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 112
Description
For decades, microelectronics manufacturing has been concerned with failures related to electromigration phenomena in conductors experiencing high current densities. The influence of interconnect microstructure on device failures related to electromigration in BGA and flip chip solder interconnects has become a significant interest with reduced individual solder interconnect volumes. A survey indicates that x-ray computed micro-tomography (µXCT) is an emerging, novel means for characterizing the microstructures' role in governing electromigration failures. This work details the design and construction of a lab-scale µXCT system to characterize electromigration in the Sn-0.7Cu lead-free solder system by leveraging in situ imaging.
In order to enhance the attenuation contrast observed in multi-phase material systems, a modeling approach has been developed to predict settings for the controllable imaging parameters which yield relatively high detection rates over the range of x-ray energies for which maximum attenuation contrast is expected in the polychromatic x-ray imaging system. In order to develop this predictive tool, a model has been constructed for the Bremsstrahlung spectrum of an x-ray tube, and calculations for the detector's efficiency over the relevant range of x-ray energies have been made, and the product of emitted and detected spectra has been used to calculate the effective x-ray imaging spectrum. An approach has also been established for filtering `zinger' noise in x-ray radiographs, which has proven problematic at high x-ray energies used for solder imaging. The performance of this filter has been compared with a known existing method and the results indicate a significant increase in the accuracy of zinger filtered radiographs.
The obtained results indicate the conception of a powerful means for the study of failure causing processes in solder systems used as interconnects in microelectronic packaging devices. These results include the volumetric quantification of parameters which are indicative of both electromigration tolerance of solders and the dominant mechanisms for atomic migration in response to current stressing. This work is aimed to further the community's understanding of failure-causing electromigration processes in industrially relevant material systems for microelectronic interconnect applications and to advance the capability of available characterization techniques for their interrogation.
In order to enhance the attenuation contrast observed in multi-phase material systems, a modeling approach has been developed to predict settings for the controllable imaging parameters which yield relatively high detection rates over the range of x-ray energies for which maximum attenuation contrast is expected in the polychromatic x-ray imaging system. In order to develop this predictive tool, a model has been constructed for the Bremsstrahlung spectrum of an x-ray tube, and calculations for the detector's efficiency over the relevant range of x-ray energies have been made, and the product of emitted and detected spectra has been used to calculate the effective x-ray imaging spectrum. An approach has also been established for filtering `zinger' noise in x-ray radiographs, which has proven problematic at high x-ray energies used for solder imaging. The performance of this filter has been compared with a known existing method and the results indicate a significant increase in the accuracy of zinger filtered radiographs.
The obtained results indicate the conception of a powerful means for the study of failure causing processes in solder systems used as interconnects in microelectronic packaging devices. These results include the volumetric quantification of parameters which are indicative of both electromigration tolerance of solders and the dominant mechanisms for atomic migration in response to current stressing. This work is aimed to further the community's understanding of failure-causing electromigration processes in industrially relevant material systems for microelectronic interconnect applications and to advance the capability of available characterization techniques for their interrogation.
ContributorsMertens, James Charles Edwin (Author) / Chawla, Nikhilesh (Thesis advisor) / Alford, Terry (Committee member) / Jiao, Yang (Committee member) / Neithalath, Narayanan (Committee member) / Arizona State University (Publisher)
Created2015
Description
The study of deflagration to detonation transition (DDT) in explosives is of prime importance with regards to insensitive munitions (IM). Critical damage owing to thermal or shock stimuli could translate to significant loss of life and material. The present study models detonation and deflagration of a commonly used granular explosive: cyclotetramethylene-tetranitramine, HMX. A robust literature review is followed by computational modeling of gas gun and DDT tube test data using the Sandia National Lab three-dimensional multi-material Eulerian hydrocode CTH. This dissertation proposes new computational practices and models that aid in predicting shock stimulus IM response. CTH was first used to model experimental data sets of DDT tubes from both Naval Surface Weapons Center and Los Alamos National Laboratory which were initiated by pyrogenic material and a piston, respectively. Analytical verification was performed, where possible, for detonation via empirical based equations at the Chapman Jouguet state with errors below 2.1%, and deflagration via pressure dependent burn rate equations. CTH simulations include inert, history variable reactive burn and Arrhenius models. The results are in excellent agreement with published HMX detonation velocities. Novel additions include accurate simulation of the pyrogenic material BKNO3 and the inclusion of porosity in energetic materials. The treatment of compaction is especially important in modeling precursory hotspots, caused by hydrodynamic collapse of void regions or grain interactions, prior to DDT of granular explosives. The CTH compaction model of HMX was verified within 11% error via a five pronged validation approach using gas gun data and employed use of a newly generated set of P-α parameters for granular HMX in a Mie-Gruneisen Equation of State. Next, the additions of compaction were extended to a volumetric surface burning model of HMX and compare well to a set of empirical burn rates. Lastly, the compendium of detonation and deflagration models was applied to the aforementioned DDT tubes and demonstrate working functionalities of all models, albeit at the expense of significant computational resources. A robust hydrocode methodology is proposed to make use of the deflagration, compaction and detonation models as a means to predict IM response to shock stimulus of granular explosive materials.
ContributorsMahon, Kelly Susan (Author) / Lee, Taewoo (Thesis advisor) / Herrmann, Marcus (Committee member) / Chen, Kangping (Committee member) / Jiao, Yang (Committee member) / Huang, Huei-Ping (Committee member) / Arizona State University (Publisher)
Created2015
Description
Materials with unprecedented properties are necessary to make dramatic changes in current and future aerospace platforms. Hybrid materials and composites are increasingly being used in aircraft and spacecraft frames; however, future platforms will require an optimal design of novel materials that enable operation in a variety of environments and produce known/predicted damage mechanisms. Nanocomposites and nanoengineered composites with CNTs have the potential to make significant improvements in strength, stiffness, fracture toughness, flame retardancy and resistance to corrosion. Therefore, these materials have generated tremendous scientific and technical interest over the past decade and various architectures are being explored for applications to light-weight airframe structures. However, the success of such materials with significantly improved performance metrics requires careful control of the parameters during synthesis and processing. Their implementation is also limited due to the lack of complete understanding of the effects the nanoparticles impart to the bulk properties of composites. It is common for computational methods to be applied to explain phenomena measured or observed experimentally. Frequently, a given phenomenon or material property is only considered to be fully understood when the associated physics has been identified through accompanying calculations or simulations.
The computationally and experimentally integrated research presented in this dissertation provides improved understanding of the mechanical behavior and response including damage and failure in CNT nanocomposites, enhancing confidence in their applications. The computations at the atomistic level helps to understand the underlying mechanochemistry and allow a systematic investigation of the complex CNT architectures and the material performance across a wide range of parameters. Simulation of the bond breakage phenomena and development of the interface to continuum scale damage captures the effects of applied loading and damage precursor and provides insight into the safety of nanoengineered composites under service loads. The validated modeling methodology is expected to be a step in the direction of computationally-assisted design and certification of novel materials, thus liberating the pace of their implementation in future applications.
The computationally and experimentally integrated research presented in this dissertation provides improved understanding of the mechanical behavior and response including damage and failure in CNT nanocomposites, enhancing confidence in their applications. The computations at the atomistic level helps to understand the underlying mechanochemistry and allow a systematic investigation of the complex CNT architectures and the material performance across a wide range of parameters. Simulation of the bond breakage phenomena and development of the interface to continuum scale damage captures the effects of applied loading and damage precursor and provides insight into the safety of nanoengineered composites under service loads. The validated modeling methodology is expected to be a step in the direction of computationally-assisted design and certification of novel materials, thus liberating the pace of their implementation in future applications.
ContributorsSubramanian, Nithya (Author) / Chattopadhyay, Aditi (Thesis advisor) / Dai, Lenore (Committee member) / Jiao, Yang (Committee member) / Liu, Yongming (Committee member) / Rajadas, John (Committee member) / Arizona State University (Publisher)
Created2018
Description
Aluminum alloys are ubiquitously used in almost all structural applications due to their high strength-to-weight ratio. Their superior mechanical performance can be attributed to complex dispersions of nanoscale intermetallic particles that precipitate out from the alloy’s solid solution and offer resistance to deformation. Although they have been extensively investigated in the last century, the traditional approaches employed in the past haven’t rendered an authoritative microstructural understanding in such materials. The effect of the precipitates’ inherent complex morphology and their three-dimensional (3D) spatial distribution on evolution and deformation behavior have often been precluded. In this study, for the first time, synchrotron-based hard X-ray nano-tomography has been implemented in Al-Cu alloys to measure growth kinetics of different nanoscale phases in 3D and reveal mechanistic insights behind some of the observed novel phase transformation reactions occurring at high temperatures. The experimental results were reconciled with coarsening models from the LSW theory to an unprecedented extent, thereby establishing a new paradigm for thermodynamic analysis of precipitate assemblies. By using a unique correlative approach, a non-destructive means of estimating precipitation-strengthening in such alloys has been introduced. Limitations of using existing mechanical strengthening models in such alloys have been discussed and a means to quantify individual contributions from different strengthening mechanisms has been established.
The current rapid pace of technological progress necessitates the demand for more resilient and high-performance alloys. To achieve this, a thorough understanding of the relationships between material properties and its structure is indispensable. To establish this correlation and achieve desired properties from structural alloys, microstructural response to mechanical stimuli needs to be understood in three-dimensions (3D). To that effect, in situ tests were conducted at the synchrotron (Advanced Photon Source) using Transmission X-Ray Microscopy as well as in a scanning electron microscope (SEM) to study real-time damage evolution in such alloys. Findings of precipitate size-dependent transition in deformation behavior from these tests have inspired a novel resilient aluminum alloy design.
The current rapid pace of technological progress necessitates the demand for more resilient and high-performance alloys. To achieve this, a thorough understanding of the relationships between material properties and its structure is indispensable. To establish this correlation and achieve desired properties from structural alloys, microstructural response to mechanical stimuli needs to be understood in three-dimensions (3D). To that effect, in situ tests were conducted at the synchrotron (Advanced Photon Source) using Transmission X-Ray Microscopy as well as in a scanning electron microscope (SEM) to study real-time damage evolution in such alloys. Findings of precipitate size-dependent transition in deformation behavior from these tests have inspired a novel resilient aluminum alloy design.
ContributorsKaira, Chandrashekara Shashank (Author) / Chawla, Nikhilesh (Thesis advisor) / Solanki, Kiran (Committee member) / Jiao, Yang (Committee member) / De Andrade, Vincent (Committee member) / Arizona State University (Publisher)
Created2017
Description
Metal Organic Frameworks(MOFs) have been used in various applications, including
sensors. The unique crystalline structure of MOFs in addition to controllability of
their pore size and their intake selectivity makes them a promising method of detection.
Detection of metal ions in water using a binary mixture of luminescent MOFs
has been reported. 3 MOFs(ZrPDA, UiO-66 and UiO-66-NH2) as detectors and 4
metal ions(Pb2+, Ni2+, Ba2+ and Cu2+) as the target species were chosen based on
cost, water stability, application and end goals.
It is possible to detect metal ions such as Pb2+ at concentrations at low as 0.005
molar using MOFs. Also, based on the luminescence responses, a method of distinguishing
between similar metal ions has been proposed. It is shown that using a
mixture of MOFs with dierent reaction to metal ions can lead to unique and specic
3D luminescence maps, which can be used to identify the present metal ions in water
and their amount.
In addition to the response of a single MOF to addition of a single metal ion,
luminescence response of ZrPDA + UiO-66 mixture to increasing concentration of
each of 4 metal ions was studied, and summarized. A new peak is observed in the
mixture, that did not exist before, and it is proposed that this peak requires metal
ions to activate
sensors. The unique crystalline structure of MOFs in addition to controllability of
their pore size and their intake selectivity makes them a promising method of detection.
Detection of metal ions in water using a binary mixture of luminescent MOFs
has been reported. 3 MOFs(ZrPDA, UiO-66 and UiO-66-NH2) as detectors and 4
metal ions(Pb2+, Ni2+, Ba2+ and Cu2+) as the target species were chosen based on
cost, water stability, application and end goals.
It is possible to detect metal ions such as Pb2+ at concentrations at low as 0.005
molar using MOFs. Also, based on the luminescence responses, a method of distinguishing
between similar metal ions has been proposed. It is shown that using a
mixture of MOFs with dierent reaction to metal ions can lead to unique and specic
3D luminescence maps, which can be used to identify the present metal ions in water
and their amount.
In addition to the response of a single MOF to addition of a single metal ion,
luminescence response of ZrPDA + UiO-66 mixture to increasing concentration of
each of 4 metal ions was studied, and summarized. A new peak is observed in the
mixture, that did not exist before, and it is proposed that this peak requires metal
ions to activate
ContributorsSirous, Peyman (Author) / Mu, Bin (Thesis advisor) / Alford, Terry (Thesis advisor) / Jiao, Yang (Committee member) / Arizona State University (Publisher)
Created2018
Description
Interstitial impurity atoms can significantly alter the chemical and physical properties of the host material. Oxygen impurity in HCP titanium is known to have a considerable strengthening effect mainly through interactions with dislocations. To better understand such an effect, first the role of oxygen on various slip planes in titanium is examined using generalized stacking fault energies (GSFE) computed by the first principles calculations. It is shown that oxygen can significantly increase the energy barrier to dislocation motion on most of the studied slip planes. Then the Peierls-Nabbaro model is utilized in conjunction with the GSFE to estimate the Peierls stress ratios for different slip systems. Using such information along with a set of tension and compression experiments, the parameters of a continuum scale crystal plasticity model, namely CRSS values, are calibrated. Effect of oxygen content on the macroscopic stress-strain response is further investigated through experiments on oxygen-boosted samples at room temperature. It is demonstrated that the crystal plasticity model can very well capture the effect of oxygen content on the global response of the samples. It is also revealed that oxygen promotes the slip activity on the pyramidal planes.
The effect of oxygen impurity on titanium is further investigated under high cycle fatigue loading. For that purpose, a two-step hierarchical crystal plasticity for fatigue predictions is presented. Fatigue indicator parameter is used as the main driving force in an energy-based crack nucleation model. To calculate the FIPs, high-resolution full-field crystal plasticity simulations are carried out using a spectral solver. A nucleation model is proposed and calibrated by the fatigue experimental data for notched titanium samples with different oxygen contents and under two load ratios. Overall, it is shown that the presented approach is capable of predicting the high cycle fatigue nucleation time. Moreover, qualitative predictions of microstructurally small crack growth rates are provided. The multi-scale methodology presented here can be extended to other material systems to facilitate a better understanding of the fundamental deformation mechanisms, and to effectively implement such knowledge in mesoscale-macroscale investigations.
The effect of oxygen impurity on titanium is further investigated under high cycle fatigue loading. For that purpose, a two-step hierarchical crystal plasticity for fatigue predictions is presented. Fatigue indicator parameter is used as the main driving force in an energy-based crack nucleation model. To calculate the FIPs, high-resolution full-field crystal plasticity simulations are carried out using a spectral solver. A nucleation model is proposed and calibrated by the fatigue experimental data for notched titanium samples with different oxygen contents and under two load ratios. Overall, it is shown that the presented approach is capable of predicting the high cycle fatigue nucleation time. Moreover, qualitative predictions of microstructurally small crack growth rates are provided. The multi-scale methodology presented here can be extended to other material systems to facilitate a better understanding of the fundamental deformation mechanisms, and to effectively implement such knowledge in mesoscale-macroscale investigations.
ContributorsGholami Bazehhour, Benyamin (Author) / Solanki, Kiran N (Thesis advisor) / Liu, Yongming (Committee member) / Oswald, Jay J (Committee member) / Rajagopalan, Jagannathan (Committee member) / Jiao, Yang (Committee member) / Arizona State University (Publisher)
Created2018
Description
The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS).
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
ContributorsGandhi, Sushrut (Author) / Berman, Spring (Thesis advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019
Description
Increasing density of microelectronic packages, results in an increase in thermal and mechanical stresses within the various layers of the package. To accommodate the high-performance demands, the materials used in the electronic package would also require improvement. Specifically, the damage that often occurs in solders that function as die-attachment and thermal interfaces need to be addressed. This work evaluates and characterizes thermo-mechanical damage in two material systems – Electroplated Tin and Sintered Nano-Silver solder.
Tin plated electrical contacts are prone to formation of single crystalline tin whiskers which can cause short circuiting. A mechanistic model of their formation, evolution and microstructural influence is still not fully understood. In this work, growth of mechanically induced tin whiskers/hillocks is studied using in situ Nano-indentation and Electron Backscatter Diffraction (EBSD). Electroplated tin was indented and monitored in vacuum to study growth of hillocks without the influence of atmosphere. Thermal aging was done to study the effect of intermetallic compounds. Grain orientation of the hillocks and the plastically deformed region surrounding the indent was studied using Focused Ion Beam (FIB) lift-out technique. In addition, micropillars were milled on the surface of electroplated Sn using FIB to evaluate the yield strength and its relation to Sn grain size.
High operating temperature power electronics use wide band-gap semiconductor devices (Silicon Carbide/Gallium Nitride). The operating temperature of these devices can exceed 250oC, preventing use of traditional Sn-solders as Thermal Interface materials (TIM). At high temperature, the thermomechanical stresses can severely degrade the reliability and life of the device. In this light, new non-destructive approach is needed to understand the damage mechanism when subjected to reliability tests such as thermal cycling. In this work, sintered nano-Silver was identified as a promising high temperature TIM. Sintered nano-Silver samples were fabricated and their shear strength was evaluated. Thermal cycling tests were conducted and damage evolution was characterized using a lab scale 3D X-ray system to periodically assess changes in the microstructure such as cracks, voids, and porosity in the TIM layer. The evolution of microstructure and the effect of cycling temperature during thermal cycling are discussed.
Tin plated electrical contacts are prone to formation of single crystalline tin whiskers which can cause short circuiting. A mechanistic model of their formation, evolution and microstructural influence is still not fully understood. In this work, growth of mechanically induced tin whiskers/hillocks is studied using in situ Nano-indentation and Electron Backscatter Diffraction (EBSD). Electroplated tin was indented and monitored in vacuum to study growth of hillocks without the influence of atmosphere. Thermal aging was done to study the effect of intermetallic compounds. Grain orientation of the hillocks and the plastically deformed region surrounding the indent was studied using Focused Ion Beam (FIB) lift-out technique. In addition, micropillars were milled on the surface of electroplated Sn using FIB to evaluate the yield strength and its relation to Sn grain size.
High operating temperature power electronics use wide band-gap semiconductor devices (Silicon Carbide/Gallium Nitride). The operating temperature of these devices can exceed 250oC, preventing use of traditional Sn-solders as Thermal Interface materials (TIM). At high temperature, the thermomechanical stresses can severely degrade the reliability and life of the device. In this light, new non-destructive approach is needed to understand the damage mechanism when subjected to reliability tests such as thermal cycling. In this work, sintered nano-Silver was identified as a promising high temperature TIM. Sintered nano-Silver samples were fabricated and their shear strength was evaluated. Thermal cycling tests were conducted and damage evolution was characterized using a lab scale 3D X-ray system to periodically assess changes in the microstructure such as cracks, voids, and porosity in the TIM layer. The evolution of microstructure and the effect of cycling temperature during thermal cycling are discussed.
ContributorsLujan Regalado, Irene (Author) / Chawla, Nikhilesh (Thesis advisor) / Frear, Darrel (Committee member) / Rajagopalan, Jagannathan (Committee member) / Jiao, Yang (Committee member) / Arizona State University (Publisher)
Created2018
Description
The world population is aging. Age-related disorders such as stroke and spinal cord injury are increasing rapidly, and such patients often suffer from mobility impairment. Wearable robotic exoskeletons are developed that serve as rehabilitation devices for these patients. In this thesis, a knee exoskeleton design with higher torque output compared to the first version, is designed and fabricated.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
ContributorsJhawar, Vaibhav (Author) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas G. (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2018
Description
Fatigue is a degradation process of materials that would lead to failure when materials are subjected to cyclic loadings. During past centuries, various of approaches have been proposed and utilized to help researchers understand the underlying theories of fatigue behavior of materials, as well as design engineering structures so that catastrophic disasters that arise from fatigue failure could be avoided. The stress-life approach is the most classical way that academia applies to analyze fatigue data, which correlates the fatigue lifetime with stress amplitudes during cyclic loadings. Fracture mechanics approach is another well-established way, by which people regard the cyclic stress intensity factor as the driving force during fatigue crack nucleation and propagation, and numerous models (such as the well-known Paris’ law) are developed by researchers.
The significant drawback of currently widely-used fatigue analysis approaches, nevertheless, is that they are all cycle-based, limiting researchers from digging into sub-cycle regime and acquiring real-time fatigue behavior data. The missing of such data further impedes academia from validating hypotheses that are related to real-time observations of fatigue crack nucleation and growth, thus the existence of various phenomena, such as crack closure, remains controversial.
In this thesis, both classical stress-life approach and fracture-mechanics-based approach are utilized to study the fatigue behavior of alloys. Distinctive material characterization instruments are harnessed to help collect and interpret key data during fatigue crack growth. Specifically, an investigation on the sub-cycle fatigue crack growth behavior is enabled by in-situ SEM mechanical testing, and a non-uniform growth mechanism within one loading cycle is confirmed by direct observation as well as image interpretation. Predictions based on proposed experimental procedure and observations show good match with cycle-based data from references, which indicates the credibility of proposed methodology and model, as well as their capability of being applied to a wide range of materials.
The significant drawback of currently widely-used fatigue analysis approaches, nevertheless, is that they are all cycle-based, limiting researchers from digging into sub-cycle regime and acquiring real-time fatigue behavior data. The missing of such data further impedes academia from validating hypotheses that are related to real-time observations of fatigue crack nucleation and growth, thus the existence of various phenomena, such as crack closure, remains controversial.
In this thesis, both classical stress-life approach and fracture-mechanics-based approach are utilized to study the fatigue behavior of alloys. Distinctive material characterization instruments are harnessed to help collect and interpret key data during fatigue crack growth. Specifically, an investigation on the sub-cycle fatigue crack growth behavior is enabled by in-situ SEM mechanical testing, and a non-uniform growth mechanism within one loading cycle is confirmed by direct observation as well as image interpretation. Predictions based on proposed experimental procedure and observations show good match with cycle-based data from references, which indicates the credibility of proposed methodology and model, as well as their capability of being applied to a wide range of materials.
ContributorsLiu, Siying (Author) / Liu, Yongming (Thesis advisor) / Jiao, Yang (Committee member) / Nian, Qiong (Committee member) / Arizona State University (Publisher)
Created2018