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Description
This report will review the mechanical and microstructural properties of the refractory element rhenium (Re) deposited using Laser Additive Manufacturing (LAM). With useable structural strength over 2200 °C, existing applications up to 2760 °C, very high strength, ductility and chemical resistance, interest in Re is understandable. This study includes data about tensile properties including tensile data up to 1925 °C, fracture modes, fatigue and microstructure including deformation systems and potential applications of that information. The bulk mechanical test data will be correlated with nanoindentation and crystallographic examination. LAM properties are compared to the existing properties found in the literature for other manufacturing processes. The literature indicates that Re has three significant slip systems but also twins as part of its deformation mechanisms. While it follows the hcp metal characteristics for deformation, it has interesting and valuable extremes such as high work hardening, potentially high strength, excellent wear resistance and superior elevated temperature strength. These characteristics are discussed in detail.
ContributorsAdams, Robbie (Author) / Chawla, Nikhilesh (Thesis advisor) / Adams, James (Committee member) / Krause, Stephen (Committee member) / Arizona State University (Publisher)
Created2012
Description
The quality of life of many people is lowered by impediments to walking ability caused by neurological conditions such as strokes. Since the ankle joint plays an important role in locomotion, it is a common subject of study in rehabilitation research. Robotic devices such as active ankle-foot orthoses and powered exoskeletons have the potential to be used directly in physical therapy or indirectly in research pursuing more effective rehabilitation methods. This paper presents the LiTREAD, a lightweight three degree-of-freedom robotic exoskeletal ankle device. This novel robotic system is designed to be worn on a user's leg and actuate the foot position during treadmill studies. The robot's sagittal plane actuation is complemented by passive virtual axis systems in the frontal and transverse planes. Together, these degrees of freedom allow the device to approximate the full range of motion of the ankle. The virtual axis mechanisms feature locking configurations that will allow the effect of these degrees of freedom on gait dynamics to be studied. Based on a kinematic analysis of the robot's actuation and geometry, it is expected to meet and exceed its torque and speed targets, respectively. The device will fit either leg of a range of subject sizes, and is expected to weigh just 1.3 kg (2.9 lb.). These features and characteristics are designed to minimize the robot's interference with the natural walking motion. Pending validation studies confirming that all design criteria have been met, the LiTREAD prototype that has been constructed will be utilized in various experiments investigating properties of the ankle such as its mechanical impedance. It is hoped that the LiTREAD will yield valuable data that will expand our knowledge of the ankle and aid in the design of future lower-extremity devices.
ContributorsCook, Andrew James Henry (Author) / Lee, Hyunglae (Thesis director) / Artemiadis, Panagiotis (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Fine control of standing postural balance is essential for completing various tasks in daily activities, which might be compromised when interacting with dynamically challenging environments (e.g., moving ground). Among various biofeedback to improve postural balance control, vibrotactile feedback has an advantage of providing supplementary information about balance control without disturbing other core functions (e.g., seeing and hearing). This paper investigated the effectiveness of a waist vibrotactile feedback device to improve postural control during standing balance on a dynamically moving ground simulated by a robotic balance platform. Four vibration motors of the waist device applied vibration feedback in the anterior-posterior and medio-lateral direction based on the 2-dimensional sway angle, measured by an inertia measurement unit. Experimental results with 15 healthy participants demonstrated that the waist vibrotactile feedback is effective in improving postural control, evidenced by improvements in center-of-mass and center-of-pressure stability measures. In addition, this study confirmed the effectiveness of the waist vibrotactile feedback in improving standing balance control even under muscle fatigue induced by lower body exercise. The study further confirmed that the waist feedback is more effective in people with lower baseline balance performance in both normal and fatigue conditions.
ContributorsJo, Kwanghee (Author) / Lee, Hyunglae (Thesis advisor) / Sugar, Thomas (Committee member) / Peterson, Daniel (Committee member) / Arizona State University (Publisher)
Created2022
Description
Humans possess the ability to entrain their walking to external pulses occurring atperiods similar to their natural walking cadence. Expanding the basin of entrainment has become a promising option for gait rehabilitation for those affected by
hemiparesis. Efforts to expand the basin have utilized either conventional fixed-speed
treadmill setups, which require significant alteration to natural walking biomechanics;
or overground walking tracks, which are largely impractical. In this study, overground
walking was simulated using an actively self-pacing variable speed treadmill, and periodic hip flexion perturbations (≈ 12 Nm) were applied about a subject using a Soft
Robotic Hip Exoskeleton. This study investigated the effectiveness of conducting gait
entrainment rehabilitation with simulated overground walking to improve the success
rate of entrainment at high frequency conditions. This study also investigated whether
simulated overground walking can preserve natural biomechanics by examining stride
length and normalized propulsive impulse at various conditions. Participants in this
study were subjected to four perturbation frequencies, ranging from their naturally
preferred gait frequency up to 30% faster. Each subject participated in two days of
testing: one day subjects walked on a conventional fixed-speed treadmill, and another
day on a variable speed treadmill. Results showed that subjects were more frequently
able to entrain to the fastest perturbation frequency on the variable speed treadmill.
Results also showed that natural biomechanics were preserved significantly better
on the variable speed treadmill across all accelerated perturbation frequencies. This
study showed that simulated overground walking can aid in extending the basin of
entrainment while preserving natural biomechanics during gait entrainment, which is
a promising development for gait rehabilitation. However, a comparative study on
neurologically disordered individuals is necessary to quantify the clinical relevance of
these findings.
ContributorsCarlson, Evan Han (Author) / Lee, Hyunglae (Thesis advisor) / Marvi, Hamid (Committee member) / Vanderlinden, Alyssa (Committee member) / Arizona State University (Publisher)
Created2023
Description
Nanolaminate materials are layered composites with layer thickness ≤ 100 nm. They exhibit unique properties due to their small length scale, the presence of a high number of interfaces and the effect of imposed constraint. This thesis focuses on the mechanical behavior of Al/SiC nanolaminates. The high strength of ceramics combined with the ductility of Al makes this combination desirable. Al/SiC nanolaminates were synthesized through magnetron sputtering and have an overall thickness of ~ 20 μm which limits the characterization techniques to microscale testing methods. A large amount of work has already been done towards evaluating their mechanical properties under indentation loading and micropillar compression. The effects of temperature, orientation and layer thickness have been well established. Al/SiC nanolaminates exhibited a flaw dependent deformation, anisotropy with respect to loading direction and strengthening due to imposed constraint. However, the mechanical behavior of nanolaminates under tension and fatigue loading has not yet been studied which is critical for obtaining a complete understanding of their deformation behavior. This thesis fills this gap and presents experiments which were conducted to gain an insight into the behavior of nanolaminates under tensile and cyclic loading. The effect of layer thickness, tension-compression asymmetry and effect of a wavy microstructure on mechanical response have been presented. Further, results on in situ micropillar compression using lab-based X-ray microscope through novel experimental design are also presented. This was the first time when a resolution of 50 nms was achieved during in situ micropillar compression in a lab-based setup. Pores present in the microstructure were characterized in 3D and sites of damage initiation were correlated with the channel of pores present in the microstructure.
The understanding of these deformation mechanisms paved way for the development of co-sputtered Al/SiC composites. For these composites, Al and SiC were sputtered together in a layer. The effect of change in the atomic fraction of SiC on the microstructure and mechanical properties were evaluated. Extensive microstructural characterization was performed at the nanoscale level and Al nanocrystalline aggregates were observed dispersed in an amorphous matrix. The modulus and hardness of co- sputtered composites were much higher than their traditional counterparts owing to denser atomic packing and the absence of synthesis induced defects such as pores and columnar boundaries.
The understanding of these deformation mechanisms paved way for the development of co-sputtered Al/SiC composites. For these composites, Al and SiC were sputtered together in a layer. The effect of change in the atomic fraction of SiC on the microstructure and mechanical properties were evaluated. Extensive microstructural characterization was performed at the nanoscale level and Al nanocrystalline aggregates were observed dispersed in an amorphous matrix. The modulus and hardness of co- sputtered composites were much higher than their traditional counterparts owing to denser atomic packing and the absence of synthesis induced defects such as pores and columnar boundaries.
ContributorsSingh, Somya (Author) / Chawla, Nikhilesh (Thesis advisor) / Neithalath, Narayanan (Committee member) / Jiao, Yang (Committee member) / Mara, Nathan (Committee member) / Arizona State University (Publisher)
Created2018
Description
Aluminum alloys and their composites are attractive materials for applications requiring high strength-to-weight ratios and reasonable cost. Many of these applications, such as those in the aerospace industry, undergo fatigue loading. An understanding of the microstructural damage that occurs in these materials is critical in assessing their fatigue resistance. Two distinct experimental studies were performed to further the understanding of fatigue damage mechanisms in aluminum alloys and their composites, specifically fracture and plasticity. Fatigue resistance of metal matrix composites (MMCs) depends on many aspects of composite microstructure. Fatigue crack growth behavior is particularly dependent on the reinforcement characteristics and matrix microstructure. The goal of this work was to obtain a fundamental understanding of fatigue crack growth behavior in SiC particle-reinforced 2080 Al alloy composites. In situ X-ray synchrotron tomography was performed on two samples at low (R=0.1) and at high (R=0.6) R-ratios. The resulting reconstructed images were used to obtain three-dimensional (3D) rendering of the particles and fatigue crack. Behaviors of the particles and crack, as well as their interaction, were analyzed and quantified. Four-dimensional (4D) visual representations were constructed to aid in the overall understanding of damage evolution. During fatigue crack growth in ductile materials, a plastic zone is created in the region surrounding the crack tip. Knowledge of the plastic zone is important for the understanding of fatigue crack formation as well as subsequent growth behavior. The goal of this work was to quantify the 3D size and shape of the plastic zone in 7075 Al alloys. X-ray synchrotron tomography and Laue microdiffraction were used to non-destructively characterize the volume surrounding a fatigue crack tip. The precise 3D crack profile was segmented from the reconstructed tomography data. Depth-resolved Laue patterns were obtained using differential-aperture X-ray structural microscopy (DAXM), from which peak-broadening characteristics were quantified. Plasticity, as determined by the broadening of diffracted peaks, was mapped in 3D. Two-dimensional (2D) maps of plasticity were directly compared to the corresponding tomography slices. A 3D representation of the plastic zone surrounding the fatigue crack was generated by superimposing the mapped plasticity on the 3D crack profile.
ContributorsHruby, Peter (Author) / Chawla, Nikhilesh (Thesis advisor) / Solanki, Kiran (Committee member) / Liu, Yongming (Committee member) / Arizona State University (Publisher)
Created2014
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
Millions of individuals suffer from gait impairments due to stroke or other neurological disorders. A primary goal of patients is to walk independently, but most patients only achieve a poor functional outcome five years after injury. Despite the growing interest in using robotic devices for rehabilitation of sensorimotor function, state-of-the-art robotic interventions in gait therapy have not resulted in improved outcomes when compared to traditional treadmill-based therapy. Because bipedal walking requires neural coupling and dynamic interactions between the legs, a fundamental understanding of the sensorimotor mechanisms of inter-leg coordination during walking is needed to inform robotic interventions in gait therapy. This dissertation presents a systematic exploration of sensorimotor mechanisms of inter-leg coordination by studying the effect of unilateral perturbations of the walking surface stiffness on contralateral muscle activation in healthy populations. An analysis of the contribution of several sensory modalities to the muscle activation of the opposite leg provides new insight into the sensorimotor control mechanisms utilized in human walking, including the role of supra-spinal neural circuits in inter-leg coordination. Based on these insights, a model is created which relates the unilateral deflection of the walking surface to the resulting neuromuscular activation in the opposite leg. Additionally, case studies with hemiplegic walkers indicate the existence of the observed mechanism in neurologically impaired walkers. The results of this dissertation suggest a novel approach to gait therapy for hemiplegic patients in which desired muscle activity is evoked in the impaired leg by only interacting with the healthy leg. One of the most significant advantages of this approach over current rehabilitation protocols is the safety of the patient since there is no direct manipulation of the impaired leg. Therefore, the methods and results presented in this dissertation represent a potential paradigm shift in robot-assisted gait therapy.
ContributorsSkidmore, Jeffrey Alan (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2017
Description
A robotic swarm can be defined as a large group of inexpensive, interchangeable
robots with limited sensing and/or actuating capabilities that cooperate (explicitly
or implicitly) based on local communications and sensing in order to complete a
mission. Its inherent redundancy provides flexibility and robustness to failures and
environmental disturbances which guarantee the proper completion of the required
task. At the same time, human intuition and cognition can prove very useful in
extreme situations where a fast and reliable solution is needed. This idea led to the
creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate
the human element into the control of robotic swarms for increased robustness and
reliability. The aim of the present work is to extend the current state-of-the-art in HSI
by applying ideas and principles from the field of Brain-Computer Interfaces (BCI),
which has proven to be very useful for people with motor disabilities. At first, a
preliminary investigation about the connection of brain activity and the observation
of swarm collective behaviors is conducted. After showing that such a connection
may exist, a hybrid BCI system is presented for the control of a swarm of quadrotors.
The system is based on the combination of motor imagery and the input from a game
controller, while its feasibility is proven through an extensive experimental process.
Finally, speech imagery is proposed as an alternative mental task for BCI applications.
This is done through a series of rigorous experiments and appropriate data analysis.
This work suggests that the integration of BCI principles in HSI applications can be
successful and it can potentially lead to systems that are more intuitive for the users
than the current state-of-the-art. At the same time, it motivates further research in
the area and sets the stepping stones for the potential development of the field of
Brain-Swarm Interfaces (BSI).
robots with limited sensing and/or actuating capabilities that cooperate (explicitly
or implicitly) based on local communications and sensing in order to complete a
mission. Its inherent redundancy provides flexibility and robustness to failures and
environmental disturbances which guarantee the proper completion of the required
task. At the same time, human intuition and cognition can prove very useful in
extreme situations where a fast and reliable solution is needed. This idea led to the
creation of the field of Human-Swarm Interfaces (HSI) which attempts to incorporate
the human element into the control of robotic swarms for increased robustness and
reliability. The aim of the present work is to extend the current state-of-the-art in HSI
by applying ideas and principles from the field of Brain-Computer Interfaces (BCI),
which has proven to be very useful for people with motor disabilities. At first, a
preliminary investigation about the connection of brain activity and the observation
of swarm collective behaviors is conducted. After showing that such a connection
may exist, a hybrid BCI system is presented for the control of a swarm of quadrotors.
The system is based on the combination of motor imagery and the input from a game
controller, while its feasibility is proven through an extensive experimental process.
Finally, speech imagery is proposed as an alternative mental task for BCI applications.
This is done through a series of rigorous experiments and appropriate data analysis.
This work suggests that the integration of BCI principles in HSI applications can be
successful and it can potentially lead to systems that are more intuitive for the users
than the current state-of-the-art. At the same time, it motivates further research in
the area and sets the stepping stones for the potential development of the field of
Brain-Swarm Interfaces (BSI).
ContributorsKaravas, Georgios Konstantinos (Author) / Artemiadis, Panagiotis (Thesis advisor) / Berman, Spring M. (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2017
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