Theses and Dissertations
This collection includes both ASU Theses and Dissertations, submitted by graduate students, and the Barrett, Honors College theses submitted by undergraduate students.
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- All Subjects: Mappings (Mathematics)
- Creators: Turaga, Pavan
- Creators: Yu, Hongbin
Description
In this work, a highly sensitive strain sensing technique is developed to realize in-plane strain mapping for microelectronic packages or emerging flexible or foldable devices, where mechanical or thermal strain is a major concern that could affect the performance of the working devices or even lead to the failure of the devices. Therefore strain sensing techniques to create a contour of the strain distribution is desired.
The developed highly sensitive micro-strain sensing technique differs from the existing strain mapping techniques, such as digital image correlation (DIC)/micro-Moiré techniques, in terms of working mechanism, by filling a technology gap that requires high spatial resolution while simultaneously maintaining a large field-of-view. The strain sensing mechanism relies on the scanning of a tightly focused laser beam onto the grating that is on the sample surface to detect the change in the diffracted beam angle as a result of the strain. Gratings are fabricated on the target substrates to serve as strain sensors, which carries the strain information in the form of variations in the grating period. The geometric structure of the optical system inherently ensures the high sensitivity for the strain sensing, where the nanoscale change of the grating period is amplified by almost six orders into a diffraction peak shift on the order of several hundred micrometers. It significantly amplifies the small signal measurements so that the desired sensitivity and accuracy can be achieved.
The important features, such as strain sensitivity and spatial resolution, for the strain sensing technique are investigated to evaluate the technique. The strain sensitivity has been validated by measurements on homogenous materials with well known reference values of CTE (coefficient of thermal expansion). 10 micro-strain has been successfully resolved from the silicon CTE extraction measurements. Furthermore, the spatial resolution has been studied on predefined grating patterns, which are assembled to mimic the uneven strain distribution across the sample surface. A resolvable feature size of 10 µm has been achieved with an incident laser spot size of 50 µm in diameter.
In addition, the strain sensing technique has been applied to a composite sample made of SU8 and silicon, as well as the microelectronic packages for thermal strain mappings.
The developed highly sensitive micro-strain sensing technique differs from the existing strain mapping techniques, such as digital image correlation (DIC)/micro-Moiré techniques, in terms of working mechanism, by filling a technology gap that requires high spatial resolution while simultaneously maintaining a large field-of-view. The strain sensing mechanism relies on the scanning of a tightly focused laser beam onto the grating that is on the sample surface to detect the change in the diffracted beam angle as a result of the strain. Gratings are fabricated on the target substrates to serve as strain sensors, which carries the strain information in the form of variations in the grating period. The geometric structure of the optical system inherently ensures the high sensitivity for the strain sensing, where the nanoscale change of the grating period is amplified by almost six orders into a diffraction peak shift on the order of several hundred micrometers. It significantly amplifies the small signal measurements so that the desired sensitivity and accuracy can be achieved.
The important features, such as strain sensitivity and spatial resolution, for the strain sensing technique are investigated to evaluate the technique. The strain sensitivity has been validated by measurements on homogenous materials with well known reference values of CTE (coefficient of thermal expansion). 10 micro-strain has been successfully resolved from the silicon CTE extraction measurements. Furthermore, the spatial resolution has been studied on predefined grating patterns, which are assembled to mimic the uneven strain distribution across the sample surface. A resolvable feature size of 10 µm has been achieved with an incident laser spot size of 50 µm in diameter.
In addition, the strain sensing technique has been applied to a composite sample made of SU8 and silicon, as well as the microelectronic packages for thermal strain mappings.
ContributorsLiang, Hanshuang (Author) / Yu, Hongbin (Thesis advisor) / Poon, Poh Chieh Benny (Committee member) / Jiang, Hanqing (Committee member) / Zhang, Yong-Hang (Committee member) / Arizona State University (Publisher)
Created2014
Description
Multi-sensor fusion is a fundamental problem in Robot Perception. For a robot to operate in a real world environment, multiple sensors are often needed. Thus, fusing data from various sensors accurately is vital for robot perception. In the first part of this thesis, the problem of fusing information from a LIDAR, a color camera and a thermal camera to build RGB-Depth-Thermal (RGBDT) maps is investigated. An algorithm that solves a non-linear optimization problem to compute the relative pose between the cameras and the LIDAR is presented. The relative pose estimate is then used to find the color and thermal texture of each LIDAR point. Next, the various sources of error that can cause the mis-coloring of a LIDAR point after the cross- calibration are identified. Theoretical analyses of these errors reveal that the coloring errors due to noisy LIDAR points, errors in the estimation of the camera matrix, and errors in the estimation of translation between the sensors disappear with distance. But errors in the estimation of the rotation between the sensors causes the coloring error to increase with distance.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
On a robot (vehicle) with multiple sensors, sensor fusion algorithms allow us to represent the data in the vehicle frame. But data acquired temporally in the vehicle frame needs to be registered in a global frame to obtain a map of the environment. Mapping techniques involving the Iterative Closest Point (ICP) algorithm and the Normal Distributions Transform (NDT) assume that a good initial estimate of the transformation between the 3D scans is available. This restricts the ability to stitch maps that were acquired at different times. Mapping can become flexible if maps that were acquired temporally can be merged later. To this end, the second part of this thesis focuses on developing an automated algorithm that fuses two maps by finding a congruent set of five points forming a pyramid.
Mapping has various application domains beyond Robot Navigation. The third part of this thesis considers a unique application domain where the surface displace- ments caused by an earthquake are to be recovered using pre- and post-earthquake LIDAR data. A technique to recover the 3D surface displacements is developed and the results are presented on real earthquake datasets: El Mayur Cucupa earthquake, Mexico, 2010 and Fukushima earthquake, Japan, 2011.
ContributorsKrishnan, Aravindhan K (Author) / Saripalli, Srikanth (Thesis advisor) / Klesh, Andrew (Committee member) / Fainekos, Georgios (Committee member) / Thangavelautham, Jekan (Committee member) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2016