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- All Subjects: engineering
- Creators: Arizona State University
- Status: Published
Description
This dissertation studies the methods to enhance the performance of foldable robots manufactured by laminated techniques. This class of robots are unique in their manufacturing process, which involves cutting and staking up thin layers of different materials with various stiffness. While inheriting the advantages of soft robots -- low weight, affordable manufacturing cost and a fast prototyping process -- a wider range of actuators is available to these mechanisms, while modeling their behavior requires less computational cost.The fundamental question this dissertation strives to answer is how to decode and leverage the effect of material stiffness in these robots. These robots' stiffness is relatively limited due to their slender design, specifically at larger scales. While compliant robots may have inherent advantages such as being safer to work around, this low rigidity makes modeling more complex. This complexity is mostly contained in material deformation since the conventional actuators such as servo motors can be easily leveraged in these robots. As a result, when introduced to real-world environments, efficient modeling and control of these robots are more achievable than conventional soft robots.
Various approaches have been taken to design, model, and control a variety of laminate robot platforms by investigating the effect of material deformation in prototypes while they interact with their working environments. The results obtained show that data-driven approaches such as experimental identification and machine learning techniques are more reliable in modeling and control of these mechanisms. Also, machine learning techniques for training robots in non-ideal experimental setups that encounter the uncertainties of real-world environments can be leveraged to find effective gaits with high performance. Our studies on the effect of stiffness of thin, curved sheets of materials has evolved into introducing a new class of soft elements which we call Soft, Curved, Reconfigurable, Anisotropic Mechanisms (SCRAMs). Like bio-mechanical systems, SCRAMs are capable of re-configuring the stiffness of curved surfaces to enhance their performance and adaptability. Finally, the findings of this thesis show promising opportunities for foldable robots to become an alternative for conventional soft robots since they still offer similar advantages in a fraction of computational expense.
ContributorsSharifzadeh, Mohammad (Author) / Aukes, Daniel (Thesis advisor) / Sugar, Thomas (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2021
Description
Granular materials demonstrate complexity in many physical attributes with various shapes and sizes, varying from several centimeters down to less than a few microns. Some materials are highly cohesive, while others are free-flowing. Despite such complexity in their physical properties, they are extremely important in industries dealing with bulk materials. Through this research, the factors affecting flowability of particulate solids and their interaction with projectiles were explored. In Part I, a novel set of characterization tools to relate various granular material properties to their flow behavior in confined and unconfined environments was investigated. Through this work, a thorough characterization study to examine the effects of particle size, particle size distribution, and moisture on bulk powder flowability were proposed. Additionally, a mathematical model to predict the flow function coefficient (FFC) was developed, based on the surface mean diameter and moisture level, which can serve as a flowability descriptor.
Part II of this research focuses on the impact dynamics of low velocity projectiles on granular media. Interaction of granular media with external foreign bodies occurs in everyday events like a human footprint on the beach. Several studies involving numerical and experimental methods have focused on the study of impact dynamics in both dry and wet granular media. However, most of the studies involving impact dynamics considered spherical projectiles under different conditions, while practical models should involve more complex, realistic shapes. Different impacting geometries with conserved density, volume, and velocity on a granular bed may experience contrasting drag forces upon penetration. This is due to the difference in the surface areas coming into contact with the granular media. In this study, a set of non-spherical geometries comprising cuboids, cylinders, hexagonal prisms and triangular prisms with constant density, volume, and impact velocities, were released onto a loosely packed, non-cohesive, dry granular bed. From these experimental results, a model to determine the penetration depth of projectiles upon impact was developed and how it is influenced by the release height and surface area of the projectiles in contact with the granular media was studied.
ContributorsVajrala, Spandana (Author) / Emady, Heather N (Thesis advisor) / Marvi, Hamidreza (Committee member) / Jiao, Yang (Committee member) / Arizona State University (Publisher)
Created2021
Description
Corrosion is one of the key failure modes for stainless steel (SS) piping assets handling water resources managed by utility companies. During downtime, the costs start to incur as the field engineer procures its replacement parts. The parts may or may not be in stock depending on how old, complex, and common the part model is. As a result, water utility companies and its resilience to operate amid part failure are a strong function of the supply chain for replacement piping. Metal additive manufacturing (AM) has been widely recognized for its ability to (a) deliver small production scales, (b) address complex part geometries, (c) offer large elemental metal and alloy selections, (d) provide superior material properties. The key motive is to harvest the short lead time of metal AM to explore its use for replacement parts for legacy piping assets in utility-scale water management facilities. In this paper, the goal was to demonstrate 3D printing of stainless steel (SS) 316L parts using selective laser melting (SLM) technology. The corrosion resistance of 3D printed SS 316L was investigated using (a) Chronoamperometry (b) Cyclic Potentiodynamic Polarization (CPP) and Electrochemical Impedance Spectroscopy (EIS) and its improved resistance from wrought (conventional) part was also studied. Then the weldability of 3D printed SS 316L to wrought SS 316L was illustrated and finally, the mechanical strength of the weld and the effect of corrosion on weld strength was investigated using uniaxial tensile testing. The results show that 3D printed part compared to the wrought part has a) lower mass loss before and after corrosion, (b) higher pitting potential, and (c) higher charge transfer resistance. The tensile testing of welded dog bone specimens indicates that the 3D printed parts despite being less ductile were observed to have higher weld strength compared to the wrought part. On this basis, metal AM holds great value to be explored further for replacement piping parts owing to their better corrosion resistance and mechanical performance.
ContributorsSampath, Venkata Krishnan (Author) / Azeredo, Bruno (Thesis advisor) / Torres, Cesar (Committee member) / Mu, Bin (Committee member) / Arizona State University (Publisher)
Created2021
Description
Image segmentation is an important and challenging area of research in computer vision with various applications in medical imaging. Image segmentation refers to the process of partitioning an image into meaningful parts having similar attributes. Traditional manual segmentation approaches rely on human expertise to outline object boundaries in images which is a tedious and expensive process. In recent years, Deep Convolutional Neural Networks have demonstrated excellent performance in tasks such as detection, localization, recognition and segmentation of objects. However, these models require a large set of labeled training data which is difficult to obtain for medical images. To solve this problem, interactive segmentation techniques can be used to serve as a trade-off between fully automated and manual approaches. This allows a human expert in the loop as a form of guidance and refinement together with deep neural networks. This thesis proposes an interactive training strategy for segmentation, where a robot-user is utilized during training to mimic an actual annotator and provide corrections to the predicted masks by drawing scribbles. These scribbles are then used as supervisory signals and fed to the network; which interactively refines the segmentation map through several iterations of training. Further, the conducted experiments using various heuristic click strategies demonstrate that user interaction in the form of curves inside the organ of interest achieve optimal editing performance. Moreover, by using the popular image segmentation architectures based on U-Net as base models, segmentation performance is further improved; signifying that the accuracy gain of the interactive correction conform to the accuracy of the initial segmentation map.
ContributorsGoyal, Diksha (Author) / Liang, Jianming Dr. (Thesis advisor) / Wang, Yalin Dr. (Committee member) / Demakethepalli Venkateswara, Hemanth Kumar Dr. (Committee member) / Arizona State University (Publisher)
Created2021
Description
Organic materials have emerged as an attractive component of electronics over the past few decades, particularly in the development of efficient and stable organic light-emitting diodes (OLEDs) and organic neuromorphic devices. The electrical, chemical, physical, and optical studies of organic materials and their corresponding devices have been conducted for efficient and stable electronics. The development of efficient and stable deep blue OLED devices remains a challenge that has obstructed the progress of large-scale OLED commercialization. One approach was taken to achieve a deep blue emitter through a color tuning strategy. A new complex, PtNONS56-dtb, was designed and synthesized by controlling the energy gap between T1 and T2 energy states to achieve narrowed and blueshifted emission spectra. This emitter material showed an emission spectrum at 460 nm with a FWHM of 59 nm at room temperature in PMMA, and the PtNONS56-dtb-based device exhibited a peak EQE of 8.5% with CIE coordinates of (0.14, 0.27).
A newly developed host and electron blocking materials were demonstrated to achieve efficient and stable OLED devices. The indolocarbazole-based materials were designed to have good hole mobility and high triplet energy. BCN34 as an electron blocking material achieved the estimated LT80 of 12509 h at 1000 cd m-2 with a peak EQE of 30.3% in devices employing Pd3O3 emitter. Additionally, a device with bi-layer emissive layer structure, using BCN34 and CBP as host materials doped with PtN3N emitter, achieved a peak EQE of 16.5% with the LT97 of 351 h at 1000 cd m-2. A new neuromorphic device using Ru(bpy)3(PF6)2 as an active layer was designed to emulate the short-term characteristics of a biological synapse. This memristive device showed a similar operational mechanism with biological synapse through the movement of ions and electronic charges. Furthermore, the performance of the device showed tunability by adding salt. Ultimately, the device with 2% LiClO4 salt shows similar timescales to short-term plasticity characteristics of biological synapses.
ContributorsShin, Samuel (Author) / Li, Jian (Thesis advisor) / Adams, James (Committee member) / Alford, Terry (Committee member) / Arizona State University (Publisher)
Created2021
Description
The workforce demographics are changing as a large portion of the population is approaching retirement and thus leaving vacancies in the construction industry. Succession planning is an aspect of talent management which aims to mitigate instability faced by a company when a new successor fills a vacancy. Research shows that in addition to a diminishing pool of available talent, the industry does not have widespread, empirically tested and implemented models that lead to effective successions. The objective of this research was to create a baseline profile for succession planning in the construction industry by identifying currently implemented best practices. The author interviewed six companies of varying sizes and demographics within the construction industry and compared their succession planning methodologies to identify any common challenges and practices. Little consensus between the companies was found. The results of the interviews were then compared to current research literature, but even here, little consensus was found. In addition, companies lacked quantitative performance metrics demonstrating the effectiveness, or ineffectiveness, of their current succession planning methodologies. The authors recommended that additional research is carried out to focus on empirical evidence and measurement of industry practices surrounding talent identification, development, and transition leading to succession.
ContributorsGunnoe, Jake A (Author) / Sullivan, Kenneth (Thesis advisor) / Wiezel, Avi (Committee member) / Kashiwagi, Dean (Committee member) / Arizona State University (Publisher)
Created2015
Description
An acute and crucial societal problem is the energy consumed in existing commercial buildings. There are 1.5 million commercial buildings in the U.S. with only about 3% being built each year. Hence, existing buildings need to be properly operated and maintained for several decades. Application of integrated centralized control systems in buildings could lead to more than 50% energy savings.
This research work demonstrates an innovative adaptive integrated lighting control approach which could achieve significant energy savings and increase indoor comfort in high performance office buildings. In the first phase of the study, a predictive algorithm was developed and validated through experiments in an actual test room. The objective was to regulate daylight on a specified work plane by controlling the blind slat angles. Furthermore, a sensor-based integrated adaptive lighting controller was designed in Simulink which included an innovative sensor optimization approach based on genetic algorithm to minimize the number of sensors and efficiently place them in the office. The controller was designed based on simple integral controllers. The objective of developed control algorithm was to improve the illuminance situation in the office through controlling the daylight and electrical lighting. To evaluate the performance of the system, the controller was applied on experimental office model in Lee et al.’s research study in 1998. The result of the developed control approach indicate a significantly improvement in lighting situation and 1-23% and 50-78% monthly electrical energy savings in the office model, compared to two static strategies when the blinds were left open and closed during the whole year respectively.
This research work demonstrates an innovative adaptive integrated lighting control approach which could achieve significant energy savings and increase indoor comfort in high performance office buildings. In the first phase of the study, a predictive algorithm was developed and validated through experiments in an actual test room. The objective was to regulate daylight on a specified work plane by controlling the blind slat angles. Furthermore, a sensor-based integrated adaptive lighting controller was designed in Simulink which included an innovative sensor optimization approach based on genetic algorithm to minimize the number of sensors and efficiently place them in the office. The controller was designed based on simple integral controllers. The objective of developed control algorithm was to improve the illuminance situation in the office through controlling the daylight and electrical lighting. To evaluate the performance of the system, the controller was applied on experimental office model in Lee et al.’s research study in 1998. The result of the developed control approach indicate a significantly improvement in lighting situation and 1-23% and 50-78% monthly electrical energy savings in the office model, compared to two static strategies when the blinds were left open and closed during the whole year respectively.
ContributorsKarizi, Nasim (Author) / Reddy, T. Agami (Thesis advisor) / Bryan, Harvey (Committee member) / Dasgupta, Partha (Committee member) / Kroelinger, Michael D. (Committee member) / Arizona State University (Publisher)
Created2015
Cancer autoantibody biomarker discovery and validation using nucleic acid programmable protein array
Description
Currently in the US, many patients with cancer do not benefit from the population-based screening, due to challenges associated with the existing cancer screening scheme. Blood-based diagnostic assays have the potential to detect diseases in a non-invasive way. Proteins released from small early tumors may only be present intermittently and get diluted to tiny concentrations in the blood, making them difficult to use as biomarkers. However, they can induce autoantibody (AAb) responses, which can amplify the signal and persist in the blood even if the antigen is gone. Circulating autoantibodies is a promising class of molecules that have potential to serve as early detection biomarkers for cancers. This Ph.D thesis aims to screen for autoantibody biomarkers for the early detection of two deadly cancer, basal-like breast cancer and lung adenocarcinoma. First, a method was developed to display proteins in both native and denatured conformation on protein array. This method adopted a novel protein tag technology, called HaloTag, to covalently immobilize proteins on glass slide surface. The covalent attachment allowed these proteins to endure harsh treatment without getting dissociated from slide surface, which enabled the profiling of antibody responses against both conformational and linear epitopes. Next, a plasma screening protocol was optimized to significantly increase signal to noise ratio of protein array based AAb detection. Following this, the AAb responses in basal-like breast cancer were explored using nucleic acid programmable protein arrays (NAPPA) containing 10,000 full-length human proteins in 45 cases and 45 controls. After verification in a large sample set (145 basal-like breast cancer cases / 145 controls / 70 non-basal breast cancer) by ELISA, a 13-AAb classifier was developed to differentiate patients from controls with a sensitivity of 33% at 98% specificity. Similar approach was also applied to the lung cancer study to identify AAbs that distinguished lung cancer patients from computed-tomography positive benign pulmonary nodules (137 lung cancer cases, 127 smoker controls, 170 benign controls). In this study, two panels of AAbs were discovered that showed promising sensitivity and specificity. Six out of eight AAb targets were also found to have elevated mRNA level in lung adenocarcinoma patients using TCGA data. These projects as a whole provide novel insights on the association between AAbs and cancer, as well as general B cell antigenicity against self-proteins.
ContributorsWang, Jie (Author) / LaBaer, Joshua (Thesis advisor) / Anderson, Karen S (Committee member) / Lake, Douglas F (Committee member) / Chang, Yung (Committee member) / Arizona State University (Publisher)
Created2015
Description
One of the most remarkable outcomes resulting from the evolution of the web into Web 2.0, has been the propelling of blogging into a widely adopted and globally accepted phenomenon. While the unprecedented growth of the Blogosphere has added diversity and enriched the media, it has also added complexity. To cope with the relentless expansion, many enthusiastic bloggers have embarked on voluntarily writing, tagging, labeling, and cataloguing their posts in hopes of reaching the widest possible audience. Unbeknown to them, this reaching-for-others process triggers the generation of a new kind of collective wisdom, a result of shared collaboration, and the exchange of ideas, purpose, and objectives, through the formation of associations, links, and relations. Mastering an understanding of the Blogosphere can greatly help facilitate the needs of the ever growing number of these users, as well as producers, service providers, and advertisers into facilitation of the categorization and navigation of this vast environment. This work explores a novel method to leverage the collective wisdom from the infused label space for blog search and discovery. The work demonstrates that the wisdom space can provide a most unique and desirable framework to which to discover the highly sought after background information that could aid in the building of classifiers. This work incorporates this insight into the construction of a better clustering of blogs which boosts the performance of classifiers for identifying more relevant labels for blogs, and offers a mechanism that can be incorporated into replacing spurious labels and mislabels in a multi-labeled space.
ContributorsGalan, Magdiel F (Author) / Liu, Huan (Thesis advisor) / Davulcu, Hasan (Committee member) / Ye, Jieping (Committee member) / Li, Baoxin (Committee member) / Arizona State University (Publisher)
Created2015
Description
Stroke accounts for high rates of mortality and disability in the United States. It levies great economic burden on the affected subjects, their family and the society at large. Motor impairments after stroke mainly manifest themselves as hemiplegia or hemiparesis in the upper and lower limbs. Motor recovery is highly variable but can be enhanced through motor rehabilitation with sufficient movement repetition and intensity. Cost effective assistive devices that can augment therapy by increasing movement repetition both at home and in the clinic may facilitate recovery. This thesis aims to develop a Smart Glove that can enhance motor recovery by providing feedback to both the therapist and the patient on the number of hand movements (wrist and finger extensions) performed during therapy. The design implements resistive flex sensors for detecting the extensions and processes the information using the Lightblue bean microcontroller mounted on the wrist. Communication between the processing unit and display module is wireless and executes Bluetooth 4.0 communication protocol. The capacity for the glove to measure and record hand movements was tested on three stroke and one traumatic brain injured patient while performing a box and blocks test. During testing many design flaws were noted and several were adapted during testing to improve the function of the glove. Results of the testing showed that the glove could detect wrist and finger extensions but that the sensitivity had to be calibrated for each patient. It also allowed both the therapist and patient to know whether the patient was actually performing the task in the manner requested by the therapist. Further work will reveal whether this feedback can enhance recovery of hand function in neurologically impaired patients.
ContributorsSasidharan, Smrithi (Author) / Kleim, Jeffrey A. (Thesis advisor) / Santello, Marco (Committee member) / Buneo, Christopher A. (Committee member) / Arizona State University (Publisher)
Created2015