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- All Subjects: Mechanical Engineering
- Genre: Doctoral Dissertation
- Creators: Berman, Spring
- Creators: Rykaczewski, Konrad
Description
The rapid progress of solution-phase synthesis has led colloidal nanocrystals one of the most versatile nanoscale materials, provided opportunities to tailor material's properties, and boosted related technological innovations. Colloidal nanocrystal-based materials have been demonstrated success in a variety of applications, such as LEDs, electronics, solar cells and thermoelectrics. In each of these applications, the thermal transport property plays a big role. An undesirable temperature rise due to inefficient heat dissipation could lead to deleterious effects on devices' performance and lifetime. Hence, the first project is focused on investigating the thermal transport in colloidal nanocrystal solids. This study answers the question that how the molecular structure of nanocrystals affect the thermal transport, and provides insights for future device designs. In particular, PbS nanocrystals is used as a monitoring system, and the core diameter, ligand length and ligand binding group are systematically varied to study the corresponding effect on thermal transport.
Next, a fundamental study is presented on the phase stability and solid-liquid transformation of metallic (In, Sn and Bi) colloidal nanocrystals. Although the phase change of nanoparticles has been a long-standing research topic, the melting behavior of colloidal nanocrytstals is largely unexplored. In addition, this study is of practical importance to nanocrystal-based applications that operate at elevated temperatures. Embedding colloidal nanocrystals into thermally-stable polymer matrices allows preserving nanocrystal size throughout melt-freeze cycles, and therefore enabling observation of stable melting features. Size-dependent melting temperature, melting enthalpy and melting entropy have all been measured and discussed.
In the next two chapters, focus has been switched to developing colloidal nanocrystal-based phase change composites for thermal energy storage applications. In Chapter 4, a polymer matrix phase change nanocomposite has been created. In this composite, the melting temperature and energy density could be independently controlled by tuning nanocrystal diameter and volume fractions. In Chapter 5, a solution-phase synthesis on metal matrix-metal nanocrytal composite is presented. This approach enables excellent morphological control over nanocrystals and demonstrated a phase change composite with a thermal conductivity 2 - 3 orders of magnitude greater than typical phase change materials, such as organics and molten salts.
Next, a fundamental study is presented on the phase stability and solid-liquid transformation of metallic (In, Sn and Bi) colloidal nanocrystals. Although the phase change of nanoparticles has been a long-standing research topic, the melting behavior of colloidal nanocrytstals is largely unexplored. In addition, this study is of practical importance to nanocrystal-based applications that operate at elevated temperatures. Embedding colloidal nanocrystals into thermally-stable polymer matrices allows preserving nanocrystal size throughout melt-freeze cycles, and therefore enabling observation of stable melting features. Size-dependent melting temperature, melting enthalpy and melting entropy have all been measured and discussed.
In the next two chapters, focus has been switched to developing colloidal nanocrystal-based phase change composites for thermal energy storage applications. In Chapter 4, a polymer matrix phase change nanocomposite has been created. In this composite, the melting temperature and energy density could be independently controlled by tuning nanocrystal diameter and volume fractions. In Chapter 5, a solution-phase synthesis on metal matrix-metal nanocrytal composite is presented. This approach enables excellent morphological control over nanocrystals and demonstrated a phase change composite with a thermal conductivity 2 - 3 orders of magnitude greater than typical phase change materials, such as organics and molten salts.
ContributorsLiu, Minglu (Author) / Wang, Robert Y (Thesis advisor) / Wang, Liping (Committee member) / Rykaczewski, Konrad (Committee member) / Phelan, Patrick (Committee member) / Dai, Lenore (Committee member) / Arizona State University (Publisher)
Created2015
Description
The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured nature of the new applications in the field creates a need for robotic systems to be able to interact in six degrees of freedom (DOF). Moreover, in these unstructured environments, the robotic system will have incomplete information. This means that it will sometimes perform an incorrect action and control methods need to be able to correct for this. However, the most compelling applications for robotics are where they have capabilities that the human does not, which also creates the need for robotic systems to be able to correct human action when it detects an error. Activity in the brain precedes human action. Utilizing this activity in the brain can classify the type of interaction desired by the human. For this dissertation, the cooperation between humans and robots is improved in two main areas. First, the ability for electroencephalogram (EEG) to determine the desired cooperation role with a human is demonstrated with a correct classification rate of 65%. Second, a robotic controller is developed to allow the human and robot to cooperate in six DOF with asymmetric role exchange. This system allowed human-robot cooperation to perform a cooperative task at 100% correct rate. High, medium, and low levels of robotic automation are shown to affect performance, with the human making the greatest numbers of errors when the robotic system has a medium level of automation.
ContributorsWhitsell, Bryan Douglas (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
Thermodynamic development and balance of plant study is completed for a 30 MW solar thermochemical water splitting process that generates hydrogen gas and electric power. The generalized thermodynamic model includes 23 components and 45 states. Quasi-steady state simulations are completed for design point system sizing, annual performance analysis and sensitivity analysis. Detailed consideration is given to water splitting reaction kinetics with governing equations generalized for use with any redox-active metal oxide material. Specific results for Ceria illustrate particle reduction in two solar receivers for target oxygen partial pressure of 10 Pa and particle temperature of 1773 K at a design point DNI of 900 W/m2. Sizes of the recuperator, steam generator and hydrogen separator are calculated at the design point DNI to achieve 100,000 kg of hydrogen production per day from the plant. The total system efficiency of 39.52% is comprised of 50.7% hydrogen fraction and 19.62% electrical fraction. Total plant capital costs and operating costs are estimated to equate a hydrogen production cost of $4.40 per kg for a 25-year plant life. Sensitivity analysis explores the effect of environmental parameters and design parameters on system performance and cost. Improving recuperator effectiveness from 0.7 to 0.8 is a high-value design modification resulting in a 12.1% decrease in hydrogen cost for a modest 2.0% increase in plant $2.85M. At the same time, system efficiency is relatively inelastic to recuperator effectiveness because 81% of excess heat is recovered from the system for electricity production 39 MWh/day and revenue is $0.04 per kWh. Increasing water inlet pressure up to 20 bar reduces the size and cost of super heaters but further pressure rises increasing pump at a rate that outweighs super heater cost savings.
ContributorsBudama, Vishnu Kumar (Author) / Johnson, Nathan (Thesis advisor) / Stechel, Ellen (Committee member) / Rykaczewski, Konrad (Committee member) / Phelan, Patrick (Committee member) / Wang, Robert (Committee member) / Arizona State University (Publisher)
Created2018
Description
Additive manufacturing (AM) describes an array of methods used to create a 3D object layer by layer. The increasing popularity of AM in the past decade has been due to its demonstrated potential to increase design flexibility, produce rapid prototypes, and decrease material waste. Temporary supports are an inconvenient necessity in many metal AM parts. These sacrificial structures are used to fabricate large overhangs, anchor the part to the build substrate, and provide a heat pathway to avoid warping. Polymers AM has addressed this issue by using support material that is soluble in an electrolyte that the base material is not. In contrast, metals AM has traditionally approached support removal using time consuming, costly methods such as electrical discharge machining or a dremel.
This work introduces dissolvable supports to single- and multi-material metals AM. The multi-material approach uses material choice to design a functionally graded material where corrosion is the functionality being varied. The single-material approach is the primary focus of this thesis, leveraging already common post-print heat treatments to locally alter the microstructure near the surface. By including a sensitizing agent in the ageing heat treatment, carbon is diffused into the part decreasing the corrosion resistance to a depth equal to at least half the support thickness. In a properly chosen electrolyte, this layer is easily chemically, or electrochemically removed. Stainless steel 316 (SS316) and Inconel 718 are both investigated to study this process using two popular alloys. The microstructure evolution and corrosion properties are investigated for both. For SS316, the effect of applied electrochemical potential is investigated to describe the varying corrosion phenomena induced, and the effect of potential choice on resultant roughness. In summary, a new approach to remove supports from metal AM parts is introduced to decrease costs and further the field of metals AM by expanding the design space.
This work introduces dissolvable supports to single- and multi-material metals AM. The multi-material approach uses material choice to design a functionally graded material where corrosion is the functionality being varied. The single-material approach is the primary focus of this thesis, leveraging already common post-print heat treatments to locally alter the microstructure near the surface. By including a sensitizing agent in the ageing heat treatment, carbon is diffused into the part decreasing the corrosion resistance to a depth equal to at least half the support thickness. In a properly chosen electrolyte, this layer is easily chemically, or electrochemically removed. Stainless steel 316 (SS316) and Inconel 718 are both investigated to study this process using two popular alloys. The microstructure evolution and corrosion properties are investigated for both. For SS316, the effect of applied electrochemical potential is investigated to describe the varying corrosion phenomena induced, and the effect of potential choice on resultant roughness. In summary, a new approach to remove supports from metal AM parts is introduced to decrease costs and further the field of metals AM by expanding the design space.
ContributorsLefky, Christopher (Author) / Hildreth, Owen (Thesis advisor) / Chawla, Nikhilesh (Committee member) / Azeredo, Bruno (Committee member) / Rykaczewski, Konrad (Committee member) / Nian, Qiong (Committee member) / Arizona State University (Publisher)
Created2018
Description
The objective of this dissertation is to study the use of metamaterials as narrow-band and broadband selective absorbers for opto-thermal and solar thermal energy conversion. Narrow-band selective absorbers have applications such as plasmonic sensing and cancer treatment, while one of the main applications of selective metamaterials with broadband absorption is efficiently converting solar energy into heat as solar absorbers.
This dissertation first discusses the use of gold nanowires as narrow-band selective metamaterial absorbers. An investigation into plasmonic localized heating indicated that film-coupled gold nanoparticles exhibit tunable selective absorption based on the size of the nanoparticles. By using anodized aluminum oxide templates, aluminum nanodisc narrow-band absorbers were fabricated. A metrology instrument to measure the reflectance and transmittance of micro-scale samples was also developed and used to measure the reflectance of the aluminum nanodisc absorbers (220 µm diameter area). Tuning of the resonance wavelengths of these absorbers can be achieved through changing their geometry. Broadband absorption can be achieved by using a combination of geometries for these metamaterials which would facilitate their use as solar absorbers.
Recently, solar energy harvesting has become a topic of considerable research investigation due to it being an environmentally conscious alternative to fossil fuels. The next section discusses the steady-state temperature measurement of a lab-scale multilayer solar absorber, named metafilm. A lab-scale experimental setup is developed to characterize the solar thermal performance of selective solar absorbers. Under a concentration factor of 20.3 suns, a steady-state temperature of ~500 degrees Celsius was achieved for the metafilm compared to 375 degrees Celsius for a commercial black absorber under the same conditions. Thermal durability testing showed that the metafilm could withstand up to 700 degrees Celsius in vacuum conditions and up to 400 degrees Celsius in atmospheric conditions with little degradation of its optical and radiative properties. Moreover, cost analysis of the metafilm found it to cost significantly less ($2.22 per square meter) than commercial solar coatings ($5.41-100 per square meter).
Finally, this dissertation concludes with recommendations for further studies like using these selective metamaterials and metafilms as absorbers and emitters and using the aluminum nanodiscs on glass as selective filters for photovoltaic cells to enhance solar thermophotovoltaic energy conversion.
This dissertation first discusses the use of gold nanowires as narrow-band selective metamaterial absorbers. An investigation into plasmonic localized heating indicated that film-coupled gold nanoparticles exhibit tunable selective absorption based on the size of the nanoparticles. By using anodized aluminum oxide templates, aluminum nanodisc narrow-band absorbers were fabricated. A metrology instrument to measure the reflectance and transmittance of micro-scale samples was also developed and used to measure the reflectance of the aluminum nanodisc absorbers (220 µm diameter area). Tuning of the resonance wavelengths of these absorbers can be achieved through changing their geometry. Broadband absorption can be achieved by using a combination of geometries for these metamaterials which would facilitate their use as solar absorbers.
Recently, solar energy harvesting has become a topic of considerable research investigation due to it being an environmentally conscious alternative to fossil fuels. The next section discusses the steady-state temperature measurement of a lab-scale multilayer solar absorber, named metafilm. A lab-scale experimental setup is developed to characterize the solar thermal performance of selective solar absorbers. Under a concentration factor of 20.3 suns, a steady-state temperature of ~500 degrees Celsius was achieved for the metafilm compared to 375 degrees Celsius for a commercial black absorber under the same conditions. Thermal durability testing showed that the metafilm could withstand up to 700 degrees Celsius in vacuum conditions and up to 400 degrees Celsius in atmospheric conditions with little degradation of its optical and radiative properties. Moreover, cost analysis of the metafilm found it to cost significantly less ($2.22 per square meter) than commercial solar coatings ($5.41-100 per square meter).
Finally, this dissertation concludes with recommendations for further studies like using these selective metamaterials and metafilms as absorbers and emitters and using the aluminum nanodiscs on glass as selective filters for photovoltaic cells to enhance solar thermophotovoltaic energy conversion.
ContributorsAlshehri, Hassan (Author) / Wang, Liping (Thesis advisor) / Phelan, Patrick (Committee member) / Rykaczewski, Konrad (Committee member) / Wang, Robert (Committee member) / Yu, Hongbin (Committee member) / Arizona State University (Publisher)
Created2018
Description
This investigation focuses on the development of uncertainty modeling methods applicable to both the structural and thermal models of heated structures as part of an effort to enable the design under uncertainty of hypersonic vehicles. The maximum entropy-based nonparametric stochastic modeling approach is used within the context of coupled structural-thermal Reduced Order Models (ROMs). Not only does this strategy allow for a computationally efficient generation of samples of the structural and thermal responses but the maximum entropy approach allows to introduce both aleatoric and some epistemic uncertainty into the system.
While the nonparametric approach has a long history of applications to structural models, the present investigation was the first one to consider it for the heat conduction problem. In this process, it was recognized that the nonparametric approach had to be modified to maintain the localization of the temperature near the heat source, which was successfully achieved.
The introduction of uncertainty in coupled structural-thermal ROMs of heated structures was addressed next. It was first recognized that the structural stiffness coefficients (linear, quadratic, and cubic) and the parameters quantifying the effects of the temperature distribution on the structural response can be regrouped into a matrix that is symmetric and positive definite. The nonparametric approach was then applied to this matrix allowing the assessment of the effects of uncertainty on the resulting temperature distributions and structural response.
The third part of this document focuses on introducing uncertainty using the Maximum Entropy Method at the level of finite element by randomizing elemental matrices, for instance, elemental stiffness, mass and conductance matrices. This approach brings some epistemic uncertainty not present in the parametric approach (e.g., by randomizing the elasticity tensor) while retaining more local character than the operation in ROM level.
The last part of this document focuses on the development of “reduced ROMs” (RROMs) which are reduced order models with small bases constructed in a data-driven process from a “full” ROM with a much larger basis. The development of the RROM methodology is motivated by the desire to optimally reduce the computational cost especially in multi-physics situations where a lack of prior understanding/knowledge of the solution typically leads to the selection of ROM bases that are excessively broad to ensure the necessary accuracy in representing the response. It is additionally emphasized that the ROM reduction process can be carried out adaptively, i.e., differently over different ranges of loading conditions.
While the nonparametric approach has a long history of applications to structural models, the present investigation was the first one to consider it for the heat conduction problem. In this process, it was recognized that the nonparametric approach had to be modified to maintain the localization of the temperature near the heat source, which was successfully achieved.
The introduction of uncertainty in coupled structural-thermal ROMs of heated structures was addressed next. It was first recognized that the structural stiffness coefficients (linear, quadratic, and cubic) and the parameters quantifying the effects of the temperature distribution on the structural response can be regrouped into a matrix that is symmetric and positive definite. The nonparametric approach was then applied to this matrix allowing the assessment of the effects of uncertainty on the resulting temperature distributions and structural response.
The third part of this document focuses on introducing uncertainty using the Maximum Entropy Method at the level of finite element by randomizing elemental matrices, for instance, elemental stiffness, mass and conductance matrices. This approach brings some epistemic uncertainty not present in the parametric approach (e.g., by randomizing the elasticity tensor) while retaining more local character than the operation in ROM level.
The last part of this document focuses on the development of “reduced ROMs” (RROMs) which are reduced order models with small bases constructed in a data-driven process from a “full” ROM with a much larger basis. The development of the RROM methodology is motivated by the desire to optimally reduce the computational cost especially in multi-physics situations where a lack of prior understanding/knowledge of the solution typically leads to the selection of ROM bases that are excessively broad to ensure the necessary accuracy in representing the response. It is additionally emphasized that the ROM reduction process can be carried out adaptively, i.e., differently over different ranges of loading conditions.
ContributorsSong, Pengchao (Author) / Mignolet, Marc P (Thesis advisor) / Smarslok, Benjamin (Committee member) / Chattopadhyay, Aditi (Committee member) / Liu, Yongming (Committee member) / Jiang, Hanqing (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2019
Description
Soft polymer composites with improved thermal conductivity are needed for the thermal management of electronics. Interfacial thermal boundary resistance, however, prevents the efficient use of many high thermal conductivity fill materials. Magnetic alignment of ferrous fill material enforces percolation of the high thermal conductivity fill, thereby shifting the governing boundary resistance to the particle- particle interfaces and increasing the directional thermal conductivity of the polymer composite. Magnetic alignment maximizes the thermal conductivity while minimizing composite stiffening at a fill fraction of half the maximum packing factor. The directional thermal conductivity of the composite is improved by more than 2-fold. Particle-particle contact engineering is then introduced to decrease the particle- particle boundary resistance and further improve the thermal conductivity of the composite.
The interface between rigid fill particles is a point contact with very little interfacial area connecting them. Silver and gallium-based liquid metal (LM) coatings provide soft interfaces that, under pressure, increase the interfacial area between particles and decrease the particle-particle boundary resistance. These engineered contacts are investigated both in and out of the polymer matrix and with and without magnetic alignment of the fill. Magnetically aligned in the polymer matrix, 350nm- thick silver coatings on nickel particles produce a 1.8-fold increase in composite thermal conductivity over the aligned bare-nickel composites. The LM coatings provide similar enhancements, but require higher volumes of LM to do so. This is due to the rapid formation of gallium oxide, which introduces additional thermal boundaries and decreases the benefit of the LM coatings.
The oxide shell of LM droplets (LMDs) can be ruptured using pressure. The pressure needed to rupture LMDs matches closely to thin-walled pressure vessel theory. Furthermore, the addition of tungsten particles stabilizes the mixture for use at higher pressures. Finally, thiols and hydrochloric acid weaken the oxide shell and boost the thermal performance of the beds of LMDs by 50% at pressures much lower than 1 megapascal (MPa) to make them more suitable for use in TIMs.
The interface between rigid fill particles is a point contact with very little interfacial area connecting them. Silver and gallium-based liquid metal (LM) coatings provide soft interfaces that, under pressure, increase the interfacial area between particles and decrease the particle-particle boundary resistance. These engineered contacts are investigated both in and out of the polymer matrix and with and without magnetic alignment of the fill. Magnetically aligned in the polymer matrix, 350nm- thick silver coatings on nickel particles produce a 1.8-fold increase in composite thermal conductivity over the aligned bare-nickel composites. The LM coatings provide similar enhancements, but require higher volumes of LM to do so. This is due to the rapid formation of gallium oxide, which introduces additional thermal boundaries and decreases the benefit of the LM coatings.
The oxide shell of LM droplets (LMDs) can be ruptured using pressure. The pressure needed to rupture LMDs matches closely to thin-walled pressure vessel theory. Furthermore, the addition of tungsten particles stabilizes the mixture for use at higher pressures. Finally, thiols and hydrochloric acid weaken the oxide shell and boost the thermal performance of the beds of LMDs by 50% at pressures much lower than 1 megapascal (MPa) to make them more suitable for use in TIMs.
ContributorsRalphs, Matthew (Author) / Rykaczewski, Konrad (Thesis advisor) / Wang, Robert Y (Thesis advisor) / Phelan, Patrick (Committee member) / Wang, Liping (Committee member) / Devasenathipathy, Shankar (Committee member) / Arizona State University (Publisher)
Created2019
Description
The energy crisis in the past decades has greatly boosted the search for alternatives to traditional fossil foils, and solar energy stands out as an important candidate due to its cleanness and abundance. However, the relatively low conversion efficiency and energy density strongly hinder the utilization of solar energy in wider applications. This thesis focuses on employing metamaterials and metafilms to enhance the conversion efficiency of solar thermal, solar thermophotovoltaic (STPV) and photovoltaic systems.
A selective metamaterial solar absorber is designed in this thesis to maximize the absorbed solar energy and minimize heat dissipation through thermal radiation. The theoretically designed metamaterial solar absorber exhibits absorptance higher than 95% in the solar spectrum but shows emittance less than 4% in the IR regime. This metamaterial solar absorber is further experimentally fabricated and optically characterized. Moreover, a metafilm selective absorber with stability up to 600oC is introduced, which exhibits solar absorptance higher than 90% and IR emittance less than 10%.
Solar thermophotovoltaic energy conversion enhanced by metamaterial absorbers and emitters is theoretically investigated in this thesis. The STPV system employing selective metamaterial absorber and emitter is investigated in this work, showing its conversion efficiency between 8% and 10% with concentration factor varying between 20 and 200. This conversion efficiency is remarkably enhanced compared with the conversion efficiency for STPV system employing black surfaces (<2.5%).
Moreover, plasmonic light trapping in ultra-thin solar cells employing concave grating nanostructures is discussed in this thesis. The plasmonic light trapping inside an ultrathin GaAs layer in the film-coupled metamaterial structure is numerically demonstrated. By exciting plasmonic resonances inside this structure, the short-circuit current density for the film-coupled metamaterial solar cell is three times the short-circuit current for a free-standing GaAs layer.
The dissertation is concluded by discussing about the future work on selective solar thermal absorbers, STPV/TPV systems and light trapping structures. Possibilities to design and fabricate solar thermal absorber with better thermal stability will be discussed, the experimental work of TPV system will be conducted, and the light trapping in organic and perovskite solar cells will be looked into.
A selective metamaterial solar absorber is designed in this thesis to maximize the absorbed solar energy and minimize heat dissipation through thermal radiation. The theoretically designed metamaterial solar absorber exhibits absorptance higher than 95% in the solar spectrum but shows emittance less than 4% in the IR regime. This metamaterial solar absorber is further experimentally fabricated and optically characterized. Moreover, a metafilm selective absorber with stability up to 600oC is introduced, which exhibits solar absorptance higher than 90% and IR emittance less than 10%.
Solar thermophotovoltaic energy conversion enhanced by metamaterial absorbers and emitters is theoretically investigated in this thesis. The STPV system employing selective metamaterial absorber and emitter is investigated in this work, showing its conversion efficiency between 8% and 10% with concentration factor varying between 20 and 200. This conversion efficiency is remarkably enhanced compared with the conversion efficiency for STPV system employing black surfaces (<2.5%).
Moreover, plasmonic light trapping in ultra-thin solar cells employing concave grating nanostructures is discussed in this thesis. The plasmonic light trapping inside an ultrathin GaAs layer in the film-coupled metamaterial structure is numerically demonstrated. By exciting plasmonic resonances inside this structure, the short-circuit current density for the film-coupled metamaterial solar cell is three times the short-circuit current for a free-standing GaAs layer.
The dissertation is concluded by discussing about the future work on selective solar thermal absorbers, STPV/TPV systems and light trapping structures. Possibilities to design and fabricate solar thermal absorber with better thermal stability will be discussed, the experimental work of TPV system will be conducted, and the light trapping in organic and perovskite solar cells will be looked into.
ContributorsWang, Hao (Author) / Wang, Liping (Thesis advisor) / Phelan, Patrick (Committee member) / Wang, Robert (Committee member) / Dai, Lenore (Committee member) / Rykaczewski, Konrad (Committee member) / Arizona State University (Publisher)
Created2016
Description
Robotic joints can be either powered or passive. This work will discuss the creation of a passive and a powered joint system as well as the combination system being both powered and passive along with its benefits. A novel approach of analysis and control of the combination system is presented.
A passive and a powered ankle joint system is developed and fit to the field of prosthetics, specifically ankle joint replacement for able bodied gait. The general 1 DOF robotic joint designs are examined and the results from testing are discussed. Achievements in this area include the able bodied gait like behavior of passive systems for slow walking speeds. For higher walking speeds the powered ankle system is capable of adding the necessary energy to propel the user forward and remain similar to able bodied gait, effectively replacing the calf muscle. While running has not fully been achieved through past powered ankle devices the full power necessary is reached in this work for running and sprinting while achieving 4x’s power amplification through the powered ankle mechanism.
A theoretical approach to robotic joints is then analyzed in order to combine the advantages of both passive and powered systems. Energy methods are shown to provide a correct behavioral analysis of any robotic joint system. Manipulation of the energy curves and mechanism coupler curves allows real time joint behavioral adjustment. Such a powered joint can be adjusted to passively achieve desired behavior for different speeds and environmental needs. The effects on joint moment and stiffness from adjusting one type of mechanism is presented.
A passive and a powered ankle joint system is developed and fit to the field of prosthetics, specifically ankle joint replacement for able bodied gait. The general 1 DOF robotic joint designs are examined and the results from testing are discussed. Achievements in this area include the able bodied gait like behavior of passive systems for slow walking speeds. For higher walking speeds the powered ankle system is capable of adding the necessary energy to propel the user forward and remain similar to able bodied gait, effectively replacing the calf muscle. While running has not fully been achieved through past powered ankle devices the full power necessary is reached in this work for running and sprinting while achieving 4x’s power amplification through the powered ankle mechanism.
A theoretical approach to robotic joints is then analyzed in order to combine the advantages of both passive and powered systems. Energy methods are shown to provide a correct behavioral analysis of any robotic joint system. Manipulation of the energy curves and mechanism coupler curves allows real time joint behavioral adjustment. Such a powered joint can be adjusted to passively achieve desired behavior for different speeds and environmental needs. The effects on joint moment and stiffness from adjusting one type of mechanism is presented.
ContributorsHolgate, Robert (Author) / Sugar, Thomas (Thesis advisor) / Artemiades, Panagiotis (Thesis advisor) / Berman, Spring (Committee member) / Mignolet, Marc (Committee member) / Davidson, Joseph (Committee member) / Arizona State University (Publisher)
Created2017
Description
Durable, cost-effective, and environmentally friendly anti-icing methods are desired to reduce the icing hazard in many different industrial areas including transportation systems, power plants, power transmission, as well as offshore oil and gas production. In contrast to traditional passive anti-icing surfaces, this thesis work introduces an anti-icing coating that responds to different icing conditions by releasing an antifreeze liquid. It consists of an outer porous superhydrophobic epidermis and a wick-like underlying dermis that is infused with the antifreeze liquid. This bi-layer coating prevents accumulation of frost, freezing fog, and freezing rain, while conventional anti-icing surfaces typically work only in one of these conditions. The bi-layer coating also delays condensation on the exterior surface at least ten times longer than identical system without antifreeze.
It is demonstrated that the significant delay in condensation onset is due to the integral humidity sink effect posed by the hygroscopic antifreeze liquid infused in the porous structure. This effect significantly alters the water vapor concentration field at the coating surface, which delays nucleation of drops and ice. It was demonstrated that with a proper design of the environmental chamber the size of the region of inhibited condensation and condensation frosting around an isolated pore, as well as periodically spaced pores, filled by propylene glycol can be quantitatively predicted from quasi-steady state water vapor concentration field. Theoretical analysis and experiments revealed that the inhibition of nucleation is governed by only two non-dimensional geometrical parameters: the pore size relative to the unit cell size and the ratio of the unit cell size to the thickness of the boundary layer. It is demonstrated that by switching the size of the pores from millimeters to nanometers, a dramatic depression of the nucleation onset temperature, as well as significantly greater delay in nucleation onset can be achieved.
It is demonstrated that the significant delay in condensation onset is due to the integral humidity sink effect posed by the hygroscopic antifreeze liquid infused in the porous structure. This effect significantly alters the water vapor concentration field at the coating surface, which delays nucleation of drops and ice. It was demonstrated that with a proper design of the environmental chamber the size of the region of inhibited condensation and condensation frosting around an isolated pore, as well as periodically spaced pores, filled by propylene glycol can be quantitatively predicted from quasi-steady state water vapor concentration field. Theoretical analysis and experiments revealed that the inhibition of nucleation is governed by only two non-dimensional geometrical parameters: the pore size relative to the unit cell size and the ratio of the unit cell size to the thickness of the boundary layer. It is demonstrated that by switching the size of the pores from millimeters to nanometers, a dramatic depression of the nucleation onset temperature, as well as significantly greater delay in nucleation onset can be achieved.
ContributorsSun, Xiaoda (Author) / Rykaczewski, Konrad (Thesis advisor) / Lin, Jerry (Committee member) / Phelan, Patrick (Committee member) / Wang, Robert (Committee member) / Herrmann, Marcus (Committee member) / Wang, Liping (Committee member) / Arizona State University (Publisher)
Created2017