{"id":2,"date":"2024-07-18T17:29:46","date_gmt":"2024-07-18T17:29:46","guid":{"rendered":"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=2"},"modified":"2024-07-23T02:16:59","modified_gmt":"2024-07-23T02:16:59","slug":"sample-page","status":"publish","type":"page","link":"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=2","title":{"rendered":"Master&#8217;s Work"},"content":{"rendered":"\n<div class=\"wp-block-group alignfull\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<div class=\"wp-block-group alignfull is-content-justification-space-between is-layout-flex wp-container-core-group-is-layout-0b2df045 wp-block-group-is-layout-flex\" style=\"padding-top:var(--wp--preset--spacing--30);padding-right:var(--wp--preset--spacing--30);padding-bottom:var(--wp--preset--spacing--30);padding-left:var(--wp--preset--spacing--30)\">\n<div class=\"wp-block-group is-layout-flex wp-block-group-is-layout-flex\">\n\n\n<div class=\"wp-block-group is-vertical is-layout-flex wp-container-core-group-is-layout-5d5a54e7 wp-block-group-is-layout-flex\"><h1 class=\"has-link-color wp-elements-234e57400cf5587740bb7caa261d6fc4 wp-block-site-title has-medium-font-size\"><a href=\"https:\/\/site.uvm.edu\/benjacksonportfolio\" target=\"_self\" rel=\"home\">Ben Jackson&#039;s Portfolio<\/a><\/h1><\/div>\n<\/div>\n\n\n<nav class=\"is-responsive items-justified-right wp-block-navigation is-content-justification-right is-layout-flex wp-container-core-navigation-is-layout-3817c3ed wp-block-navigation-is-layout-flex\" aria-label=\"Navigation\" \n\t\t data-wp-interactive=\"core\/navigation\" data-wp-context='{\"overlayOpenedBy\":{\"click\":false,\"hover\":false,\"focus\":false},\"type\":\"overlay\",\"roleAttribute\":\"\",\"ariaLabel\":\"Menu\"}'><button aria-haspopup=\"dialog\" aria-label=\"Open menu\" class=\"wp-block-navigation__responsive-container-open\" \n\t\t\t\tdata-wp-on--click=\"actions.openMenuOnClick\"\n\t\t\t\tdata-wp-on--keydown=\"actions.handleMenuKeydown\"\n\t\t\t><svg width=\"24\" height=\"24\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 24 24\" aria-hidden=\"true\" focusable=\"false\"><path d=\"M4 7.5h16v1.5H4z\"><\/path><path d=\"M4 15h16v1.5H4z\"><\/path><\/svg><\/button>\n\t\t\t\t<div class=\"wp-block-navigation__responsive-container\"  id=\"modal-1\" \n\t\t\t\tdata-wp-class--has-modal-open=\"state.isMenuOpen\"\n\t\t\t\tdata-wp-class--is-menu-open=\"state.isMenuOpen\"\n\t\t\t\tdata-wp-watch=\"callbacks.initMenu\"\n\t\t\t\tdata-wp-on--keydown=\"actions.handleMenuKeydown\"\n\t\t\t\tdata-wp-on--focusout=\"actions.handleMenuFocusout\"\n\t\t\t\ttabindex=\"-1\"\n\t\t\t>\n\t\t\t\t\t<div class=\"wp-block-navigation__responsive-close\" tabindex=\"-1\">\n\t\t\t\t\t\t<div class=\"wp-block-navigation__responsive-dialog\" \n\t\t\t\tdata-wp-bind--aria-modal=\"state.ariaModal\"\n\t\t\t\tdata-wp-bind--aria-label=\"state.ariaLabel\"\n\t\t\t\tdata-wp-bind--role=\"state.roleAttribute\"\n\t\t\t>\n\t\t\t\t\t\t\t<button aria-label=\"Close menu\" class=\"wp-block-navigation__responsive-container-close\" \n\t\t\t\tdata-wp-on--click=\"actions.closeMenuOnClick\"\n\t\t\t><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 24 24\" width=\"24\" height=\"24\" aria-hidden=\"true\" focusable=\"false\"><path d=\"m13.06 12 6.47-6.47-1.06-1.06L12 10.94 5.53 4.47 4.47 5.53 10.94 12l-6.47 6.47 1.06 1.06L12 13.06l6.47 6.47 1.06-1.06L13.06 12Z\"><\/path><\/svg><\/button>\n\t\t\t\t\t\t\t<div class=\"wp-block-navigation__responsive-container-content\" \n\t\t\t\tdata-wp-watch=\"callbacks.focusFirstElement\"\n\t\t\t id=\"modal-1-content\">\n\t\t\t\t\t\t\t\t<ul class=\"wp-block-navigation__container is-responsive items-justified-right wp-block-navigation\"><li class=\" wp-block-navigation-item wp-block-navigation-link\"><a class=\"wp-block-navigation-item__content\"  href=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=90\"><span class=\"wp-block-navigation-item__label\">Technical Experience |<\/span><\/a><\/li><li class=\" wp-block-navigation-item wp-block-navigation-link\"><a class=\"wp-block-navigation-item__content\"  href=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=2\"><span class=\"wp-block-navigation-item__label\">Master\u2019s Thesis |<\/span><\/a><\/li><li class=\" wp-block-navigation-item wp-block-navigation-link\"><a class=\"wp-block-navigation-item__content\"  href=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=141\"><span class=\"wp-block-navigation-item__label\">Leadership<\/span><\/a><\/li><\/ul>\n\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div><\/nav><\/div>\n<\/div><\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<p class=\"has-text-align-center\">The following is an overview of my thesis work. <\/p>\n\n\n\n<p class=\"has-text-align-center\">Please visit <a href=\"https:\/\/scholarworks.uvm.edu\/graddis\/1847\/\">here<\/a> for my full thesis paper. GitHub files are found <a href=\"https:\/\/github.com\/benbobben\/Hopper-Gimbal-Sims-and-Software.git\">here<\/a>. <\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<div class=\"wp-block-group alignwide\" style=\"padding-top:0;padding-bottom:0\"><div class=\"wp-block-group__inner-container is-layout-constrained wp-block-group-is-layout-constrained\">\n<h2 class=\"wp-block-heading alignwide\"><strong>Goal<\/strong>:<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1382\" height=\"770\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-10.09.06\u202fAM.png\" alt=\"\" class=\"wp-image-182\" style=\"width:603px;height:auto\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-10.09.06\u202fAM.png 1382w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-10.09.06\u202fAM-768x428.png 768w\" sizes=\"auto, (max-width: 1382px) 100vw, 1382px\" \/><figcaption class=\"wp-element-caption\"><a href=\"https:\/\/www.nasa.gov\/wp-content\/uploads\/2020\/12\/artemis_plan-20200921.pdf\">NASA Artemis Program <\/a><\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<p>Replace drone propellors with compressed gas actuation for flight in low gravity, no atmosphere environments. <\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n<\/div><\/div>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Method<strong>:<\/strong><\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<p>1. Physical proof of pneumatic actuation comparable to a propellor-based drone&#8217;s maneuvers<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Translational Testbed<\/li>\n\n\n\n<li>Attitude Testbed<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2000\" height=\"1199\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/cropped-IMG_6981-scaled-1.jpeg\" alt=\"\" class=\"wp-image-12\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/cropped-IMG_6981-scaled-1.jpeg 2000w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/cropped-IMG_6981-scaled-1-768x460.jpeg 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/cropped-IMG_6981-scaled-1-1536x921.jpeg 1536w\" sizes=\"auto, (max-width: 2000px) 100vw, 2000px\" \/><figcaption class=\"wp-element-caption\">Construction of Test Beds in the Air Lab<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1944\" height=\"1018\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hopper.png\" alt=\"\" class=\"wp-image-27\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hopper.png 1944w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hopper-768x402.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hopper-1536x804.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hopper-1080x566.png 1080w\" sizes=\"auto, (max-width: 1944px) 100vw, 1944px\" \/><figcaption class=\"wp-element-caption\">The Hopper Diagram and Simulation<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<p>2. Digital twins of testbeds <\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Translational simulations <\/li>\n\n\n\n<li>Attitude simulations <\/li>\n\n\n\n<li>Validation of simulations<\/li>\n<\/ul>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<p>3. Control laws for On\/Off Actuation<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Hysteresis Controller<\/li>\n\n\n\n<li>PID-PWM Controller<\/li>\n\n\n\n<li>Optimal Bang-Bang Controller<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1800\" height=\"707\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/PIDPWMController1DoF.png\" alt=\"\" class=\"wp-image-185\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/PIDPWMController1DoF.png 1800w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/PIDPWMController1DoF-768x302.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/PIDPWMController1DoF-1536x603.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/PIDPWMController1DoF-1568x616.png 1568w\" sizes=\"auto, (max-width: 1800px) 100vw, 1800px\" \/><figcaption class=\"wp-element-caption\">PID-PWM Controller in Simulink<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Contribution<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<p class=\"has-text-align-left\">Once I defined both systems&#8217; requirements, I used common electronics, pneumatic tubing\/connectors, and 80\/20 for the initial development. Using CAD and a 3D printer, I designed the components specific to this project. I then implemented, tested, and validated both test beds. <\/p>\n<\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading alignwide\">Translational Test Bed<\/h3>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-bd0aba32 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-top is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group wp-container-content-231d8afb is-vertical is-content-justification-left is-nowrap is-layout-flex wp-container-core-group-is-layout-ee1c9ac2 wp-block-group-is-layout-flex\" style=\"margin-top:0;margin-bottom:0\">\n<figure class=\"wp-block-image size-full wp-container-content-0733e5d0\"><img loading=\"lazy\" decoding=\"async\" width=\"1834\" height=\"1468\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hop1.png\" alt=\"\" class=\"wp-image-189\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hop1.png 1834w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hop1-768x615.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hop1-1536x1229.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/hop1-1568x1255.png 1568w\" sizes=\"auto, (max-width: 1834px) 100vw, 1834px\" \/><figcaption class=\"wp-element-caption\">Block Diagram of Translational Test Bed<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-group is-vertical is-nowrap is-layout-flex wp-container-core-group-is-layout-ebc71d8e wp-block-group-is-layout-flex\">\n<ul class=\"wp-block-list\">\n<li>The pneumatically powered vehicle can only move in one dimension.<\/li>\n\n\n\n<li>The vehicle can be actuated using compressed air from a separate compressor. <\/li>\n\n\n\n<li>The vehicle has limited impedance from the device that holds it to one dimension. This includes limiting friction, outside forces of any tubes or wires connected to the vehicle, and reaction forces applied to the vehicle.<\/li>\n\n\n\n<li>The test bed must be able to estimate the vehicle&#8217;s state using appropriate sensors.<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group wp-container-content-231d8afb is-vertical is-layout-flex wp-container-core-group-is-layout-692d0fb7 wp-block-group-is-layout-flex\" style=\"margin-top:0;margin-bottom:0\">\n<div class=\"wp-block-group is-vertical is-nowrap is-layout-flex wp-container-core-group-is-layout-ebc71d8e wp-block-group-is-layout-flex\">\n<p>The one-degree-of-freedom test bed demonstrates vertical translation control using pneumatic actuation. <\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1322\" height=\"554\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HopVehicle.png\" alt=\"\" class=\"wp-image-242\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HopVehicle.png 1322w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HopVehicle-768x322.png 768w\" sizes=\"auto, (max-width: 1322px) 100vw, 1322px\" \/><figcaption class=\"wp-element-caption\">3D Printed Part to Ride Rail<\/figcaption><\/figure>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-full\" style=\"font-size:14px\"><img loading=\"lazy\" decoding=\"async\" width=\"1668\" height=\"1584\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HoPDiagram-1.jpg\" alt=\"\" class=\"wp-image-190\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HoPDiagram-1.jpg 1668w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HoPDiagram-1-768x729.jpg 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HoPDiagram-1-1536x1459.jpg 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/HoPDiagram-1-1568x1489.jpg 1568w\" sizes=\"auto, (max-width: 1668px) 100vw, 1668px\" \/><figcaption class=\"wp-element-caption\">The Translational Test Bed (The Hopper)<\/figcaption><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading alignwide\">Rotational Test Bed<\/h3>\n\n\n\n<div class=\"wp-block-columns alignwide are-vertically-aligned-top is-layout-flex wp-container-core-columns-is-layout-bd0aba32 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-top is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group wp-container-content-231d8afb is-vertical is-content-justification-left is-nowrap is-layout-flex wp-container-core-group-is-layout-ee1c9ac2 wp-block-group-is-layout-flex\" style=\"margin-top:0;margin-bottom:0\">\n<figure class=\"wp-block-image size-full wp-container-content-0733e5d0\"><img loading=\"lazy\" decoding=\"async\" width=\"1844\" height=\"924\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimblock.png\" alt=\"\" class=\"wp-image-192\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimblock.png 1844w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimblock-768x385.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimblock-1536x770.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimblock-1568x786.png 1568w\" sizes=\"auto, (max-width: 1844px) 100vw, 1844px\" \/><figcaption class=\"wp-element-caption\">Block Diagram of The Rotational Test Bed<\/figcaption><\/figure>\n\n\n\n<div class=\"wp-block-group is-vertical is-nowrap is-layout-flex wp-container-core-group-is-layout-ebc71d8e wp-block-group-is-layout-flex\">\n<ul class=\"wp-block-list\">\n<li>The vehicle is only allowed to rotate with no translation. <\/li>\n\n\n\n<li>Free rotation is allowed in all directions where rotation in one direction does not limit rotation in another.<\/li>\n\n\n\n<li>The ability to mount various devices for testing a vehicle&#8217;s attitude adjustment abilities.<\/li>\n\n\n\n<li>A system with limited resistance to rotation of the system including minimal friction while rotating and little to no effect of outside forces on the vehicle&#8217;s rotation.<\/li>\n\n\n\n<li>The ability to estimate the states of the system with onboard sensors.<\/li>\n<\/ul>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-top is-layout-flow wp-block-column-is-layout-flow\">\n<div class=\"wp-block-group wp-container-content-231d8afb is-vertical is-layout-flex wp-container-core-group-is-layout-692d0fb7 wp-block-group-is-layout-flex\" style=\"margin-top:0;margin-bottom:0\">\n<div class=\"wp-block-group is-vertical is-nowrap is-layout-flex wp-container-core-group-is-layout-ebc71d8e wp-block-group-is-layout-flex\">\n<div style=\"height:41px\" aria-hidden=\"true\" class=\"wp-block-spacer wp-container-content-29cb0303\"><\/div>\n\n\n\n<p>The attitude test bed&#8217;s purpose is to allow tests of rotation from a pneumatically actuated vehicle at all angles.<\/p>\n\n\n\n<div style=\"height:107px\" aria-hidden=\"true\" class=\"wp-block-spacer wp-container-content-8030d863\"><\/div>\n<\/div>\n\n\n\n<figure class=\"wp-block-image size-full\" style=\"font-size:14px\"><img loading=\"lazy\" decoding=\"async\" width=\"1968\" height=\"1524\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimbalImg-1.png\" alt=\"\" class=\"wp-image-193\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimbalImg-1.png 1968w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimbalImg-1-768x595.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimbalImg-1-1536x1189.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/gimbalImg-1-1568x1214.png 1568w\" sizes=\"auto, (max-width: 1968px) 100vw, 1968px\" \/><figcaption class=\"wp-element-caption\">The Rotational Test Bed (The Gimbal)<\/figcaption><\/figure>\n<\/div>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide are-vertically-aligned-center is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1079\" height=\"631\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/circuit2.png\" alt=\"\" class=\"wp-image-233\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/circuit2.png 1079w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/circuit2-768x449.png 768w\" sizes=\"auto, (max-width: 1079px) 100vw, 1079px\" \/><figcaption class=\"wp-element-caption\">The Rotational Test Bed Vehicle&#8217;s Circuit<\/figcaption><\/figure>\n\n\n\n<p>Each solenoid releases compressed gas in a different direction inducing rotation within the gimbal test bed. The body rates of the system are picked up by the IMU sensor onboard which are integrated and used to inform the controller of when to turn on or off the compressed gas. <\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<p>The vehicle at the center of the gimbal controls the release of compressed gas using solenoids, a relay, IMU Sensors, batteries, and a Raspberry Pi Pico. <\/p>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1516\" height=\"1492\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Vehicle-1.png\" alt=\"\" class=\"wp-image-234\" style=\"width:602px;height:auto\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Vehicle-1.png 1516w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Vehicle-1-768x756.png 768w\" sizes=\"auto, (max-width: 1516px) 100vw, 1516px\" \/><figcaption class=\"wp-element-caption\">The Rotational Test Bed Vehicle<\/figcaption><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Simulation<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<p class=\"has-text-align-left\"> GitHub files containing simulations and Python testbed scripts are found <a href=\"https:\/\/github.com\/benbobben\/Hopper-Gimbal-Sims-and-Software.git\">here<\/a>. <\/p>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<p>For the translational simulation, MATLAB rigid body numerical integration using state space and a force balance allowed a simple representation of a mass translating in 1DoF. Validation of The Hopper was done by comparing the simulation developed in MATLAB against the estimated states from the test bed. The values for the spring constant and friction were empirically tuned in the model to match the sensor readings from the test bed based on the results of a drop test and a step test. <\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1096\" height=\"842\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-10.31.41\u0393CAM.png\" alt=\"\" class=\"wp-image-226\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-10.31.41\u0393CAM.png 1096w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-10.31.41\u0393CAM-768x590.png 768w\" sizes=\"auto, (max-width: 1096px) 100vw, 1096px\" \/><figcaption class=\"wp-element-caption\">Step Test Comparison <\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"2582\" height=\"932\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM.png\" alt=\"\" class=\"wp-image-227\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM.png 2582w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM-768x277.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM-1536x554.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM-2048x739.png 2048w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-01-31-at-2.39.17\u0393CPM-1568x566.png 1568w\" sizes=\"auto, (max-width: 2582px) 100vw, 2582px\" \/><figcaption class=\"wp-element-caption\">Rotational Simulation<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<p>To describe rotation, I used Simulink rigid body dynamics with quaternions to describe the attitude and the half-angle formula to calculate the new body angles of the system. <\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Control Theory<\/h2>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:100%\">\n<p>Below are a few results from the control laws I developed. Please view my <a href=\"https:\/\/scholarworks.uvm.edu\/graddis\/1847\/\" data-type=\"link\" data-id=\"https:\/\/scholarworks.uvm.edu\/graddis\/1847\/\">thesis paper<\/a> for a full derivation of all three control laws. <\/p>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide are-vertically-aligned-center is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<h3 class=\"wp-block-heading\">Translational Controller Simulation Results<\/h3>\n\n\n\n<p>Plotted below is a comparison of all controllers for the hopper from the simulation. <\/p>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:50%\">\n<figure class=\"wp-block-image size-full is-style-default\"><img loading=\"lazy\" decoding=\"async\" width=\"2216\" height=\"1316\" src=\"http:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM.png\" alt=\"\" class=\"wp-image-197\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM.png 2216w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM-768x456.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM-1536x912.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM-2048x1216.png 2048w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/Screenshot-2024-07-22-at-12.13.53\u202fPM-1568x931.png 1568w\" sizes=\"auto, (max-width: 2216px) 100vw, 2216px\" \/><figcaption class=\"wp-element-caption\">The Hopper All Controller Results<\/figcaption><\/figure>\n<\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns alignwide is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\">\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1724\" height=\"956\" src=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/MPHOverlay.png\" alt=\"\" class=\"wp-image-195\" style=\"width:602px;height:auto\" srcset=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/MPHOverlay.png 1724w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/MPHOverlay-768x426.png 768w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/MPHOverlay-1536x852.png 1536w, https:\/\/site.uvm.edu\/benjacksonportfolio\/files\/2024\/07\/MPHOverlay-1568x869.png 1568w\" sizes=\"auto, (max-width: 1724px) 100vw, 1724px\" \/><figcaption class=\"wp-element-caption\">The Gimbal Optimal Controller Results<\/figcaption><\/figure>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-vertically-aligned-center is-layout-flow wp-block-column-is-layout-flow\">\n<h3 class=\"wp-block-heading\">Optimal Controller for Attitude Control:<\/h3>\n\n\n\n<p>In the following chart, the optimal rotational controller was tested in the simulation and the test bed. The result is almost identical with an error of pm 5 degrees. <\/p>\n<\/div>\n<\/div>\n\n\n\n<hr class=\"wp-block-separator has-alpha-channel-opacity\" \/>\n\n\n\n<h2 class=\"wp-block-heading alignwide\">Watch it in Action:<\/h2>\n\n\n\n<figure class=\"wp-block-embed alignwide is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Pneumatically Actuated Test Bed\" width=\"750\" height=\"422\" src=\"https:\/\/www.youtube.com\/embed\/C6BNbT56M7I?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe>\n<\/div><figcaption class=\"wp-element-caption\">Test Beds Running with Various Control Laws<\/figcaption><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>The following is an overview of my thesis work. Please visit here for my full thesis paper. GitHub files are found here. Goal: Replace drone propellors with compressed gas actuation for flight in low gravity, no atmosphere environments. Method: 1. Physical proof of pneumatic actuation comparable to a propellor-based drone&#8217;s maneuvers 2. Digital twins of&hellip; <a class=\"more-link\" href=\"https:\/\/site.uvm.edu\/benjacksonportfolio\/?page_id=2\">Continue reading <span class=\"screen-reader-text\">Master&#8217;s Work<\/span><\/a><\/p>\n","protected":false},"author":5931,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"open","template":"","meta":{"footnotes":""},"class_list":["post-2","page","type-page","status-publish","hentry","entry"],"featured_image_src":null,"featured_image_src_square":null,"_links":{"self":[{"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/pages\/2","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/users\/5931"}],"replies":[{"embeddable":true,"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2"}],"version-history":[{"count":28,"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/pages\/2\/revisions"}],"predecessor-version":[{"id":290,"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=\/wp\/v2\/pages\/2\/revisions\/290"}],"wp:attachment":[{"href":"https:\/\/site.uvm.edu\/benjacksonportfolio\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}