Material Information

Engineering: Spider Robot and Power Conversion
SUNY Oswego
Boateng, Kwabena ( Speaker )
Zhang, Waley ( Speaker )
Jordan, Ryan ( Speaker )
Vankampen, Theodore ( Speaker )
Sauter, Stephen ( Speaker )
Kim, Sungeun ( Speaker )
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Quest 2021


Hexapod Spider by Kwabena Boateng, Waley Zhang. Natural disasters are becoming more prevalent attributed to climate change in this rapidly developing technical era. With the dramatic increase in natural disasters brought on by human innovation, there will be a correlated increase in human society's casualty. With the rapid development of technology, we believe that the construction of an autonomous or a software-controlled robotic spider where its functionalities can include avoiding obstacles and navigating in rough terrain can solve this issue. Hexapod spider robots can also benefit from having a low impact on the terrain and can have great movement in their natural surroundings. A mechanical spider can navigate and verve places where humans do not have the ability to, essentially acting as a rescue robot. For example, suppose there is an earthquake and a tiny space where a human cannot fit. In that case, the robot will have the ability to accomplish that task—any natural disaster such as a hurricane, exploring war zones, and even volcanic eruption. Most of the Hexapod legged robots have been used to explore hostile and remote environments such as seabed, nuclear power stations, and even different planets. With today’s technological advancement and strides, implementing a robot to perform some tasks such as search and rescue scenarios that are incapable for a human to accomplish, is essential for safety reasons. A hexapod will be useful in such scenarios because the structure and geometry of a six-legged robotic spider is comparably more stable in navigating through rough terrains than a wheeled robot. Our team's primary goal is to implement a six-legged spider robot that can move in a fluid movement that is balanced and able to navigate effectively. ( ,,,,,,, )
Microprocessor-based Control of SVPWM Inverters by Ryan Jordan, Theodore Vankampen, Stephen Sauter. As renewable energy sources become more widely used in power generation today, the need for efficiently converting power from Direct Current (DC) to Alternating Current (AC) is ever-expanding. Inverters composed of power semiconductor devices are used to realize the conversion from DC to AC, which relies upon the switching of these devices. The traditional inverter control technique is a comparison-based technique called Sinusoidal Pulse Width Modulation (SPWM). With greater ease of accessibility to the wide variety of microcontrollers available today, more complex techniques of inversion can be implemented. Space Vector Pulse Width Modulation (SVPWM) is one of such techniques which can achieve a wider conversion range and higher efficiency. In this work, three-phase inverters and their SVPWM control are studied using MATLAB Simulink. The presentation will demonstrate how to simulate inverters with different control techniques using MATLAB Simscape components and our findings on the performance of SVPWM inverters in terms of efficiency, total harmonic distortion (THD), etc. as a comparison to other inversion techniques. Further, the physical implementation of the SVPWM control of a three-phase inverter using Texas Instruments Delfino TMS320F28335 C2000 microcontroller will be also presented. This lays a foundation for our next step work to build and test SVPWM controlled inverters to validate our findings in the simulations.
Session Chair: Sungeun Kim
Collected for SUNY Oswego Institutional Repository by the online self-submittal tool. Submitted by Zach Vickery.

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