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- All Subjects: Mechanical Engineering
- Creators: Arizona State University
Description
As robotic systems are used in increasingly diverse applications, the interaction of humans and robots has become an important area of research. In many of the applications of physical human robot interaction (pHRI), the robot and the human can be seen as cooperating to complete a task with some object of interest. Often these applications are in unstructured environments where many paths can accomplish the goal. This creates a need for the ability to communicate a preferred direction of motion between both participants in order to move in coordinated way. This communication method should be bidirectional to be able to fully utilize both the robot and human capabilities. Moreover, often in cooperative tasks between two humans, one human will operate as the leader of the task and the other as the follower. These roles may switch during the task as needed. The need for communication extends into this area of leader-follower switching. Furthermore, not only is there a need to communicate the desire to switch roles but also to control this switching process. Impedance control has been used as a way of dealing with some of the complexities of pHRI. For this investigation, it was examined if impedance control can be utilized as a way of communicating a preferred direction between humans and robots. The first set of experiments tested to see if a human could detect a preferred direction of a robot by grasping and moving an object coupled to the robot. The second set tested the reverse case if the robot could detect the preferred direction of the human. The ability to detect the preferred direction was shown to be up to 99% effective. Using these results, a control method to allow a human and robot to switch leader and follower roles during a cooperative task was implemented and tested. This method proved successful 84% of the time. This control method was refined using adaptive control resulting in lower interaction forces and a success rate of 95%.
ContributorsWhitsell, Bryan (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Santos, Veronica (Committee member) / Arizona State University (Publisher)
Created2014
Description
The slider-crank mechanism is popularly used in internal combustion engines to convert the reciprocating motion of the piston into a rotary motion. This research discusses an alternate mechanism proposed by the Wiseman Technology Inc. which involves replacing the crankshaft with a hypocycloid gear assembly. The unique hypocycloid gear arrangement allows the piston and the connecting rod to move in a straight line, creating a perfect sinusoidal motion. To analyze the performance advantages of the Wiseman mechanism, engine simulation software was used. The Wiseman engine with the hypocycloid piston motion was modeled in the software and the engine's simulated output results were compared to those with a conventional engine of the same size. The software was also used to analyze the multi-fuel capabilities of the Wiseman engine using a contra piston. The engine's performance was studied while operating on diesel, ethanol and gasoline fuel. Further, a scaling analysis on the future Wiseman engine prototypes was carried out to understand how the performance of the engine is affected by increasing the output power and cylinder displacement. It was found that the existing Wiseman engine produced about 7% less power at peak speeds compared to the slider-crank engine of the same size. It also produced lower torque and was about 6% less fuel efficient than the slider-crank engine. These results were concurrent with the dynamometer tests performed in the past. The 4 stroke diesel variant of the same Wiseman engine performed better than the 2 stroke gasoline version as well as the slider-crank engine in all aspects. The Wiseman engine using contra piston showed poor fuel efficiency while operating on E85 fuel. But it produced higher torque and about 1.4% more power than while running on gasoline. While analyzing the effects of the engine size on the Wiseman prototypes, it was found that the engines performed better in terms of power, torque, fuel efficiency and cylinder BMEP as their displacements increased. The 30 horsepower (HP) prototype, while operating on E85, produced the most optimum results in all aspects and the diesel variant of the same engine proved to be the most fuel efficient.
ContributorsRay, Priyesh (Author) / Redkar, Sangram (Thesis advisor) / Mayyas, Abdel Ra'Ouf (Committee member) / Meitz, Robert (Committee member) / Arizona State University (Publisher)
Created2014
Description
Creative design lies at the intersection of novelty and technical feasibility. These objectives can be achieved through cycles of divergence (idea generation) and convergence (idea evaluation) in conceptual design. The focus of this thesis is on the latter aspect. The evaluation may involve any aspect of technical feasibility and may be desired at component, sub-system or full system level. Two issues that are considered in this work are: 1. Information about design ideas is incomplete, informal and sketchy 2. Designers often work at multiple levels; different aspects or subsystems may be at different levels of abstraction Thus, high fidelity analysis and simulation tools are not appropriate for this purpose. This thesis looks at the requirements for a simulation tool and how it could facilitate concept evaluation. The specific tasks reported in this thesis are: 1. The typical types of information available after an ideation session 2. The typical types of technical evaluations done in early stages 3. How to conduct low fidelity design evaluation given a well-defined feasibility question A computational tool for supporting idea evaluation was designed and implemented. It was assumed that the results of the ideation session are represented as a morphological chart and each entry is expressed as some combination of a sketch, text and references to physical effects and machine components. Approximately 110 physical effects were identified and represented in terms of algebraic equations, physical variables and a textual description. A common ontology of physical variables was created so that physical effects could be networked together when variables are shared. This allows users to synthesize complex behaviors from simple ones, without assuming any solution sequence. A library of 16 machine elements was also created and users were given instructions about incorporating them. To support quick analysis, differential equations are transformed to algebraic equations by replacing differential terms with steady state differences), only steady state behavior is considered and interval arithmetic was used for modeling. The tool implementation is done by MATLAB; and a number of case studies are also done to show how the tool works. textual description. A common ontology of physical variables was created so that physical effects could be networked together when variables are shared. This allows users to synthesize complex behaviors from simple ones, without assuming any solution sequence. A library of 15 machine elements was also created and users were given instructions about incorporating them. To support quick analysis, differential equations are transformed to algebraic equations by replacing differential terms with steady state differences), only steady state behavior is considered and interval arithmetic was used for modeling. The tool implementation is done by MATLAB; and a number of case studies are also done to show how the tool works.
ContributorsKhorshidi, Maryam (Author) / Shah, Jami J. (Thesis advisor) / Wu, Teresa (Committee member) / Gel, Esma (Committee member) / Arizona State University (Publisher)
Created2014
Description
This thesis contains the applications of the ASU mathematical model (Tolerance Maps, T-Maps) to the construction of T-Maps for patterns of line profiles. Previously, Tolerance Maps were developed for patterns of features such as holes, pins, slots and tabs to control their position. The T-Maps that are developed in this thesis are fully compatible with the ASME Y14.5 Standard. A pattern of square profiles, both linear and 2D, is used throughout this thesis to illustrate the idea of constructing the T-Maps for line profiles. The Standard defines two ways of tolerancing a pattern of profiles - Composite Tolerancing and Multiple Single Segment Tolerancing. Further, in the composite tolerancing scheme, there are two different ways to control the entire pattern - repeating a single datum or two datums in the secondary datum reference frame. T-Maps are constructed for all the different specifications. The Standard also describes a way to control the coplanarity of discontinuous surfaces using a profile tolerance and T-Maps have been developed. Since verification of manufactured parts relative to the tolerance specifications is crucial, a least squares fit approach, which was developed earlier for line profiles, has been extended to patterns of line profiles. For a pattern, two tolerances are specified, and the manufactured profile needs to lie within the tolerance zones established by both of these tolerances. An i-Map representation of the manufactured variation, located within the T-Map is also presented in this thesis.
ContributorsRao, Shyam Subramanya (Author) / Davidson, Joseph K. (Thesis advisor) / Arizona State University (Publisher)
Created2014
Description
Generally speaking, many programs of interior design have had a gender imbalance in the student population. As a case in point, the interior design program at Arizona State University (ASU) is at present ninety percent female. While other design programs such as architecture or industrial design have achieved gender balance, interior design has not. This research explores the reasons why male students are not enrolling in the interior design program at ASU and to what degree gender influences the selection of a major. The objectives of this research are to determine: 1) what role gender plays in the selection of interior design as a choice of a major at ASU; 2) why might male students be hesitant to join the interior design program; 3) why female students are attracted to interior design; 4) if there are gender differences in design approach; and 5) if curricular differences between interior architecture and interior design impact the gender imbalance. A mixed method approach is used in order to answer the research questions including: a literature review, a visual ethnography, and interviews of interior design students and faculty members at ASU. The results reveal that gender might have an effect on students' decision to join the interior design program. For a male student, people questioned his sexuality because they assumed he would have to be of a certain sexual orientation to study interior design. According to a male faculty member upon visiting a middle school on career day, young boys would be interested in the projects displayed at the interior design booth until they figured out what it was. Even at a young age, the boys seemed to know that interior design was a female's domain. A participant stated that women seemed to be less critical of the men's projects and were more critical of each other. A male respondent stated that on the occasion there were no men in the class the studio culture changed. Another stated that interior design students did not take feedback as well as others and need to be affirmed more often. Gender socialization, the history of interior design as a feminine career, and the title "interior design" itself are all possible factors that could deter male students from joining the program. The insights acquired from this research will provide students and faculty members from The Design School and beyond a better understanding of gender socialization and what the interior design program has to offer.
ContributorsRuff, Charlene (Author) / Giard, Jacques (Thesis advisor) / Heywood, William (Committee member) / Margolis, Eric (Committee member) / Arizona State University (Publisher)
Created2014
Description
Conformance of a manufactured feature to the applied geometric tolerances is done by analyzing the point cloud that is measured on the feature. To that end, a geometric feature is fitted to the point cloud and the results are assessed to see whether the fitted feature lies within the specified tolerance limits or not. Coordinate Measuring Machines (CMMs) use feature fitting algorithms that incorporate least square estimates as a basis for obtaining minimum, maximum, and zone fits. However, a comprehensive set of algorithms addressing the fitting procedure (all datums, targets) for every tolerance class is not available. Therefore, a Library of algorithms is developed to aid the process of feature fitting, and tolerance verification. This paper addresses linear, planar, circular, and cylindrical features only. This set of algorithms described conforms to the international Standards for GD&T.; In order to reduce the number of points to be analyzed, and to identify the possible candidate points for linear, circular and planar features, 2D and 3D convex hulls are used. For minimum, maximum, and Chebyshev cylinders, geometric search algorithms are used. Algorithms are divided into three major categories: least square, unconstrained, and constrained fits. Primary datums require one sided unconstrained fits for their verification. Secondary datums require one sided constrained fits for their verification. For size and other tolerance verifications, we require both unconstrained and constrained fits
ContributorsMohan, Prashant (Author) / Shah, Jami (Thesis advisor) / Davidson, Joseph K. (Committee member) / Farin, Gerald (Committee member) / Arizona State University (Publisher)
Created2014
Description
Increasing computational demands in data centers require facilities to operate at higher ambient temperatures and at higher power densities. Conventionally, data centers are cooled with electrically-driven vapor-compressor equipment. This paper proposes an alternative data center cooling architecture that is heat-driven. The source is heat produced by the computer equipment. This dissertation details experiments investigating the quantity and quality of heat that can be captured from a liquid-cooled microprocessor on a computer server blade from a data center. The experiments involve four liquid-cooling setups and associated heat-extraction, including a radical approach using mineral oil. The trials examine the feasibility of using the thermal energy from a CPU to drive a cooling process. Uniquely, the investigation establishes an interesting and useful relationship simultaneously among CPU temperatures, power, and utilization levels. In response to the system data, this project explores the heat, temperature and power effects of adding insulation, varying water flow, CPU loading, and varying the cold plate-to-CPU clamping pressure. The idea is to provide an optimal and steady range of temperatures necessary for a chiller to operate. Results indicate an increasing relationship among CPU temperature, power and utilization. Since the dissipated heat can be captured and removed from the system for reuse elsewhere, the need for electricity-consuming computer fans is eliminated. Thermocouple readings of CPU temperatures as high as 93°C and a calculated CPU thermal energy up to 67Wth show a sufficiently high temperature and thermal energy to serve as the input temperature and heat medium input to an absorption chiller. This dissertation performs a detailed analysis of the exergy of a processor and determines the maximum amount of energy utilizable for work. Exergy as a source of realizable work is separated into its two contributing constituents: thermal exergy and informational exergy. The informational exergy is that usable form of work contained within the most fundamental unit of information output by a switching device within a CPU. Exergetic thermal, informational and efficiency values are calculated and plotted for our particular CPU, showing how the datasheet standards compare with experimental values. The dissertation concludes with a discussion of the work's significance.
ContributorsHaywood, Anna (Author) / Phelan, Patrick E (Thesis advisor) / Herrmann, Marcus (Committee member) / Gupta, Sandeep (Committee member) / Trimble, Steve (Committee member) / Myhajlenko, Stefan (Committee member) / Arizona State University (Publisher)
Created2014
Description
The study of lighting design has important implications for consumer behavior and is an important aspect of consideration for the retail industry. In today's global economy consumers can come from a number of cultural backgrounds. It is important to understand various cultures' perceptions of lighting design in order for retailers to better understand how to use lighting as a benefit to provide consumers with a desirable shopping experience. This thesis provides insight into the effects of ambient lighting on product perception among Americans and Middle Easterners. Both cultural groups' possess significant purchasing power in the worldwide market place. This research will allow marketers, designers and consumers a better understanding of how culture may play a role in consumer perceptions and behavior Results of this study are based on data gathered from 164 surveys from individuals of American and Middle Eastern heritage. Follow up interviews were also conducted to examine the nuances of product perception and potential differences across cultures. This study, using qualitative and quantitative methods, was executed using a Sequential Explanatory Strategy. Survey data were analyzed to uncover significant correlations and relationships using measures of descriptive analysis, analysis of variance (ANOVA), and regression analysis. Interviews were analyzed using theme-based coding and reported in narrative form. The results suggest that lighting does in fact have an impact on product perception, however despite minor differences, this perception does not vary much between individuals from American and Middle Eastern cultures. It was found that lighting could affect price and quality perception with reference to store-image and store atmospherics. Additionally, lighting has a higher impact on subjective impressions of product (such as Freshness, Pleasantness, and Attractiveness), more than Price and Quality perceptions. This study suggests that particular lighting characteristics could be responsible for differences in product perception between these two cultures. This is important to note for lighting designers and marketers to create retail atmospheres that are preferable to both cultures.
ContributorsAlsharhan, Dalal Anwar (Author) / Kroelinger, Michael D. (Thesis advisor) / Eaton, John (Committee member) / Heywood, William (Committee member) / Arizona State University (Publisher)
Created2013
Description
ABSTRACT Recent studies indicate that top-performing companies have higher-performing work environments than average companies. They receive higher scores for worker satisfaction with their overall physical work environment as well as higher effectiveness ratings for their workspaces (Gensler, 2008; Harter et al., 2003). While these studies indicate a relationship between effective office design and satisfaction they have not explored which specific space types may contribute to workers' overall satisfaction with their physical work environment. Therefore, the purpose of this study is to explore the relationship between workers' overall satisfaction with their physical work environments and their perception of the effectiveness of spaces designed for Conceptual Age work including learning, focusing, collaborating, and socializing tasks. This research is designed to identify which workspace types are related to workers' satisfaction with their overall work environment and which are perceived to be most and least effective. To accomplish this two primary and four secondary research questions were developed for this study. The first primary question considers overall workers' satisfaction with their overall physical work environments (offices, workstations, hallways, common areas, reception, waiting areas, etc.) related to the effective use of work mode workspaces (learning, focusing, collaborating, socializing). The second primary research question was developed to identify which of the four work mode space types had the greatest and least relationship to workers' satisfaction with the overall physical work environment. Secondary research questions were developed to address workers' perceptions of effectiveness of each space type. This research project used data from a previous study collected from 2007 to 2012. Responses were from all staff levels of US office-based office workers and resulted in a blind sample of approximately 48,000 respondents. The data for this study were developed from SPSS data reports that included descriptive data and Pearson correlations. Findings were developed from those statistics using coefficient of determination.
ContributorsHarmon-Vaughan, Elizabeth (Author) / Kroelinger, Michael D. (Thesis advisor) / Bernardi, Jose (Committee member) / Ozel, Filiz (Committee member) / Arizona State University (Publisher)
Created2013
Description
The development of literacy abilities in young children has been a major concern for authorities and teachers in the USA for the last two decades. Significant effort has been devoted to ensure that preschool settings allow and motivate children to engage in literacy activities before entering kindergarten. Research has found that a rich classroom environment in preschool settings enables teachers to encourage literacy interest in children at a young age. While a large amount of research has concentrated in testing the effect of prescriptive modifications in the classroom environment, few have focused on studying the design process and tools that teachers follow to design their classrooms. Public policy and research studies in the United States, mention the design of the classroom environment among teacher's responsibilities, but they do not include practical or methodological guides for them to use. The purpose of this research was to study the design process and tools that teachers use to design literacy rich classrooms in preschool settings. A case study was conducted at the ASU Mary Lou Fulton Teachers College Preschool at Arizona State University. This setting provides a unique opportunity for an exploratory study of this nature because it is a private child development laboratory with a flexible curriculum. Participant observation sessions and in depth semi-structured interviews were conducted to explore the design process used and experienced by the teachers. Findings revealed an iterative and cyclic design process that is repeated over time adjusting to the influence of numerous factors. Results also suggest that teacher's knowledge and beliefs highly influence the organization of their classrooms. Considering these factors as a standpoint allows for further exploration to determine a design process suitable for teachers when designing their learning environments. The use of a structured yet flexible design process, can be a potential tool for educators to design their classrooms, collaborate, document and transmit their knowledge. Although the findings correspond to a specific site studied, the implications are wide reaching as problems and opportunities expressed by the staff are common to other educational settings with similar characteristics.
ContributorsCortes, Catalina (Author) / Patel, Mookesh (Thesis advisor) / Heywood, William (Committee member) / Christie, James (Committee member) / Arizona State University (Publisher)
Created2013