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Design and development of a universal gripper mechanism and development of an omni-directional unmanned aerial vehicle for autonomous perching
(2020-04-01)
A novel omni-directional multi-rotor prototype with an attached gripper mechanism named the OmniRaptor is presented with the capability of landing on inclined members in a controlled, stable manner to perform construction ...
Analysis, development, and control of multi-degree-of-freedom passive haptic devices
(2020-08-01)
Stability and transparency are key design requirements in haptic devices. Replacing conventional electric motors with passive actuators such as brakes or dampers can improve both stability and transparency as passive ...
Investigation of three integrated energy systems with desalination, heat storage, thermochemical cycles and heat upgrade
(2020-09-01)
This thesis study proposes three different novel renewable energy-based multigeneration integrated systems with molten salt heat storage and desalination options where copper-chlorine (Cu-Cl) and magnesium-chlorine (Mg-Cl) ...
Proposing effective coordinate search methods for solving large-scale expensive black-box optimization problems
(2020-08-01)
In engineering and science, optimization plays a vital role in many real-world applications. In this work, several novel optimization algorithms based on Coordinate Search (CS) algorithm are proposed. CS is a gradient-free ...
Design and evaluation of solar and geothermal energy systems integrated with Cu-Cl cycle
(2020-09-01)
This thesis study proposes solar and geothermal based three multigeneration systems. System 1 consists of a bifacial photovoltaic (BiPV) plant, multi-effect distillation (MED) desalination unit and, proton exchange membrane ...
Robotic and haptic assistance for kidney access during percutaneous nephrolithotomy
(2021-08-01)
Percutaneous nephrolithotomy (PCNL) is a minimally invasive procedure for removing kidney stones. Gaining kidney access is the most challenging task in this procedure and the cause of many complications. This thesis presents ...
Performance of wide band gap switching devices in DC/DC converters of electric vehicles
(2016-10-01)
Low losses fast switching wide band gap (WBG) semiconductors, such as Gallium Nitride (GaN) and Silicon Carbide (SiC), are becoming viable candidates for DC/DC converters switches in the powertrain of electric vehicle (EV). ...
Prediction of the off-road rigid-ring model parameters for truck tire and soft soil interactions
(2017-07-01)
Significant time and cost savings can be realized through the use of virtual simulation of testing procedures across diverse areas of research and development. Fully detailed virtual truck models using the simplified ...
Partial separation of an azeotropic mixture of hydrogen chloride and water and copper (ii) chloride recovery for optimization of the copper-chlorine cycle
(2017-09-01)
An atmospheric-pressure distillation system is designed and constructed to partially separate hydrochloric acid and water. The system concentrates HCl(aq) between the electrolyzer and hydrolysis steps of the Copper-Chlorine ...
Development and experimental investigation of new self-can cooling systems
(2014-04-01)
In this thesis, two conceptual self-cooling beverage can designs are proposed. The methods of cooling are validated experimentally and certain parameters of interested are obtained for an analytical and numerical study of ...