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.
Displaying 1 - 10 of 167
Description
This thesis will cover the basics of 2-dimensional motion of a parafoil system to determine and
design an altitude controller that will result in the parafoil starting at a location and landing within the
accepted bounds of a target location. It will go over the equations of motion, picking out the key
formulas that map out how a parafoil moves, and determine the key inputs in order to get the desired
outcome of a controlled trajectory. The physics found in the equations of motion will be turned into
state space representations that organize it into differential equations that coding software can make
use of to make trajectory calculations. MATLAB is the software used throughout the paper, and all code
used in the thesis paper will be written out for others to check and modify to their desires. Important
aspects of parafoil gliding motion will be discussed and tested with variables such as the natural glide
angle and velocity and the utilization of checkpoints in trajectory controller design. Lastly, the region of
attraction for the controller designed in this thesis paper will be discussed and plotted in order to show
the relationship between the four input variables, x position, y position, velocity, and theta.
The controller utilized in this thesis paper was able to plot a successful flight trajectory from
10m in the air to a target location 50m away. This plot is found in figure 18. The parafoil undershot the
target location by about 9 centimeters (0.18% error). This is an acceptable amount of error and shows
that the controller was a success in controlling the system to reach its target destination. When
compared to the uncontrolled flight in figure 17, the target will only be reached when a controller is
applied to the system.
design an altitude controller that will result in the parafoil starting at a location and landing within the
accepted bounds of a target location. It will go over the equations of motion, picking out the key
formulas that map out how a parafoil moves, and determine the key inputs in order to get the desired
outcome of a controlled trajectory. The physics found in the equations of motion will be turned into
state space representations that organize it into differential equations that coding software can make
use of to make trajectory calculations. MATLAB is the software used throughout the paper, and all code
used in the thesis paper will be written out for others to check and modify to their desires. Important
aspects of parafoil gliding motion will be discussed and tested with variables such as the natural glide
angle and velocity and the utilization of checkpoints in trajectory controller design. Lastly, the region of
attraction for the controller designed in this thesis paper will be discussed and plotted in order to show
the relationship between the four input variables, x position, y position, velocity, and theta.
The controller utilized in this thesis paper was able to plot a successful flight trajectory from
10m in the air to a target location 50m away. This plot is found in figure 18. The parafoil undershot the
target location by about 9 centimeters (0.18% error). This is an acceptable amount of error and shows
that the controller was a success in controlling the system to reach its target destination. When
compared to the uncontrolled flight in figure 17, the target will only be reached when a controller is
applied to the system.
ContributorsTeoharevic, Filip (Author) / Grewal, Anoop (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
Aluminum alloys are commonly used for engineering applications due to their high strength to weight ratio, low weight, and low cost. Pitting corrosion, accelerated by saltwater environments, leads to fatigue cracks and stress corrosion cracking during service. Two-dimensional (2D) characterization methods are typically used to identify and characterize corrosion; however, these methods are destructive and do not enable an efficient means of quantifying mechanisms of pit initiation and growth. In this study, lab-scale x-ray microtomography was used to non-destructively observe, quantify, and understand pit growth in three dimensions over a 20-day corrosion period in the AA7075-T651 alloy. The XRT process, capable of imaging sample volumes with a resolution near one micrometer, was found to be an ideal tool for large-volume pit examination. Pit depths were quantified over time using renderings of sample volumes, leading to an understanding of how inclusion particles, oxide breakdown, and corrosion mechanisms impact the growth and morphology of pits. This process, when carried out on samples produced with two different rolling directions and rolling extents, yielded novel insights into the long-term macroscopic corrosion behaviors impacted by alloy production and design. Key among these were the determinations that the alloy’s rolling direction produces a significant difference in the average growth rate of pits and that the corrosion product layer loses its passivating effect as a result of cyclic immersion. In addition, a new mechanism of pitting corrosion is proposed which is focused on the pseudo-random spatial distribution of iron-rich inclusion particles in the alloy matrix, which produces a random distribution of pit depths based on the occurrence of co-operative corrosion near inclusion clusters.
ContributorsSinclair, Daniel Ritchie (Author) / Chawla, Nikhilesh (Thesis director) / Jiao, Yang (Committee member) / Bale, Hrishikesh (Committee member) / School of International Letters and Cultures (Contributor) / Materials Science and Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
A heterogeneous team of robots working in symbiosis can maximize their strengths while complementing each other’s weaknesses. These simple robots can achieve more working together than they could on their own but cost less than a single robot with the same combination of capabilities. This project aims to validate the symbiotic relationship of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) with a physical implementation of a heterogenous team of robots and a demonstration of their capabilities. This paper details the selection of robots, the design of the physical coupling mechanism, and the design of the autonomous controls. An experiment was performed to assess the capabilities of the robots according to four performance criteria. The UGV must navigate a space while the UAV follows. The UAV must couple with the UGV. The UAV must lift the UGV over an obstacle. The UGV must navigate the space while carrying the UAV.
ContributorsBreaux, Chris (Author) / Artemiadis, Panagiotis (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12
Description
Walking ability is a complex process that is essential to humans, critical for performing a range of everyday tasks and enables a healthy, independent lifestyle. Human gait has evolved to be robust, adapting to a wide range of external stimuli, including variable walking surface compliance. Unfortunately, many people suffer from impaired gait as a result of conditions such as stroke. For these individuals, recovering their gait is a priority and a challenge. The ASU Variable Stiffness Treadmill (VST) is a device that is able to the change its surface compliance through its unique variable stiffness mechanism. By doing this, the VST can be used to investigate gait and has potential as a rehabilitation tool. The objective of this research is to design a variable damping mechanism for the VST, which addresses the need to control effective surface damping, the only form of mechanical impedance that the VST does not currently control. Thus, this project will contribute toward the development of the Variable Impedance Treadmill (VIT), which will encompass a wider range of variable surface compliance and enable all forms of impedance to be con- trolled for the first time. To achieve this, the final design of the mechanism will employ eddy current damping using several permanent magnets mounted to the treadmill and a large copper plate stationed on the ground. Variable damping is obtained by using lead screw mechanisms to remove magnets from acting on the copper plate, which effectively eliminates their effect on damping and changes the overall treadmill surface damping. Results from experimentation validate the mechanism's ability to provide variable damping to the VST. A model for effective surface damping is generated based on open-loop characterization experiments and is generalized for future experimental setups. Overall, this project progresses to the development of the VIT and has potential applications in walking surface simulation, gait investigation, and robot-assisted rehabilitation technology.
ContributorsFou, Linda Guo (Author) / Artemiadis, Panagiotis (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor, Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
Graphene is a very strong two-dimensional material with a lot of potential applications in microelectromechanical systems (MEMS). In this research, graphene is being optimized for use in a 5 m x 5 m graphene resonator. To work properly, this graphene resonator must have a uniform strain across all manufactured devices. To reduce strain induced in graphene sheets grown for use in these resonators, evaporated platinum has been used in this investigation due to its relatively lower surface roughness compared to copper films. The final goal is to have the layer of ultrathin platinum (<=200 nm) deposited on the MEMS graphene resonator and used to grow graphene directly onto the devices to remove the manual transfer step due to its inscalability. After growth, graphene is coated with polymer and the platinum is then etched. This investigation concentrated on the transfer process of graphene onto Si/SiO2 substrate from the platinum films. It was determined that the ideal platinum etchant was aqua regia at a volumetric ratio of 6:3:1 (H2O:HCl:HNO3). This concentration was dilute enough to preserve the polymer and graphene layer, but strong enough to etch within a day. Type and thickness of polymer support layers were also investigated. PMMA at a thickness of 200 nm was ideal because it was easy to remove with acetone and strong enough to support the graphene during the etch process. A reference growth recipe was used in this investigation, but now that the transfer has been demonstrated, growth can be optimized for even thinner films.
ContributorsCayll, David Richard (Author) / Tongay, Sefaattin (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Widespread knowledge of fracture mechanics is mostly based on previous models that generalize crack growth in materials over several loading cycles. The objective of this project is to characterize crack growth that occurs in titanium alloys, specifically Grade 5 Ti-6Al-4V, at the sub-cycle scale, or within a single loading cycle. Using scanning electron microscopy (SEM), imaging analysis is performed to observe crack behavior at ten loading steps throughout the loading and unloading paths. Analysis involves measuring the incremental crack growth and crack tip opening displacement (CTOD) of specimens at loading ratios of 0.1, 0.3, and 0.5. This report defines the relationship between crack growth and the stress intensity factor, K, of the specimens, as well as the relationship between the R-ratio and stress opening level. The crack closure phenomena and effect of microcracks are discussed as they influence the crack growth behavior. This method has previously been used to characterize crack growth in Al 7075-T6. The results for Ti-6Al-4V are compared to these previous findings in order to strengthen conclusions about crack growth behavior.
ContributorsNazareno, Alyssa Noelle (Author) / Liu, Yongming (Thesis director) / Jiao, Yang (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Due to high DRAM access latency and energy, several convolutional neural network(CNN) accelerators face performance and energy efficiency challenges, which are critical for embedded implementations. As these applications exploit larger datasets, memory accesses of these emerging applications are increasing. As a result, it is difficult to predict the combined dynamic random access memory (DRAM) workload behavior, which can sabotage memory optimizations in software. To understand the impact of external memory access on CNN accelerators which reduces the high DRAMaccess latency and energy, simulators such as RAMULATOR and VAMPIRE have been proposed in prior work. In this work, we utilize these simulators to benchmark external memory access in CNN accelerators. Experiments are performed generating trace files based on the number of parameters and data precision and also using trace file generated for CNN Accelerator Altera Arria 10 GX 1150 FPGA data to complete the end to end workflow using the mentioned simulators. Besides that, certain modifications were made in the default VAMPIRE code to implement certain functionalities such as PREA(Precharge All) and REF(Refresh). Then, precalculated energies were computed for DDR3, DDR4, and HBM based on the micron model to mention it in the dram specification file inputted to the VAMPIRE tool. An experimental study was performed and a comparison is made between DDR3, DDR4, and HBM, it was proved that DDR4 is nearly 31% more energy-efficient than DDR3 and HBMis 54% energy-efficient than DDR3. Performed modeling and experimental analysis on a large set of data and then split it into a set of data and compared the results of the small sets multiplied with the number of sets and the large data set and concluded that the results were nearly the same. Finally, a GUI is developed by wrapping both the simulators. GUI provides user-friendly access and can analyze the parameters without much prior knowledge and understanding of the working.
ContributorsPannala, Manvitha (Author) / Cao, Yu (Thesis advisor) / Chakrabarti, Chaitali (Committee member) / Seo, Jae-Sun (Committee member) / Arizona State University (Publisher)
Created2021
Description
With the substantial development of intelligent robots, human-robot interaction (HRI) has become ubiquitous in applications such as collaborative manufacturing, surgical robotic operations, and autonomous driving. In all these applications, a human behavior model, which can provide predictions of human actions, is a helpful reference that helps robots to achieve intelligent interaction with humans. The requirement elicits an essential problem of how to properly model human behavior, especially when individuals are interacting or cooperating with each other. The major objective of this thesis is to utilize the human intention decoding method to help robots enhance their performance while interacting with humans. Preliminary work on integrating human intention estimation with an HRI scenario is shown to demonstrate the benefit. In order to achieve this goal, the research topic is divided into three phases. First, a novel method of an online measure of the human's reliance on the robot, which can be estimated through the intention decoding process from human actions，is described. An experiment that requires human participants to complete an object-moving task with a robot manipulator was conducted under different conditions of distractions. A relationship is discovered between human intention and trust while participants performed a familiar task with no distraction. This finding suggests a relationship between the psychological construct of trust and joint physical coordination, which bridges the human's action to its mental states. Then, a novel human collaborative dynamic model is introduced based on game theory and bounded rationality, which is a novel method to describe human dyadic behavior with the aforementioned theories. The mutual intention decoding process was also considered to inform this model. Through this model, the connection between the mental states of the individuals to their cooperative actions is indicated. A haptic interface is developed with a virtual environment and the experiments are conducted with 30 human subjects. The result suggests the existence of mutual intention decoding during the human dyadic cooperative behaviors. Last, the empirical results show that allowing agents to have empathy in inference, which lets the agents understand that others might have a false understanding of their intentions, can help to achieve correct intention inference. It has been verified that knowledge about vehicle dynamics was also important to correctly infer intentions. A new courteous policy is proposed that bounded the courteous motion using its inferred set of equilibrium motions. A simulation, which is set to reproduce an intersection passing case between an autonomous car and a human driving car, is conducted to demonstrate the benefit of the novel courteous control policy.
ContributorsWang, Yiwei (Author) / Zhang, Wenlong (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yang, Yezhou (Committee member) / Arizona State University (Publisher)
Created2021
Description
In the development of autonomous ground vehicles (AGVs), how to guarantee vehicle lateral stability is one of the most critical aspects. Based on nonlinear vehicle lateral and tire dynamics, new driving requirements of AGVs demand further studies and analyses of vehicle lateral stability control strategies. To achieve comprehensive analyses and stability-guaranteed vehicle lateral driving control, this dissertation presents three main contributions.First, a new method is proposed to estimate and analyze vehicle lateral driving stability regions, which provide a direct and intuitive demonstration for stability control of AGVs. Based on a four-wheel vehicle model and a nonlinear 2D analytical LuGre tire model, a local linearization method is applied to estimate vehicle lateral driving stability regions by analyzing vehicle local stability at each operation point on a phase plane. The obtained stability regions are conservative because both vehicle and tire stability are simultaneously considered. Such a conservative feature is specifically important for characterizing the stability properties of AGVs.
Second, to analyze vehicle stability, two novel features of the estimated vehicle lateral driving stability regions are studied. First, a shifting vector is formulated to explicitly describe the shifting feature of the lateral stability regions with respect to the vehicle steering angles. Second, dynamic margins of the stability regions are formulated and applied to avoid the penetration of vehicle state trajectory with respect to the region boundaries. With these two features, the shiftable stability regions are feasible for real-time stability analysis.
Third, to keep the vehicle states (lateral velocity and yaw rate) always stay in the shiftable stability regions, different control methods are developed and evaluated. Based on different vehicle control configurations, two dynamic sliding mode controllers (SMC) are designed. To better control vehicle stability without suffering chattering issues in SMC, a non-overshooting model predictive control is proposed and applied. To further save computational burden for real-time implementation, time-varying control-dependent invariant sets and time-varying control-dependent barrier functions are proposed and adopted in a stability-guaranteed vehicle control problem.
Finally, to validate the correctness and effectiveness of the proposed theories, definitions, and control methods, illustrative simulations and experimental results are presented and discussed.
ContributorsHuang, Yiwen (Author) / Chen, Yan (Thesis advisor) / Lee, Hyunglae (Committee member) / Ren, Yi (Committee member) / Yong, Sze Zheng (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021
Description
Building and optimizing a design for deformable media can be extremely costly. However, granular scaling laws enable the ability to predict system velocity and mobility
power consumption by testing at a smaller scale in the same environment. The validity of
the granular scaling laws for arbitrarily shaped wheels and screws were evaluated in
materials like silica sand and BP-1, a lunar simulant. Different wheel geometries, such as
non-grousered and straight and bihelically grousered wheels were created and tested
using 3D printed technologies. Using the granular scaling laws and the empirical data
from initial experiments, power and velocity were predicted for a larger scaled version
then experimentally validated on a dynamic mobility platform. Working with granular
media has high variability in material properties depending on initial environmental
conditions, so particular emphasis was placed on consistency in the testing methodology.
Through experiments, these scaling laws have been validated with defined use cases and
limitations.
ContributorsMcbryan, Teresa (Author) / Marvi, Hamidreza (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2022