Matching Items (30)
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- All Subjects: robotics
- All Subjects: Gas-turbine disks
- Creators: Artemiadis, Panagiotis
- Creators: Mignolet, Marc
- Member of: ASU Electronic Theses and Dissertations
Description
Ingestion of high temperature mainstream gas into the rotor-stator cavities of a gas turbine is one of the major problems faced by the turbine designers. The ingested gas heats up rotor disks and induces higher thermal stresses on them, giving rise to durability concern. Ingestion is usually reduced by installing seals on the rotor and stator rims and by purging the disk cavity by secondary air bled from the compressor discharge. The geometry of the rim seals and the secondary air flow rate, together, influence the amount of gas that gets ingested into the cavities. Since the amount of secondary air bled off has a negative effect on the gas turbine thermal efficiency, one goal is to use the least possible amount of secondary air. This requires a good understanding of the flow and ingestion fields within a disk cavity. In the present study, the mainstream gas ingestion phenomenon has been experimentally studied in a model single-stage axial flow gas turbine. The turbine stage featured vanes and blades, and rim seals on both the rotor and stator. Additionally, the disk cavity contained a labyrinth seal radially inboard which effectively divided the cavity into a rim cavity and an inner cavity. Time-average static pressure measurements were obtained at various radial positions within the disk cavity, and in the mainstream gas path at three axial locations at the outer shroud spread circumferentially over two vane pitches. The time-average static pressure in the main gas path exhibited a periodic asymmetry following the vane pitch whose amplitude diminished with increasing distance from the vane trailing edge. The static pressure distribution increased with the secondary air flow rate within the inner cavity but was found to be almost independent of it in the rim cavity. Tracer gas (CO2) concentration measurements were conducted to determine the sealing effectiveness of the rim seals against main gas ingestion. For the rim cavity, the sealing effectiveness increased with the secondary air flow rate. Within the inner cavity however, this trend reversed -this may have been due to the presence of rotating low-pressure flow structures inboard of the labyrinth seal.
ContributorsThiagarajan, Jayanth kumar (Author) / Roy, Ramendra P (Thesis advisor) / Lee, Taewoo (Committee member) / Mignolet, Marc (Committee member) / Arizona State University (Publisher)
Created2013
Description
Electromyogram (EMG)-based control interfaces are increasingly used in robot teleoperation, prosthetic devices control and also in controlling robotic exoskeletons. Over the last two decades researchers have come up with a plethora of decoding functions to map myoelectric signals to robot motions. However, this requires a lot of training and validation data sets, while the parameters of the decoding function are specific for each subject. In this thesis we propose a new methodology that doesn't require training and is not user-specific. The main idea is to supplement the decoding functional error with the human ability to learn inverse model of an arbitrary mapping function. We have shown that the subjects gradually learned the control strategy and their learning rates improved. We also worked on identifying an optimized control scheme that would be even more effective and easy to learn for the subjects. Optimization was done by taking into account that muscles act in synergies while performing a motion task. The low-dimensional representation of the neural activity was used to control a two-dimensional task. Results showed that in the case of reduced dimensionality mapping, the subjects were able to learn to control the device in a slower pace, however they were able to reach and retain the same level of controllability. To summarize, we were able to build an EMG-based controller for robot devices that would work for any subject, without any training or decoding function, suggesting human-embedded controllers for robotic devices.
ContributorsAntuvan, Chris Wilson (Author) / Artemiadis, Panagiotis (Thesis advisor) / Muthuswamy, Jitendran (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
Modern day gas turbine designers face the problem of hot mainstream gas ingestion into rotor-stator disk cavities. To counter this ingestion, seals are installed on the rotor and stator disk rims and purge air, bled off from the compressor, is injected into the cavities. It is desirable to reduce the supply of purge air as this decreases the net power output as well as efficiency of the gas turbine. Since the purge air influences the disk cavity flow field and effectively the amount of ingestion, the aim of this work was to study the cavity velocity field experimentally using Particle Image Velocimetry (PIV). Experiments were carried out in a model single-stage axial flow turbine set-up that featured blades as well as vanes, with purge air supplied at the hub of the rotor-stator disk cavity. Along with the rotor and stator rim seals, an inner labyrinth seal was provided which split the disk cavity into a rim cavity and an inner cavity. First, static gage pressure distribution was measured to ensure that nominally steady flow conditions had been achieved. The PIV experiments were then performed to map the velocity field on the radial-tangential plane within the rim cavity at four axial locations. Instantaneous velocity maps obtained by PIV were analyzed sector-by-sector to understand the rim cavity flow field. It was observed that the tangential velocity dominated the cavity flow at low purge air flow rate, its dominance decreasing with increase in the purge air flow rate. Radially inboard of the rim cavity, negative radial velocity near the stator surface and positive radial velocity near the rotor surface indicated the presence of a recirculation region in the cavity whose radial extent increased with increase in the purge air flow rate. Qualitative flow streamline patterns are plotted within the rim cavity for different experimental conditions by combining the PIV map information with ingestion measurements within the cavity as reported in Thiagarajan (2013).
ContributorsPathak, Parag (Author) / Roy, Ramendra P (Thesis advisor) / Calhoun, Ronald (Committee member) / Lee, Taewoo (Committee member) / Arizona State University (Publisher)
Created2013
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
As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. The objective of this thesis is to solve the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow was used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Using kinematic data recorded from human subjects during every-day life tasks, the linear sensorimotor transformation model was validated and used to estimate the swivel angle, given the desired end-effector position. Defining the desired swivel angle simplifies the kinematic redundancy of the robot arm. The proposed method was tested with an anthropomorphic redundant robot arm and the computed motion profiles were compared to the ones of the human subjects. This thesis shows that the method computes anthropomorphic configurations for the robot arm, even if the robot arm has different link lengths than the human arm and starts its motion at random configurations.
ContributorsWang, Yuting (Author) / Artemiadis, Panagiotis (Thesis advisor) / Mignolet, Marc (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
Description
Myoelectric control is lled with potential to signicantly change human-robot interaction.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
Humans desire compliant robots to safely interact in dynamic environments
associated with daily activities. As surface electromyography non-invasively measures
limb motion intent and correlates with joint stiness during co-contractions,
it has been identied as a candidate for naturally controlling such robots. However,
state-of-the-art myoelectric interfaces have struggled to achieve both enhanced
functionality and long-term reliability. As demands in myoelectric interfaces trend
toward simultaneous and proportional control of compliant robots, robust processing
of multi-muscle coordinations, or synergies, plays a larger role in the success of the
control scheme. This dissertation presents a framework enhancing the utility of myoelectric
interfaces by exploiting motor skill learning and
exible muscle synergies for
reliable long-term simultaneous and proportional control of multifunctional compliant
robots. The interface is learned as a new motor skill specic to the controller,
providing long-term performance enhancements without requiring any retraining or
recalibration of the system. Moreover, the framework oers control of both motion
and stiness simultaneously for intuitive and compliant human-robot interaction. The
framework is validated through a series of experiments characterizing motor learning
properties and demonstrating control capabilities not seen previously in the literature.
The results validate the approach as a viable option to remove the trade-o
between functionality and reliability that have hindered state-of-the-art myoelectric
interfaces. Thus, this research contributes to the expansion and enhancement of myoelectric
controlled applications beyond commonly perceived anthropomorphic and
\intuitive control" constraints and into more advanced robotic systems designed for
everyday tasks.
ContributorsIson, Mark (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Greger, Bradley (Committee member) / Berman, Spring (Committee member) / Sugar, Thomas (Committee member) / Fainekos, Georgios (Committee member) / Arizona State University (Publisher)
Created2015
Description
As the robotic industry becomes increasingly present in some of the more extreme environments such as the battle field, disaster sites or extraplanetary exploration, it will be necessary to provide locomotive niche strategies that are optimal to each terrain. The hopping gait has been well studied in robotics and proven to be a potential method to fit some of these niche areas. There have been some difficulties in producing terrain following controllers that maintain robust, steady state, which are disturbance resistant.
The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase angle oscillator controller is shown to work remarkably well, both in simulation and with a one degree of freedom robotic test stand.
Work was also done with an experimental quadruped with less successful results, but which did show potential for stability. Additional work is suggested for the quadruped.
The following thesis will discuss a controller which has shown the ability to produce these desired properties. A phase angle oscillator controller is shown to work remarkably well, both in simulation and with a one degree of freedom robotic test stand.
Work was also done with an experimental quadruped with less successful results, but which did show potential for stability. Additional work is suggested for the quadruped.
ContributorsNew, Philip Wesley (Author) / Sugar, Thomas G. (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Redkar, Sangram (Committee member) / Arizona State University (Publisher)
Created2015
Description
In order to achieve higher gas turbine efficiency, the main gas temperature at turbine inlet has been steadily increased from approximately 900°C to about 1500°C over the last few decades. This temperature is higher than the maximum acceptable temperature for turbine internals. The hot main gas may get ingested into the space between rotor and stator, the rotor-stator disk cavity in a stage because of the pressure differential between main gas annulus and the disk cavity. To reduce this ingestion, the disk cavity is equipped with a rim seal; additionally, secondary (purge) air is supplied to the cavity. Since the purge air is typically bled off the compressor discharge, this reducing the overall gas turbine efficiency, much research has been carried out to estimate the minimum purge flow necessary (cw,min) for complete sealing of disk cavities.
In this work, experiments have been performed in a subscale single-stage axial turbine featuring vanes, blades and an axially-overlapping radial-clearance seal at the disk cavity rim. The turbine stage is also equipped with a labyrinth seal radially inboard. The stage geometry and the experimental conditions were such that the ingestion into the disk cavity was driven by the pressure asymmetry in the main gas annulus. In the experiments, time-averaged static pressure was measured at several locations in the main annulus and in the disk cavity; the pressure differential between a location on the vane platform close to lip (this being the rim seal part on the stator) and a location in the 'seal region' in the cavity is considered to be the driving potential for both ingestion and egress. Time-averaged volumetric concentration of the tracer gas (CO2) in the purge air supplied was measured at multiple radial locations on the stator surface. The pressure and ingestion data were then used to calculate the ingestion and egress discharge coefficients for a range of purge flow rates, employing a simple orifice model of the rim seal. For the experiments performed, the egress discharge coefficient increased and the ingestion discharge coefficient decreased with the purge air flow rate. A method for estimation of cw,min is also proposed.
In this work, experiments have been performed in a subscale single-stage axial turbine featuring vanes, blades and an axially-overlapping radial-clearance seal at the disk cavity rim. The turbine stage is also equipped with a labyrinth seal radially inboard. The stage geometry and the experimental conditions were such that the ingestion into the disk cavity was driven by the pressure asymmetry in the main gas annulus. In the experiments, time-averaged static pressure was measured at several locations in the main annulus and in the disk cavity; the pressure differential between a location on the vane platform close to lip (this being the rim seal part on the stator) and a location in the 'seal region' in the cavity is considered to be the driving potential for both ingestion and egress. Time-averaged volumetric concentration of the tracer gas (CO2) in the purge air supplied was measured at multiple radial locations on the stator surface. The pressure and ingestion data were then used to calculate the ingestion and egress discharge coefficients for a range of purge flow rates, employing a simple orifice model of the rim seal. For the experiments performed, the egress discharge coefficient increased and the ingestion discharge coefficient decreased with the purge air flow rate. A method for estimation of cw,min is also proposed.
ContributorsSingh, Prashant (Author) / Roy, Ramendra P (Thesis advisor) / Mignolet, Marc (Thesis advisor) / Lee, Taewoo (Committee member) / Arizona State University (Publisher)
Created2014
Description
Wearable robots including exoskeletons, powered prosthetics, and powered orthotics must add energy to the person at an appropriate time to enhance, augment, or supplement human performance. Adding energy while not being in sync with the user can dramatically hurt performance making it necessary to have correct timing with the user. Many human tasks such as walking, running, and hopping are repeating or cyclic tasks and a robot can add energy in sync with the repeating pattern for assistance. A method has been developed to add energy at the appropriate time to the repeating limit cycle based on a phase oscillator. The phase oscillator eliminates time from the forcing function which is based purely on the motion of the user. This approach has been simulated, implemented and tested in a robotic backpack which facilitates carrying heavy loads. The device oscillates the load of the backpack, based on the motion of the user, in order to add energy at the correct time and thus reduce the amount of energy required for walking with a heavy load. Models were developed in Working Model 2-D, a dynamics simulation software, in conjunction with MATLAB to verify theory and test control methods. The control system developed is robust and has successfully operated on a range of different users, each with their own different and distinct gait. The results of experimental testing validated the corresponding models.
ContributorsWheeler, Chase (Author) / Sugar, Thomas G. (Thesis advisor) / Redkar, Sangram (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2014
Description
This work presents the integration of user intent detection and control in the development of the fluid-driven, wearable, and continuum, Soft Poly-Limb (SPL). The SPL utilizes the numerous traits of soft robotics to enable a novel approach to provide safe and compliant mobile manipulation assistance to healthy and impaired users. This wearable system equips the user with an additional limb made of soft materials that can be controlled to produce complex three-dimensional motion in space, like its biological counterparts with hydrostatic muscles. Similar to the elephant trunk, the SPL is able to manipulate objects using various end effectors, such as suction adhesion or a soft grasper, and can also wrap its entire length around objects for manipulation. User control of the limb is demonstrated using multiple user intent detection modalities. Further, the performance of the SPL studied by testing its capability to interact safely and closely around a user through a spatial mobility test. Finally, the limb’s ability to assist the user is explored through multitasking scenarios and pick and place tests with varying mounting locations of the arm around the user’s body. The results of these assessments demonstrate the SPL’s ability to safely interact with the user while exhibiting promising performance in assisting the user with a wide variety of tasks, in both work and general living scenarios.
ContributorsVale, Nicholas Marshall (Author) / Polygerinos, Panagiotis (Thesis advisor) / Zhang, Wenlong (Committee member) / Artemiadis, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2018