Undergraduate on Matthew Bonanni

Capstone Project: Forearms for NASA Valkyrie

Wed, 01 May 2019 00:00:00 +0000

Overview

This was a 6 month design effort by a team of five Northeastern University Mechanical Engineering students: Matthew Bonanni, Max Choate, David Coven, Bryant Grey-Stewart, and Ryan Loehr.

My specific contributions encompassed initial requirements analysis, mechanical design of structural components (particularly bearing structures for actuators), and kinematic modeling software.

Abstract

The manipulation of hazardous materials within a glovebox is a promising application of humanoid robotics. NASA R5 “Valkyrie” is an excellent candidate for this task; however, the constraints of a glovebox limit the volume in which Valkyrie’s existing hardware can effectively operate.

Kinematic Modeling of Constrained Robot Arms

Fri, 01 Mar 2019 00:00:00 +0000

Capstone Project · GitHub Repo

Overview

This software models and optimizes the accessible volume, or “gamut,” of robotic arms when constrained by a glovebox.

I created this tool for our capstone design project involving a glovebox-optimized robotic forearm for NASA’s Valkyrie R5 robot. Section 6 of the project’s final report contains details on the software’s design and implementation.

Robotic arms are modeled using Denavit-Hartenberg parameters, and represented in MATLAB as rigid body trees. This approach enables computation of transformation matrices between joints at specified angles. The software generates point clouds by iterating through joint position combinations and filtering for collision-free endpoints. Convex hull computation permits design comparisons.

NASA Valkyrie: Active Tool Change

Tue, 01 Jan 2019 00:00:00 +0000

Project Site · NASA Site

Overview

As a student researcher in NU’s RIVeR (Robotics and Intelligent Vehicles Research) Laboratory, I was initially tasked with organizing a team to design a concept for a new forearm, wrist, and hand for NASA’s R5 (Valkyrie) robot.

The concept replaces the humanoid design with an active tool change mechanism in the wrist, enabling Valkyrie to attach and detach with multiple “hands,” each with a specialized purpose.

Dynamic Model of a Gantry System

Sat, 01 Sep 2018 00:00:00 +0000

Full Paper

Overview

Implemented in Simulink, this software models the 2 degree of freedom gantry system shown below. Current is applied to a motor which actuates the cart, and the resulting displacements of the cart and pendulum are measured.

Comparison with experimental data demonstrated this model’s accuracy, resulting in a mean cart position error of 0.89cm and pendulum angle error of 0.0217 rad, for a driving frequency of π Hz.

Gyroscope Test Fixture

Fri, 01 Jun 2018 00:00:00 +0000

NU AIAA Project Karman

Project Site

Project Karman is a division of Northeastern University AIAA that is actively developing a rocket designed to breach the Von Karman Line, which defines space.

One critical component of the rocket’s avionics system is its electronic gyroscope. While the rocket is in flight, the gyroscope collects data to ensure it is oriented properly. If the rocket veers off course, the on-board avionics system will prevent the second stage from firing, thereby minimizing the rocket’s lateral travel.

Paradigm Hyperloop

Mon, 01 Jan 2018 00:00:00 +0000

Project Site

Overview

In Fall 2017, I began working on Paradigm Hyperloop, an international team of students from Northeastern University and Memorial University of Newfoundland & Labrador.

The team previously achieved second place in Elon Musk’s Hyperloop Pod Competition II and was the only North American finalist. We were developing a new pod for the next competition.

My initial responsibilities included redesigning the pod’s suspension system with focus on design for manufacturing (DFM) and simplified assembly.

Pareto Optimization Software

Thu, 01 Jun 2017 00:00:00 +0000

GitHub Repo

Overview

I created software for addressing Pareto optimization challenges using MATLAB, complete with a sample mathematical model.

Pareto optimization problems are those in which there is more than one objective for optimization. In complex scenarios, enhancing one objective often requires compromise on others, creating an optimal surface rather than a single solution point. Any point on the surface is an optimal solution to the problem. When relative weights are established, each point receives a weighted score to identify the singular optimal solution.

Projectile Motion Calculator

Sun, 01 Jan 2017 00:00:00 +0000

Implemented in MATLAB, this software computes projectile motion trajectories using both viscous and Newtonian models of air resistance. Equations of motion are solved numerically using the Runge-Kutta method.

The project originated from coursework for PHYS 3601: Classical Mechanics and evolved to include a user-friendly graphic interface and the ability to process many sets of input parameters through .csv file import.

GitHub Repo

Door Motion Generator

Sun, 01 May 2016 00:00:00 +0000

View Paper

Overview

The Door Motion Generator is a device designed to generate electricity from the motion of opening doors. It was created by five freshman students as a final project for GE 1110. The corresponding paper for this project went on to win Best Undergraduate Research Paper at the ASEE Northeast Regional Conference in 2016.

The project aimed to demonstrate everyday energy expenditure and served as mechanical design practice early in undergraduate studies.