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Description
Wind measurements are fundamental inputs for the evaluation of potential energy yield and performance of wind farms. Three-dimensional scanning coherent Doppler lidar (CDL) may provide a new basis for wind farm site selection, design, and control. In this research, CDL measurements obtained from multiple wind energy developments are analyzed and

Wind measurements are fundamental inputs for the evaluation of potential energy yield and performance of wind farms. Three-dimensional scanning coherent Doppler lidar (CDL) may provide a new basis for wind farm site selection, design, and control. In this research, CDL measurements obtained from multiple wind energy developments are analyzed and a novel wind farm control approach has been modeled. The possibility of using lidar measurements to more fully characterize the wind field is discussed, specifically, terrain effects, spatial variation of winds, power density, and the effect of shear at different layers within the rotor swept area. Various vector retrieval methods have been applied to the lidar data, and results are presented on an elevated terrain-following surface at hub height. The vector retrieval estimates are compared with tower measurements, after interpolation to the appropriate level. CDL data is used to estimate the spatial power density at hub height. Since CDL can measure winds at different vertical levels, an approach for estimating wind power density over the wind turbine rotor-swept area is explored. Sample optimized layouts of wind farm using lidar data and global optimization algorithms, accounting for wake interaction effects, have been explored. An approach to evaluate spatial wind speed and direction estimates from a standard nested Coupled Ocean and Atmosphere Mesoscale Prediction System (COAMPS) model and CDL is presented. The magnitude of spatial difference between observations and simulation for wind energy assessment is researched. Diurnal effects and ramp events as estimated by CDL and COAMPS were inter-compared. Novel wind farm control based on incoming winds and direction input from CDL's is developed. Both yaw and pitch control using scanning CDL for efficient wind farm control is analyzed. The wind farm control optimizes power production and reduces loads on wind turbines for various lidar wind speed and direction inputs, accounting for wind farm wake losses and wind speed evolution. Several wind farm control configurations were developed, for enhanced integrability into the electrical grid. Finally, the value proposition of CDL for a wind farm development, based on uncertainty reduction and return of investment is analyzed.
ContributorsKrishnamurthy, Raghavendra (Author) / Calhoun, Ronald J (Thesis advisor) / Chen, Kangping (Committee member) / Huang, Huei-Ping (Committee member) / Fraser, Matthew (Committee member) / Phelan, Patrick (Committee member) / Arizona State University (Publisher)
Created2013
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Description
Production from a high pressure gas well at a high production-rate encounters the risk of operating near the choking condition for a compressible flow in porous media. The unbounded gas pressure gradient near the point of choking, which is located near the wellbore, generates an effective tensile stress on the

Production from a high pressure gas well at a high production-rate encounters the risk of operating near the choking condition for a compressible flow in porous media. The unbounded gas pressure gradient near the point of choking, which is located near the wellbore, generates an effective tensile stress on the porous rock frame. This tensile stress almost always exceeds the tensile strength of the rock and it causes a tensile failure of the rock, leading to wellbore instability. In a porous rock, not all pores are choked at the same flow rate, and when just one pore is choked, the flow through the entire porous medium should be considered choked as the gas pressure gradient at the point of choking becomes singular. This thesis investigates the choking condition for compressible gas flow in a single microscopic pore. Quasi-one-dimensional analysis and axisymmetric numerical simulations of compressible gas flow in a pore scale varicose tube with a number of bumps are carried out, and the local Mach number and pressure along the tube are computed for the flow near choking condition. The effects of tube length, inlet-to-outlet pressure ratio, the number of bumps and the amplitude of the bumps on the choking condition are obtained. These critical values provide guidance for avoiding the choking condition in practice.
ContributorsYuan, Jing (Author) / Chen, Kangping (Thesis advisor) / Wang, Liping (Committee member) / Huang, Huei-Ping (Committee member) / Arizona State University (Publisher)
Created2013
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Description
The atomization of a liquid jet by a high speed cross-flowing gas has many applications such as gas turbines and augmentors. The mechanisms by which the liquid jet initially breaks up, however, are not well understood. Experimental studies suggest the dependence of spray properties on operating conditions and nozzle geom-

The atomization of a liquid jet by a high speed cross-flowing gas has many applications such as gas turbines and augmentors. The mechanisms by which the liquid jet initially breaks up, however, are not well understood. Experimental studies suggest the dependence of spray properties on operating conditions and nozzle geom- etry. Detailed numerical simulations can offer better understanding of the underlying physical mechanisms that lead to the breakup of the injected liquid jet. In this work, detailed numerical simulation results of turbulent liquid jets injected into turbulent gaseous cross flows for different density ratios is presented. A finite volume, balanced force fractional step flow solver to solve the Navier-Stokes equations is employed and coupled to a Refined Level Set Grid method to follow the phase interface. To enable the simulation of atomization of high density ratio fluids, we ensure discrete consistency between the solution of the conservative momentum equation and the level set based continuity equation by employing the Consistent Rescaled Momentum Transport (CRMT) method. The impact of different inflow jet boundary conditions on different jet properties including jet penetration is analyzed and results are compared to those obtained experimentally by Brown & McDonell(2006). In addition, instability analysis is performed to find the most dominant insta- bility mechanism that causes the liquid jet to breakup. Linear instability analysis is achieved using linear theories for Rayleigh-Taylor and Kelvin- Helmholtz instabilities and non-linear analysis is performed using our flow solver with different inflow jet boundary conditions.
ContributorsGhods, Sina (Author) / Herrmann, Marcus (Thesis advisor) / Squires, Kyle (Committee member) / Chen, Kangping (Committee member) / Huang, Huei-Ping (Committee member) / Tang, Wenbo (Committee member) / Arizona State University (Publisher)
Created2013
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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

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
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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

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
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Description
Climate change has been one of the major issues of global economic and social concerns in the past decade. To quantitatively predict global climate change, the Intergovernmental Panel on Climate Change (IPCC) of the United Nations have organized a multi-national effort to use global atmosphere-ocean models to project anthropogenically induced

Climate change has been one of the major issues of global economic and social concerns in the past decade. To quantitatively predict global climate change, the Intergovernmental Panel on Climate Change (IPCC) of the United Nations have organized a multi-national effort to use global atmosphere-ocean models to project anthropogenically induced climate changes in the 21st century. The computer simulations performed with those models and archived by the Coupled Model Intercomparison Project - Phase 5 (CMIP5) form the most comprehensive quantitative basis for the prediction of global environmental changes on decadal-to-centennial time scales. While the CMIP5 archives have been widely used for policy making, the inherent biases in the models have not been systematically examined. The main objective of this study is to validate the CMIP5 simulations of the 20th century climate with observations to quantify the biases and uncertainties in state-of-the-art climate models. Specifically, this work focuses on three major features in the atmosphere: the jet streams over the North Pacific and Atlantic Oceans and the low level jet (LLJ) stream over central North America which affects the weather in the United States, and the near-surface wind field over North America which is relevant to energy applications. The errors in the model simulations of those features are systematically quantified and the uncertainties in future predictions are assessed for stakeholders to use in climate applications. Additional atmospheric model simulations are performed to determine the sources of the errors in climate models. The results reject a popular idea that the errors in the sea surface temperature due to an inaccurate ocean circulation contributes to the errors in major atmospheric jet streams.
ContributorsKulkarni, Sujay (Author) / Huang, Huei-Ping (Thesis advisor) / Calhoun, Ronald (Committee member) / Peet, Yulia (Committee member) / Arizona State University (Publisher)
Created2014
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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

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
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Description
Multi-pulse particle tracking velocimetry (multi-pulse PTV) is a recently proposed flow measurement technique aiming to improve the performance of conventional PTV/ PIV. In this work, multi-pulse PTV is assessed based on PTV simulations in terms of spatial resolution, velocity measurement accuracy and the capability of acceleration measurement. The errors of

Multi-pulse particle tracking velocimetry (multi-pulse PTV) is a recently proposed flow measurement technique aiming to improve the performance of conventional PTV/ PIV. In this work, multi-pulse PTV is assessed based on PTV simulations in terms of spatial resolution, velocity measurement accuracy and the capability of acceleration measurement. The errors of locating particles, velocity measurement and acceleration measurement are analytically calculated and compared among quadruple-pulse, triple-pulse and dual-pulse PTV. The optimizations of triple-pulse and quadruple-pulse PTV are discussed, and criteria are developed to minimize the combined error in position, velocity and acceleration. Experimentally, the velocity and acceleration fields of a round impinging air jet are measured to test the triple-pulse technique. A high speed beam-splitting camera and a custom 8-pulsed laser system are utilized to achieve good timing flexibility and temporal resolution. A new method to correct the registration error between CCDs is also presented. Consequently, the velocity field shows good consistency between triple-pulse and dual-pulse measurements. The mean acceleration profile along the centerline of the jet is used as the ground truth for the verification of the triple-pulse PIV measurements of the acceleration fields. The instantaneous acceleration field of the jet is directly measured by triple-pulse PIV and presented. Accelerations up to 1,000 g's are measured in these experiments.
ContributorsDing, Liuyang (Author) / Adrian, Ronald J. (Thesis advisor) / Herrmann, Marcus (Committee member) / Huang, Huei-Ping (Committee member) / Arizona State University (Publisher)
Created2014
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Description
Multi-touch tablets and smart phones are now widely used in both workplace and consumer settings. Interacting with these devices requires hand and arm movements that are potentially complex and poorly understood. Experimental studies have revealed differences in performance that could potentially be associated with injury risk. However, underlying causes for

Multi-touch tablets and smart phones are now widely used in both workplace and consumer settings. Interacting with these devices requires hand and arm movements that are potentially complex and poorly understood. Experimental studies have revealed differences in performance that could potentially be associated with injury risk. However, underlying causes for performance differences are often difficult to identify. For example, many patterns of muscle activity can potentially result in similar behavioral output. Muscle activity is one factor contributing to forces in tissues that could contribute to injury. However, experimental measurements of muscle activity and force for humans are extremely challenging. Models of the musculoskeletal system can be used to make specific estimates of neuromuscular coordination and musculoskeletal forces. However, existing models cannot easily be used to describe complex, multi-finger gestures such as those used for multi-touch human computer interaction (HCI) tasks. We therefore seek to develop a dynamic musculoskeletal simulation capable of estimating internal musculoskeletal loading during multi-touch tasks involving multi digits of the hand, and use the simulation to better understand complex multi-touch and gestural movements, and potentially guide the design of technologies the reduce injury risk. To accomplish these, we focused on three specific tasks. First, we aimed at determining the optimal index finger muscle attachment points within the context of the established, validated OpenSim arm model using measured moment arm data taken from the literature. Second, we aimed at deriving moment arm values from experimentally-measured muscle attachments and using these values to determine muscle-tendon paths for both extrinsic and intrinsic muscles of middle, ring and little fingers. Finally, we aimed at exploring differences in hand muscle activation patterns during zooming and rotating tasks on the tablet computer in twelve subjects. Towards this end, our musculoskeletal hand model will help better address the neuromuscular coordination, safe gesture performance and internal loadings for multi-touch applications.
ContributorsYi, Chong-hwan (Author) / Jindrich, Devin L. (Thesis advisor) / Artemiadis, Panagiotis K. (Thesis advisor) / Phelan, Patrick (Committee member) / Santos, Veronica J. (Committee member) / Huang, Huei-Ping (Committee member) / Arizona State University (Publisher)
Created2014
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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

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.
ContributorsNew, Philip Wesley (Author) / Sugar, Thomas G. (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Redkar, Sangram (Committee member) / Arizona State University (Publisher)
Created2015