School of Engineering Department of Mechanical and Aerospace Engineering 183 Dual-Arm Robot Modeling, Manipulation, and Control Supervisor: DUAN Molong / MAE Student: ZENG Minyu / MECH Course: UROP 1100, Summer This report presents a vision-guided robotic grasping system implemented on a 6-DoF robotic arm with a monocular camera. The system employs camera intrinsic and extrinsic calibration, Denavit-Hartenberg parameters for kinematic modeling, and the Levenberg-Marquardt method for inverse kinematics. Trajectory planning uses joint-space and Cartesian-space interpolation with trapezoidal and quintic polynomial methods. Image processing involves color thresholding and contour detection, followed by pose estimation based on Euler angles. The system achieves high success rates, with future enhancements targeting advanced vision algorithms for increased flexibility. Robotic-Based Fiber Winding System Design, Manufacturing, and Control Supervisor: DUAN Molong / MAE Student: CHONG Sung-jin / MECH CRISTOVAL Liem Kenzie / MECH Course: UROP 1100, Summer This progress report presents the design and preliminary analysis of a robotic-based fiber winding system that integrates a C-structured filament winding mechanism with a six-degree-of-freedom (6-DOF) robotic arm. The project aims to manufacture high-strength cylindrical composite structures through automated, precision-controlled winding. Key contributions to date include defining engineering requirements, developing analytical trajectory models, and initiating MATLAB-based kinematic simulations. The simulation framework coordinates eight degrees of motion: six from the robotic arm and two from the winding head. Although technical challenges were encountered when importing CAD models into MATLAB, these informed an improved workflow incorporating explicit joint and inertia definitions. Future work will focus on completing trajectory simulation, integrating real-time tension control, and validating the system through hardware testing. Aerodynamic Flow Study Supervisor: FU Lin / MAE Student: CHEUNG Tsz Hong / AE Course: UROP 2100, Fall This computational fluid dynamics (CFD) research project on aerodynamic flow research will particularly focus on the simulation of flow over a laminar cylinder. Simulations are conducted using the open-source software SU2 to numerically solve the Navier-Stokes Equations. The research aims to explore and replicate the vortex shedding phenomenon, which occurs when turbulent flow encounters an obstacle (a cylinder in this case), leading to the periodic creation of Eddies. By simulating scenarios with varying Reynolds Numbers and obtaining the Strouhal number – a measure of vortex shedding frequency, experimental data can be compared to established literature results. Through this research project, the researcher aims to gain a better understanding of time dependent simulations in computational fluid dynamics.
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