/1853/56262
► As part of this thesis, the effects of pulsed charging on lithium-ion batteries were investigated. Pulsed charging is an alternative method of charging batteries in…
(more)
▼ As part of this thesis, the effects of pulsed charging on lithium-ion batteries were investigated. Pulsed charging is an alternative method of charging batteries in which the charge current is interrupted by periods of no current and discharge. It has been suggested in past research that this method can both charge the cell faster and improve the lifetime of the cell through improving the internal kinetics. Based on past literature, influential parameters of the pulse protocol were identified. In this thesis these values were tested through both single charge and lifetime measurements to analyze the impact on charge rate and lifetime. Additionally, a mathematical model was developed to analyze the cell under pulsing for internal conditions which cannot be easily measured experimentally. As part of the single charge testing, the pulse parameters that were determined to be most influential, the frequency of the pulses, the magnitude of the charging current, the root mean squared current value, the discharge capacity, and the ratio of discharge capacity to charge capacity, were analyzed. After this, two pulsing plans were selected to be tested to evaluate the impact on aging mechanisms and the lifetime of the cells. These plans were also analyzed within an electrochemical model, based on the Doyle, Fuller, Newman model to analyze any potential differences on the internal kinetics. The results of these tests were compared to cells charged under the constant current constant voltage condition, using an equivalent mean current for all tests and one hour to charge the cell. The results indicated that pulses with constant currents and pulse duration do not produce positive effects, as all parameters are dominated by the higher current magnitude required by the pulse method to maintain an equivalent mean current. Preliminary analysis of a different pulsing plan, in which the current begins high but decreases as the cell charges does result in a greater capacity before reaching the upper voltage limit, as well as a greater capacity within one hour, and is a potential area for further research.
Advisors/Committee Members: Joshi, Yogendra (advisor), Kohl, Paul (committee member), Lee, Seung (committee member), Sawodny, Oliver (committee member), Tarin, Cristina (committee member).
Subjects/Keywords: Lithium-ion; Pulsed charging; Electrochemical; Model
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APA ·
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APA (6th Edition):
Gaddes, D. W. (2016). The effects of pulsed charging on lithium ion cells. (Masters Thesis). Georgia Tech. Retrieved from http://hdl.handle.net/1853/56262
Chicago Manual of Style (16th Edition):
Gaddes, Daniel William. “The effects of pulsed charging on lithium ion cells.” 2016. Masters Thesis, Georgia Tech. Accessed March 19, 2019.
http://hdl.handle.net/1853/56262.
MLA Handbook (7th Edition):
Gaddes, Daniel William. “The effects of pulsed charging on lithium ion cells.” 2016. Web. 19 Mar 2019.
Vancouver:
Gaddes DW. The effects of pulsed charging on lithium ion cells. [Internet] [Masters thesis]. Georgia Tech; 2016. [cited 2019 Mar 19].
Available from: http://hdl.handle.net/1853/56262.
Council of Science Editors:
Gaddes DW. The effects of pulsed charging on lithium ion cells. [Masters Thesis]. Georgia Tech; 2016. Available from: http://hdl.handle.net/1853/56262
. 
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