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    Development of a low-cost automated sample presentation and analysis system for counting and classifying nematode eggs : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Manawatu, New Zealand
    (Massey University, 2017) Pedersen, Benjamin
    This thesis discusses the concept development and design of a low-cost, automated, sample presentation system for faecal egg counting, and classification. The system developed uses microfluidics to present nematode eggs for digital imaging to produce images suitable for image analysis and classification. The system costs are kept low by using simple manufacturing methods and commonly available equipment to produce microfluidic counting chambers, which can be interfaced with conventional microscopes. This thesis includes details of the design and implementation of the software developed to allow capture and processing of images from the presentation system. This thesis also includes details on the measures taken to correct for the optical aberrations introduced by the sample presentation system.
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    Mechatronic design and construction of an intelligent mobile robot for educational purposes : a thesis presented in partial fulfilment of the requirements for the degree of Master of Technology in Engineering and Automation at Massey University, Palmerston North, New Zealand
    (Massey University, 2000) Phillips, Julian George
    The main aim of this project was to produce a working intelligent mechatronically designed mobile robot, which could be used for educational purposes. A secondary aim was to make the robot as a test-bed to investigate new systems (sensors, control etc.) if possible. The mechatronic design of the robot was split in to three sections: the chassis, the sensors and the control. The design and construction of the chassis unit was relatively simple and very few problems were encountered. The drive system chosen for the robot was a four-wheeled Mecanum drive. The major advantage of this system is that it allows multiple degrees of freedom while keeping the control and the number of drive motors to a minimum. The design and construction of the sensors was the main research section. The sensor design evolved around the use of ultrasonic sensors. While a phased array type arrangement was tried with the intention of improving the angular accuracy of the sensors, the use of frequency modulation was used in the end and it proved to be excellent except that the problem of angular accuracy was still not solved. The entire mechatronic system was completed except for the micro controller programming. It operated well when it was given the correct inputs and performed all of the functions it was designed for. It is strongly recommended that further work be done on the use of a computer motherboard instead of the current micro controller as this would allow for easier programming, more complex programs and easy implementation of map building.
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    Design and development of a modular framework to integrate sensors and actuators : a thesis presented in partial fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics at Massey University, Manawatu, New Zealand
    (Massey University, 2016) Taylor, Brendan
    This thesis details the research and development of a versatile electronic monitoring and control platform, influenced by the Internet of Things (IoT), mass configurability, modularity, expandability and ease of use. The generic framework which has been designed and tested aims to provide a platform to build a wide variety of specialised systems to integrate sensors and actuators. A central processing unit manages modular hardware devices connected by a serial network. Only the required hardware units are chosen to constitute a system for an application. The processing unit uses modular task handlers to manage the system. The web-based user interface provides multi-platform system access using a web browser. The website is dynamically generated from the system configuration. While the framework is generic, for testing its efficacy, it was applied to a seed and fertilizer spreader to monitor and control the application rate. This application requires coordinated control of actuators using inputs from multiple sources, including sensors, machine states, a database, other processing tasks, and the operator. The implementation was successful in achieving reliable control of the seeding rate, based on the tractor ground speed. The practical implementation exhibited a high level of expandability and modularity. The prototype system has also highlighted a few issues which can be addressed in future revisions to improve the versatility and robustness of the framework.
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    Optimised dynamic motion control of near spherical objects : a thesis presented in the partial fulfilment of the requirements for the degree of PhD in Engineering at Massey University, Palmerston North, New Zealand
    (Massey University, 2013) Edmondson, Michael Charles
    This research investigates the development of an automated packing machine for a New Zealand Industrial Company (NZIC). NZIC is a leading international manufacturer that produces automated equipment for a labour intensive industry. The proposed system aims to solve the complex packing of near spherical objects (OBJ) which is currently the most labour intensive task. A review of the existing full or partially autonomous systems has identified multiple units that have attempted to remove human labour from relevant or simplified versions of the task. Three areas are identified as requiring in-depth investigation and this research sets out to investigate these issues and propose possible solutions. One failing aspect of the existing systems is the apparent lack of prior analysis on how such a machine would deliver on commercial requirements. This research made an indepth motion analysis on possible automated solutions and laid the foundation for engineering development.
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    Depletion and harvesting thermal energy from actuator arm electronics in hard disk drives : a thesis presented in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Albany, New Zealand
    (Massey University, 2011) Wu, Di
    In recent years, thermally assistive magnetic recording (TAMR) has been applied on actuator arm electronics (AE) in hard disk drive (HDD). When HDD operates, temperature of the AE chip inside enclosure can be as high as 80-100 ºC, primary caused by processing and conditioning of magnetic signals and heated by wasted mechanical energy in form of thermal energy. To guarantee reliability of electronic device, AE chip junction temperature should be maintained at a relatively low level, which requires novel depletion of thermal energy. There are generally two methods to manage the thermal dissipation of chips. One is to follow existing approaches that conduct the thermal energy from the topside of the chip to a heat sink through a conductive paste, or other mediums. The other way is to dissipate the heat from the inner surface of the chip to a heat sink through silicon substrate. In this thesis, thermal analysis of AE chip junction temperature is presented and discussed. Depletion of thermal energy generated by the AE chip will be characterized among several thermal management configurations. Then, a thermal resistance network model is established for AE chip junction temperature to ambient. The thermal resistance network is based on heat transfer paths from the chip to ambient. Every thermal resistance in the network can be calculated by analytical expression. The accuracy of the presented model will be also proven through comparing the results of mathematic model and simulation. Finally, based on the thermal analysis and managements, design of a novel active thermal energy harvester to transform the wasted energy into electrical energy will be presented. Finite element analysis (FEA) software is used to simulate piezoelectric characteristics of the thermal energy harvester.
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    Dynamic transverse force regulation of axially-moving flexible media with advanced guiding and actuation : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Advanced Technology, Massey University, Albany, New Zealand
    (Massey University, 2011) Nagao, Riichi
    The rapid growth of computing and information technology has enabled pervasive access to the World Wide Web. Over 280EB of digital data has been generated from around the world and flowing in the digital universe; as a result, the need for data storage has grown rapidly. A variety of information storage solutions such as hard disk drive (HDD) products that are common information storages for personal computing are available in the market. Modern magnetic tape data storage in terms of its capacity and reliability has been employed as an ideal solution for enterprise-level storage of archival data with applications that include financial records, satellite images, and consumer databases. In magnetic tape technology, the thin, flexible media is transported between the supply and take up packs at a prescribed speed and tension, and over guides and the read/write head. As the tape is transported, in-plane vibration of axially moving tape, known as lateral tape motion (LTM), arises from excitation sources such as the run out of tape pack and impacts between the tape and the flanges on guides or packs. LTM has been identified as a major factor that degrades recording accuracy. Limiting the LTM is the one of the keys that enables the multi-terabytes data storage, and flanged roller guides are commonly implemented in modern tape drives. However, for higher recording density, thinner media is desirable. Reducing the thickness of media can significantly decrease its stiffness and increase the likelihood of damage to media edges by adjacent mechanical components on the guiding path. To avoid this, alternative tape guiding and actuation are required, and many advanced guiding mechanisms without the use of flanged guides have been developed to reduce lateral tape motion in industry and academia. The transverse force (tension) applied to the travelling tape is another key element of LTM dynamics and is controlled using the dynamics of tape pack driving sources in the modern tape drive products in using an open loop control logic. However, the developing advanced guiding and actuation technologies influence the tension irregularly and the current tension control algorithm is not able to handle the irregular changes of tension. An active tension control is required to feasibly advance LTM actuations. This thesis is motivated by the need for future engineering advances in guiding and actuation technologies for magnetic tape. Advanced guiding and actuation technologies have been developed to enable the active tension (transverse force) actuation of axially moving tape. An advanced tension actuation technology of axially moving media with dynamic tape path alternation using a novel rotary guider is considered in this thesis, and its effectiveness and technical feasibility is analysed in the context of actuating travelling tape tension. The specific issues addressed in this thesis are listed below. Development of linear magnetic tape transport system with an advanced active tension actuation. • A homemade linear magnetic tape transport system is developed. • The footsteps of development including technical design details of hardware and software are described. • A tape transport system that enables an actuation of travelling tape tension with dynamic tape path alternation using a novel rotary guider was purposely developed. • The tension is regulated actuating the amount of surface friction force between the tape and the rotary guider by altering the tape path dynamically rotating the rotary guider based on the feedback from strain gauge based tension sensor. Experimental studies of travelling tape tension shift phenomena with fixed tape path. • Parameter studies are carried to investigate the transitions of travelling tape tension during the tape transport process with the fixed angle of rotary guider (fixed tape path) in the travelling speed of tape and the angle of rotary guider. • Through experimental studies, it is found that the tension gradually increases as the tape is transported and the state of change in tension is heavily relay on the dynamics of tape pack driving source. • The angle of rotary guider shifts the level of tension. Generally, higher rotation angle of the rotary guider and the travelling speed of tape apply greater tension to the tape. Transverse force regulation with dynamic tape path alternation. • The effectiveness of tension regulation with dynamic tape path alternation using the rotary guider is investigated through experimental studies. • A closed loop control algorism of rotary guider controller is developed in order to control the operations of the rotary guider and implemented to the tape transport system. • The developed controller has a significant influence to the transition of tension. • The travelling tape tension is successfully regulated as targeted with the designed controller. It can be concluded that the rotary guider with a closed loop control algorism has an ability to actuate the travelling tape tension without relying on the dynamics of tape pack driving sources to control the tension.
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    An analysis of the influences of power electronics devices on fundamental frequency front ends : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Palmerston North, New Zealand.
    (Massey University, 2010) Beck, Sascha
    New power electronics devices like Fundamental Frequency Front Ends (F3E) reduce procurement costs by eliminating or reducing the intermediate capacitors usually found on the DC-side of modern rectifier-inverter combinations. This cost-saving measure, however, eliminates the quasi-decoupling of rectifier and inverter; whereas interactions between rectifier and inverter could be neglected in most applications. These interactions are relevant to the correct function and operation of the whole application in case of reduced intermediate capacitors. Without the decoupling of rectifier and inverter, the inverter input currents will be passed on to the rectifier, and ultimately, will be discernible on the power grid. As a result, the input currents of the appliance will deviate greatly from the idealised sinusoidal waveform. To reduce this effect, an input filter is used, which in turn might interact with other power electronics devices connected to the same power grid. To date, the scope of the rectifier inverter and the F3E third-party equipment interactions has not been sufficiently investigated. An examination with real devices is impractical due to the wide range of configurations possible and the potential harm to the equipment itself. In this study, the simulation models of the devices involved and the power grid connecting different appliances were developed. A theoretical analysis to identify possible areas of impaired or disturbed operation was undertaken. The areas identified were then analysed using the computer models developed. The simulation results, electrical currents, and voltages were examined with regards to their absolute values and their degree of deviation from the idealised sinusoidal form. Their harmonic spectra were likewise analysed. Finally, areas of disturbed operation and the conditions under which they occur were identified. This study, therefore, will provide the basis for the successive elimination of these areas of disturbed operation.
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    MMG sensor for muscle activity detection : low cost design, implementation and experimentation : a thesis presented in fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics, Massey University, Auckland, New Zealand
    (Massey University, 2010) Ma, Martin
    There is always a demand for cheaper, simpler and more effective human-machine interfaces. Currently, the most reliable and common muscle activity sensor is the EMG. The EMG is an expensive and complex piece of equipment which is far from ideal all round solution. The purpose of this research is to explore various methods of muscle activity detection and using the information gathered design and implement a sensor capable of detecting muscle activation. The major focus is on mechanomyography (MMG), the measurement of mechanical response of muscle during muscle activity. It is well documented that muscles produce low frequency vibrations (5 – 100Hz) during muscle activity. A microphone is able to capture these vibrations when they reach the surface of the skin. The prototype sensor consists of a microphone, microphone preamplifier, low pass Butterworth hardware filter, data acquisition hardware and accompanying data acquisition software. During the experimentation phase, we explored various documented muscle events and phenomena, both general muscle events and ones unique exclusively to MMG. This includes things such as muscle fatigue, exponential relationship between force and vibration, and any other undocumented events. This experimentation also helped determine the effectiveness of the sensor. Testing showed that periods of muscle activity were clearly visible and there was a definitely relationship between the force and vibrations, however there were shortcomings in terms of the sensor design. This included finding a better method of attaching the sensor to the surface of the skin, the dimension deformations of the muscle caused unwanted artefacts in the results and muscle fatigue was not observed. Despite its imperfections, it can be concluded that the design and implementation was a limited success.
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    Design of an improved fuzzy controller microchip for washing machine : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Auckland, New Zealand
    (Massey University, 2010) Lohani, Pritesh
    Washing machines are today a common household requirement. Wash time is one of the key factors that need to be taken into account in a design of a washing machine. Washing machines which do not use fuzzy controller serves most purposes of washing function but wash time is somewhat not dealt properly. This study describes the full architectural (both circuitry and physical layout) design of an improved washing machine controller microchip that uses fuzzy logic approach to specifically deal with the wash time in a much more efficient manner. Recent research shows that fuzzy logic approach responds much faster than any other conventional technique. This fuzzy logic controller microchip for washing machine has 36 Input/Output (I/O) pins including two Vdd and two Vss. On chip fuzzification, Fuzzy Inference Engine, Defuzzification, ROM-based Fuzzy sets and MIN-MAX array-based Fuzzy rules are the salient features of the design. With full Complementary Metal Oxide Semiconductor (CMOS) interface, it is suitable as a co-processor.
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    Applying Matsuoka Neuronal Oscillator in traffic light control of intersections : a thesis presented in partial fulfillment of the requirements of the degree of Master of Engineering in Mechatronics at Massey University, Auckland, New Zealand
    (Massey University, 2009) Lin, Kuo-Chun
    The quality of Machine Translation (MT) can often be poor due to it appearing incoherent and lacking in fluency. These problems consist of word ordering, awkward use of words and grammar, and translating text too literally. However we should not consider translations such as these failures until we have done our best to enhance their quality, or more simply, their fluency. In the same way various processes can be applied to touch up a photograph, various processes can also be applied to touch up a translation. This research outlines the improvement of MT quality through the application of Fluency Enhancement (FE), which is a process we have created that reforms and evaluates text to enhance its fluency. We have tested our FE process on our own MT system which operates on what we call the SAM fundamentals, which are as follows: Simplicity - to be simple in design in order to be portable across different languages pairs, Adaptability - to compensate for the evolution of language, and Multiplicity - to determine a final set of translations from as many candidate translations as possible. Based on our research, the SAM fundamentals are the key to developing a successful MT system, and are what have piloted the success of our FE process.