The field of robotics and mechatronics is advancing at an ever-increasing rate and we are starting to see robots making the transition from the factories to the workplace and homes as cost is reduced and they become more useful. In recent years quadrotors have become a popular unmanned air vehicle (UAV) platform. These UAVs or micro air vehicles (MAV) are being used for many new and exciting applications such as aerial monitoring of wildlife, disaster sites, riots and protests. They are also being used in the film industry, as they are significantly cheaper means of getting aerial footage. While quadrotors are not extremely expensive a good system can cost in the range of $3000 - $8000 and thus too costly as a research platform for many. There are a number of cheaper open source platforms. The ArduCopter is under constant development, has the largest community and is inexpensive making it an ideal platform to work with. The goal of this thesis was to implement video processing on a ground control station allowing for the ArduCopter to track moving objects. This was achieved by using the OpenCV video-processing library to implement object tracking and the MAVLink communication protocol, available on the …

Currently, ASHRAE has determined the zone method and modified zone method are appropriate calculation methods for materials with a high difference in conductivity, such as cold-formed steel (CFS) walls. Because there is currently no standard U-Factor calculation method for CFS walls, designers and code officials alike tend to resort to the zone method. However, the zone method is restricted to larger span assemblies because the zone factor coefficient is 2.0. This tends to overestimate the amount of surface area influenced by CFS. The modified zone method is restricted to C-shaped stud, clear wall assemblies with framing factors between 9 and 15%. The objective of the research is to narrow the gap of knowledge by re-examining the modified zone method in order to more accurately determine R-Values and U-Factors for CFS wall assemblies with whole wall framing factor percentages of 22% and above.

This research presents the results on an experimental investigation to identify the effect of polyphosphoric acid (PPA) on aging characteristics of an asphalt binder. Addition of PPA to asphalt binders is said to improve performance of flexible pavements. Asphalt binder PG 64-22 in modified and unmodified conditions was subjected to aging in the laboratory using a regular oven and also simulated short term aging using rolling thin film oven (RTFO) test. Aging experiments were conducted to analyze the extent of oxidation in terms of changes in molecular structure of the asphalt binder. These changes were appraised using Fourier transform infrared (FTIR) spectroscopy, dynamic shear rheometer (DSR), and epifluorescence microscopy tests. FTIR was used to determine the changes in major bands with addition of PPA. Stiffness and viscoelastic behaviors of asphalts were determined from the DSR test. The stiffness is measured by calculating the shear modulus, G* and the viscoelastic behavior is measured by calculating the phase angle, sin δ. Epifluorescence microscopy is a tool used to study properties of organic or inorganic substances. The morphological characteristics of PPA modified asphalt samples were observed through epifluorescence microscopy. Epifluorescence microscopy reveals the polymer phase distribution in the asphalt binders. Results of this …

Due to the accelerated growth in digital music distribution, it becomes easy to modify, intercept, and distribute material illegally. To overcome the urgent need for copyright protection against piracy, several audio watermarking schemes have been proposed and implemented. These digital audio watermarking schemes have the purpose of embedding inaudible information within the host file to cover copyright and authentication issues. This thesis proposes an audio watermarking model using MATLAB® and Simulink® software for 1K and 2K fast Fourier transform (FFT) lengths. The watermark insertion process is performed in the frequency domain to guarantee the imperceptibility of the watermark to the human auditory system. Additionally, the proposed audio watermarking model was implemented in a Cyclone® II FPGA device from Altera® using the Altera® DSP Builder tool and MATLAB/Simulink® software. To evaluate the performance of the proposed audio watermarking scheme, effectiveness and fidelity performance tests were conducted for the proposed software and hardware-in-the-loop based audio watermarking model.

In cold-formed steel (CFS) construction, bolted connections without washers for either oversized or slotted holes may significantly expedite the installation process and lower the cost. However, the North American Specification (AISI S100, 2007) for the Design of Cold-Formed Steel Structural Members requires washers to be installed in bolted connections with oversized or slotted holes. A research project (Phase 1) sponsored by American Iron and Steel Institute (AISI) was recently completed at the University of North Texas (UNT) that investigated the performance and strength of bolted CFS connections with oversized and slotted holes without using washers. The research presented in this thesis is the Phase 2 project in which the bolted CFS connections were studied in a broader respect in terms of the failure mechanism, the material thickness, and the hole configurations. Single shear and double shear connections without washers using oversized holes, oversized combined with standard or slotted holes were experimentally examined. Combined with Phase 1 results, the Phase 2 gives a comprehensive evaluation of the behavior and strength of bolted CFS connections with oversized and slotted holes without using washers. Revisions to the existing AISI North American Specification requirements for bolted connections are proposed to account for the reduction …

In this research, monotonic and cyclic tests on cold-formed steel shear walls sheathed with steel sheets on one side were conducted to (1) verify the published nominal shear strength for 18-mil and 27-mil steel sheets; and (2) investigate the behavior of 6-ft. wide shear walls with multiple steel sheets. In objective 1: this research confirms the discrepancy existed in the published nominal strength of 27-mil sheets discovered by the previous project and verified the published nominal strength of 18 mil sheet for the wind design in AISI S213. The project also finds disagreement on the nominal strength of 18-mil sheets for seismic design, which is 29.0% higher than the published values. The research investigated 6-ft. wide shear wall with four framing and sheathing configurations. Configuration C, which used detailing, could provide the highest shear strength, compared to Configurations A and B. Meanwhile, the shear strength and stiffness of 2-ft. wide and 4-ft. wide wall can be improved by using the seismic detailing.

This research presents the results on an experimental investigation to identify the effects of rebar temperature, fly ash and water to cement ratio on concrete porosity in continuously reinforced concrete pavements (CRCP). Samples were cast and analyzed using pullout tests. Water to cement ratio (w/c) and rebar temperature had a significant influence on the rebar-concrete bond strength. The 28-day shear strength measurements showed an increase in rebar-concrete bond strength as the water to cement ratio (w/c) was reduced from 0.50 to 0.40 for both fly ash containing and non fly ash control samples. There was a reduction in the peak pullout load as the rebar surface temperature increased from 77o F to 150o F for the cast samples. A heated rebar experiment was performed simulating a rebar exposed to hot summer days and the rebar cooling curves were plotted for the rebar temperatures of 180o F - 120o F. Fourier transform infrared spectroscopy was performed to show the moisture content of cement samples at the rebar-concrete interface. Mercury intrusion porosimetry test results on one batch of samples were used for pore size distribution analysis. An in-depth analysis of the morphological characteristics of the rebar-concrete interface and the observation of pores …

This thesis covers the design of an automated multiunit composting system (AMUCS) that was constructed to meet the experimental apparatus requirements of the ASTM D5338 standard. The design of the AMUCS is discussed in full detail and validated with two experiments. The first experiment was used to validate the operation of the AMUCS with a 15 day experiment. During this experiment visual observations were made to visually observe degradation. Thermal properties and stability tests were performed to quantify the effects of degradation on the polymer samples, and the carbon metabolized from the degradation of samples was measured. The second experiment used the AMUCS to determine the effect of synthetic clay nanofiller on the aerobic biodegradability behavior of poly (3-hydroxybutyrate-co-3-hydroxyvalerate).

Smart structures are relevant and significant because of their relevance to phenomena such as hazard mitigation, structural health monitoring and energy saving. Electrical resistance could potentially serve as an indicator of structural well-being or damage in the structure. To this end, the development of a microprocessor-based automated resistance measurement system with customized GUI is desired. In this research, a nodal electrical resistance acquisition circuit (NERAC) system was designed. The system hardware interfaces to a laptop, which houses a customized GUI developed using DAQFactory software. Resistance/impedance was measured using DC/AC methods with four-point probes technique, on three substrates. Baseline reading before damage was noted and compared with the resistance measured after damage. The device was calibrated and validated on three different substrates. Resistance measurements were taken from PVDF samples, composite panels and smart concrete. Results conformed to previous work done on these substrates, validating the effective working of the NERAC device.

The objective of this thesis was to develop an 8051 microcontroller soft core in the Verilog hardware description language (HDL). Each functional unit of the 8051 microcontroller was developed as a separate module, and tested for functionality using the open-source VHDL Dalton model as benchmark. These modules were then integrated to operate as concurrent processes in the 8051 soft core. The Verilog 8051 soft core was then synthesized in Quartus® II simulation and synthesis environment (Altera Corp., San Jose, CA, www.altera.com) and yielded the expected behavioral response to test programs written in 8051 assembler residing in the v8051 ROM. The design can operate at speeds up to 41 MHz and used only 16% of the FPGA fabric, thus allowing complex systems to be designed on a single chip. Further research and development can be performed on v8051 to enhance performance and functionality.

The use of the cold-formed steel sheet bolted connections without washers is so significant; however, the North American Specifications for the Design of Cold Formed Steel Structural Members, NASPEC, doesn't provide provisions for such connections. The bearing failure of sheet and the shear failure of sheet were considered in this study. For the sheet shear strength, it was found that the NASPEC (2007) design provisions can be used for oversized holes in both single and double shear configurations and for the double shear connections on short slotted holes. For the sheet bearing strength, a new design method was proposed to be used for low and high ductile steel sheets. The method was compared with the NASPEC and the University of Waterloo approach. Washers were still required for single shear connections on short slotted holes. Besides, connections using ASTM A325 bolts yielded higher bearing strength than connections using ASTM A307 bolts.

This research lays the foundation of a highly simplified maskless micro-fabrication technique which involves incorporation of laser direct writing technique combined with fountain pen based micro-patterning method to fabricate polymer-based Mach-Zehnder interferometer sensor arrays' prototype for chemical/biological sensing applications. The research provides methodology that focuses on maskless technology, allowing the definition and modification of geometric patterns through the programming of computer software, in contrast to the conventional mask-based photolithographic approach, in which a photomask must be produced before the device is fabricated. The finished waveguide sensors are evaluated on the basis of their performance as general interferometers. The waveguide developed using the fountain pen-based micro-patterning system is compared with the waveguide developed using the current technique of spin coating method for patterning of upper cladding of the waveguide. The resulting output power profile of the waveguides is generated to confirm their functionality as general interferometers. The results obtained are used to confirm the functionality of the simplified micro-fabrication technique for fabricating integrated optical polymer-based sensors and sensor arrays for chemical/biological sensing applications.

A common goal for industrial manufacturers is to create a safer working environment and reduce production costs. One common method to achieve this goal is to drastically reduce cutting fluid use in machining. Recent advances in machining technologies have made it possible to perform machining with minimum-quantity lubrication (MQL). Drilling takes a key position in the realization of MQL machining. In this study the effects of using MQL in drilling AISI 1018 steel with HSS tools using a vegetable based lubricant were investigated. A full factorial experiment was conducted and regression models were generated for both surface finish and hole size. Lower surface roughness and higher tool life were observed in the lowest speed and feed rate combination.

Analog technology has been around for a long time. The use of analog technology is necessary since we live in an analog world. However, the transmission and storage of analog technology is more complicated and in many cases less efficient than digital technology. Digital technology, on the other hand, provides fast means to be transmitted and stored. Digital technology continues to grow and it is more widely used than ever before. However, with the advent of new technology that can reproduce digital documents or images with unprecedented accuracy, it poses a risk to the intellectual rights of many artists and also on personal security. One way to protect intellectual rights of digital works is by embedding watermarks in them. The watermarks can be visible or invisible depending on the application and the final objective of the intellectual work. This thesis deals with watermarking images in the discrete wavelet transform domain. The watermarking process was done using the JPEG2000 compression standard as a platform. The hardware implementation was achieved using the ALTERA DSP Builder and SIMULINK software to program the DE2 ALTERA FPGA board. The JPEG2000 color transform and the wavelet transformation blocks were implemented using the hardware-in-the-loop (HIL) configuration.

The research was focused on the three major structural elements of a typical cold-formed steel building - shear wall, floor joist, and column. Part 1 of the thesis explored wider options in the steel sheet sheathing for shear walls. An experimental research was conducted on 0.030 in and 0.033 in. (2:1 and 4:1 aspect ratios) and 0.027 in. (2:1 aspect ratio) steel sheet shear walls and the results provided nominal shear strengths for the American Iron and Steel Institute Lateral Design Standard. Part 2 of this thesis optimized the web hole profile for a new generation C-joist, and the web crippling strength was analyzed by finite element analysis. The results indicated an average 43% increase of web crippling strength for the new C-joist compared to the normal C-joist without web hole. To improve the structural efficiency of a cold-formed steel column, a new generation sigma (NGS) shaped column section was developed in Part 3 of this thesis. The geometry of NGS was optimized by the elastic and inelastic analysis using finite strip and finite element analysis. The results showed an average increment in axial compression strength for a single NGS section over a C-section was 117% for a 2 ft. …

This research presents the results on an experimental investigation to identify the significant factors influencing horizontal cracking in continuously reinforced concrete pavements (CRCP). An in-depth analysis of the microstructure, morphological characteristics of the interfacial transition zone (ITZ) and the observation of cracking using the environmental scanning electron microscope (ESEM) was done. Characterization of oxides using Fourier transform infrared spectroscopy (FTIR) and electron dispersive x-ray spectroscopy (EDS) was also performed. Water to cement ratio (w/c) and rebar temperature had a significant influence on the rebar-concrete bond strength. The 28-day shear strength measurements showed an increase in rebar-concrete bond strength as the water to cement ratio (w/c) was reduced from 0.50 to 0.40. There was a reduction in the peak pullout load as the temperature increased from 14oF to 252oF for the corroded and non-corroded rebar experiments. The corroded rebar pullout test results showed a 20-50 % reduction in bond strength compared to the non-corroded rebars. FTIR measurements indicated a presence of lepidocrocrite (γ -FeOOH) and maghemite (γ -Fe2O3) on the ITZ. ESEM images showed the existence of microcracks as early as three days after casting with the bridging of these cracks between coarse aggregate locations in the interfacial zone propagating through …

Flow accelerated corrosion (FAC) is a major concern in the power industry as it causes thinning of the pipes by the dissolution of the passive oxide layer formed on the pipe surface. Present research deals with comparing the protection offered by the magnetite (Fe3O4) versus maghemite (γ-Fe2O3) phases thickness loss measurements. Fourier transform infrared spectroscopy (FTIR) is used in distinguishing these two elusive phases of iron oxides. Representative pipes are collected from high pressure steam extraction line of the secondary cycle of unit 2 of Comanche Peak Steam Electric Station (CPSES). Environmental scanning electron microscopy (ESEM) is used for morphological analysis. FTIR and X-ray diffraction (XRD) are used for phase analysis. Morphological analysis showed the presence of porous oxide surfaces with octahedral crystals, scallops and "chimney" like vents. FTIR revealed the predominance of maghemite at the most of the pipe sections. Results of thickness measurements indicate severe thickness loss at the bend areas (extrados) of the pipes.

A dual, double-acting propulsion system is analyzed to determine how efficiently it can convert the potential energy available from liquid nitrogen into useful work. The two double-acting pistons (high- and low-pressure) were analyzed by using a Matlab-Simulink computer simulation to determine their respective mechanical efficiencies. The flow circuit for the entire system was analyzed by using flow circuit analysis software to determine pressure losses throughout the system at the required mass flow rates. The results of the piston simulation indicate that the two pistons analyzed are very efficient at transferring energy into useful work. The flow circuit analysis shows that the system can adequately maintain the mass flow rate requirements of the pistons but also identifies components that have a significant impact on the performance of the system. The results of the analysis indicate that the nitrogen propulsion system meets the intended goals of its designers.

The objective of this research is to investigate the use of laser direct writing to micro-pattern low loss passive optical channel waveguide devices using a new hybrid organic/inorganic polymer. Review of literature shows previous methods of optical waveguide device patterning as well as application of other non-polymer materials. System setup and design of the waveguide components are discussed. Results show that laser direct writing of the hybrid polymer produce single mode interconnects with a loss of less 1dB/cm.

Pulse oximeters are used in operating rooms and recovery rooms as a monitoring device for oxygen in the respiratory system of the patient. The advantage of pulse oximeters over other methods of oxygen monitoring is that they are easy to use and they are non-invasive, which means it is not necessary break the skin to extract blood for information to be obtained. The standard for the measurement of partial pressure of CO2 and O2 is an arterial blood gas analysis (ABG). However routine monitoring using this method on a continuous basis is impractical since it is slow, painful and invasive. Measuring carbon dioxide is critical to preventing ailments such as carbon dioxide poisoning or hypoxia. The problem is, currently there is no known effective non-invasive method for accurately measuring carbon dioxide in the body to properly assess the adequacy of ventilation. The objective of this study was to experimentally use spectroscopy in the visible spectrum and the principles of operation of a pulse oximeter to incorporate a method of non-invasive real-time carbon dioxide monitoring that is as quick and easy to use.

Cubic boron nitride (cBN) thin films offer attractive mechanical and electrical properties. The synthesis of cBN films have been deposited using both physical and chemical vapor deposition methods, which generate internal residual, stresses that result in delamination of the film from substrates. Boron nitride films were deposited using electron beam evaporation without bias voltage and nitrogen bombardment (to reduce stresses) were characterize using FTIR, XRD, SEM, EDS, TEM, and AFM techniques. In addition, a pin-on-disk tribological test was used to measure coefficient of friction. Results indicated that samples deposited at 400°C contained higher cubic phase of BN compared to those films deposited at room temperature. A BN film containing cubic phase deposited at 400°C for 2 hours showed 0.1 friction coefficient.

In the immediate future, multimedia product distribution through the Internet will become main stream. However, it can also have the side effect of unauthorized duplication and distribution of multimedia products. That effect could be a critical challenge to the legal ownership of copyright and intellectual property. Many schemes have been proposed to address these issues; one is digital watermarking which is appropriate for image and video copyright protection. Videos distributed via the Internet must be processed by compression for low bit rate, due to bandwidth limitations. The most widely adapted video compression standard is MPEG-4. Discrete cosine transform (DCT) domain watermarking is a secure algorithm which could survive video compression procedures and, most importantly, attacks attempting to remove the watermark, with a visibly degraded video quality result after the watermark attacks. For a commercial broadcasting video system, real-time response is always required. For this reason, an FPGA hardware implementation is studied in this work. This thesis deals with video compression, watermarking algorithms and their hardware implementation with FPGAs. A prototyping VLSI architecture will implement video compression and watermarking algorithms with the FPGA. The prototype is evaluated with video and watermarking quality metrics. Finally, it is seen that the video qualities …

A cryogenic thermoelectric generator is proposed to increase the efficiency of a vehicle propulsion system that uses liquid nitrogen as its fuel. The proposed design captures some of the heat required for vaporizing or initial heating of the liquid nitrogen to produce electricity. The thermoelectric generator uses pressurized liquid nitrogen as its cold reservoir and ambient air as the high-temperature reservoir to generate power. This study concentrated on the selection of thermoelectric materials whose properties would result in the highest efficiency over the operating temperature range and on estimating the initial size of the generator. The preliminary selection of materials is based upon their figure of merit at the operating temperatures. The results of this preliminary design investigation of the cryogenic thermoelectric generator indicate that sufficient additional energy can be used to increase overall efficiency of the thermodynamic cycle of a vehicle propulsion system.

A rectifier is an electrical device, comprising one or more semiconductor devices arranged for converting alternating current to direct current by blocking the negative or positive portion of the waveform. The purpose of this study would be to evaluate dynamic and static electrical characteristics of rectifier chips fabricated with (a) DY8 process and (b) YI8 process and compare them with the existing DI8 process rectifiers. These new rectifiers were tested to compare their performance to meet or exceed requirements of lower forward voltages, leakage currents, reverse recovery time, and greater sustainability at higher temperatures compared to diodes manufactured using boron as base (DI8 process diodes) for similar input variables.