Matching Items (53)
Filtering by

Clear all filters

151787-Thumbnail Image.png
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
152536-Thumbnail Image.png
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
152349-Thumbnail Image.png
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
153533-Thumbnail Image.png
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
153411-Thumbnail Image.png
Description
Gallium-based liquid metals are of interest for a variety of applications including flexible electronics, soft robotics, and biomedical devices. Still, nano- to microscale device fabrication with these materials is challenging because of their strong adhesion to a majority of substrates. This unusual high adhesion is attributed to the formation of

Gallium-based liquid metals are of interest for a variety of applications including flexible electronics, soft robotics, and biomedical devices. Still, nano- to microscale device fabrication with these materials is challenging because of their strong adhesion to a majority of substrates. This unusual high adhesion is attributed to the formation of a thin oxide shell; however, its role in the adhesion process has not yet been established. In the first part of the thesis, we described a multiscale study aiming at understanding the fundamental mechanisms governing wetting and adhesion of gallium-based liquid metals. In particular, macroscale dynamic contact angle measurements were coupled with Scanning Electron Microscope (SEM) imaging to relate macroscopic drop adhesion to morphology of the liquid metal-surface interface. In addition, room temperature liquid-metal microfluidic devices are also attractive systems for hyperelastic strain sensing. Currently two types of liquid metal-based strain sensors exist for inplane measurements: single-microchannel resistive and two-microchannel capacitive devices. However, with a winding serpentine channel geometry, these sensors typically have a footprint of about a square centimeter, limiting the number of sensors that can be embedded into. In the second part of the thesis, firstly, simulations and an experimental setup consisting of two GaInSn filled tubes submerged within a dielectric liquid bath are used to quantify the effects of the cylindrical electrode geometry including diameter, spacing, and meniscus shape as well as dielectric constant of the insulating liquid and the presence of tubing on the overall system's capacitance. Furthermore, a procedure for fabricating the two-liquid capacitor within a single straight polydiemethylsiloxane channel is developed. Lastly, capacitance and response of this compact device to strain and operational issues arising from complex hydrodynamics near liquid-liquid and liquid-elastomer interfaces are described.
ContributorsLiu, Shanliangzi (Author) / Rykaczewski, Konrad (Thesis advisor) / Alford, Terry (Committee member) / Herrmann, Marcus (Committee member) / Hildreth, Owen (Committee member) / Arizona State University (Publisher)
Created2015
153189-Thumbnail Image.png
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.

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
153244-Thumbnail Image.png
Description
Nanostructured materials show signicant enhancement in the thermoelectric g-

ure of merit (zT) due to quantum connement eects. Improving the eciency of

thermoelectric devices allows for the development of better, more economical waste

heat recovery systems. Such systems may be used as bottoming or co-generation

cycles in conjunction with conventional power cycles to recover

Nanostructured materials show signicant enhancement in the thermoelectric g-

ure of merit (zT) due to quantum connement eects. Improving the eciency of

thermoelectric devices allows for the development of better, more economical waste

heat recovery systems. Such systems may be used as bottoming or co-generation

cycles in conjunction with conventional power cycles to recover some of the wasted

heat. Thermal conductivity measurement systems are an important part of the char-

acterization processes of thermoelectric materials. These systems must possess the

capability of accurately measuring the thermal conductivity of both bulk and thin-lm

samples at dierent ambient temperatures.

This paper discusses the construction, validation, and improvement of a thermal

conductivity measurement platform based on the 3-Omega technique. Room temperature

measurements of thermal conductivity done on control samples with known properties

such as undoped bulk silicon (Si), bulk gallium arsenide (GaAs), and silicon dioxide

(SiO2) thin lms yielded 150 W=m􀀀K, 50 W=m􀀀K, and 1:46 W=m􀀀K respectively.

These quantities were all within 8% of literature values. In addition, the thermal

conductivity of bulk SiO2 was measured as a function of temperature in a Helium-

4 cryostat from 75K to 250K. The results showed good agreement with literature

values that all fell within the error range of each measurement. The uncertainty in

the measurements ranged from 19% at 75K to 30% at 250K. Finally, the system

was used to measure the room temperature thermal conductivity of a nanocomposite

composed of cadmium selenide, CdSe, nanocrystals in an indium selenide, In2Se3,

matrix as a function of the concentration of In2Se3. The observed trend was in

qualitative agreement with the expected behavior.

i
ContributorsJaber, Abbas (Author) / Wang, Robert (Thesis advisor) / Wang, Liping (Committee member) / Rykaczewski, Konrad (Committee member) / Arizona State University (Publisher)
Created2014
150756-Thumbnail Image.png
Description
Energy efficient design and management of data centers has seen considerable interest in the recent years owing to its potential to reduce the overall energy consumption and thereby the costs associated with it. Therefore, it is of utmost importance that new methods for improved physical design of data centers, resource

Energy efficient design and management of data centers has seen considerable interest in the recent years owing to its potential to reduce the overall energy consumption and thereby the costs associated with it. Therefore, it is of utmost importance that new methods for improved physical design of data centers, resource management schemes for efficient workload distribution and sustainable operation for improving the energy efficiency, be developed and tested before implementation on an actual data center. The BlueTool project, provides such a state-of-the-art platform, both software and hardware, to design and analyze energy efficiency of data centers. The software platform, namely GDCSim uses cyber-physical approach to study the physical behavior of the data center in response to the management decisions by taking into account the heat recirculation patterns in the data center room. Such an approach yields best possible energy savings owing to the characterization of cyber-physical interactions and the ability of the resource management to take decisions based on physical behavior of data centers. The GDCSim mainly uses two Computational Fluid Dynamics (CFD) based cyber-physical models namely, Heat Recirculation Matrix (HRM) and Transient Heat Distribution Model (THDM) for thermal predictions based on different management schemes. They are generated using a model generator namely BlueSim. To ensure the accuracy of the thermal predictions using the GDCSim, the models, HRM and THDM and the model generator, BlueSim need to be validated experimentally. For this purpose, the hardware platform of the BlueTool project, namely the BlueCenter, a mini data center, can be used. As a part of this thesis, the HRM and THDM were generated using the BlueSim and experimentally validated using the BlueCenter. An average error of 4.08% was observed for BlueSim, 5.84% for HRM and 4.24% for THDM. Further, a high initial error was observed for transient thermal prediction, which is due to the inability of BlueSim to account for the heat retained by server components.
ContributorsGilbert, Rose Robin (Author) / Gupta, Sandeep K.S (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Phelan, Patrick (Committee member) / Arizona State University (Publisher)
Created2012
153954-Thumbnail Image.png
Description
Many physical phenomena and industrial applications involve multiphase fluid flows and hence it is of high importance to be able to simulate various aspects of these flows accurately. The Dynamic Contact Angles (DCA) and the contact lines at the wall boundaries are a couple of such important aspects. In the

Many physical phenomena and industrial applications involve multiphase fluid flows and hence it is of high importance to be able to simulate various aspects of these flows accurately. The Dynamic Contact Angles (DCA) and the contact lines at the wall boundaries are a couple of such important aspects. In the past few decades, many mathematical models were developed for predicting the contact angles of the inter-face with the wall boundary under various flow conditions. These models are used to incorporate the physics of DCA and contact line motion in numerical simulations using various interface capturing/tracking techniques. In the current thesis, a simple approach to incorporate the static and dynamic contact angle boundary conditions using the level set method is developed and implemented in multiphase CFD codes, LIT (Level set Interface Tracking) (Herrmann (2008)) and NGA (flow solver) (Desjardins et al (2008)). Various DCA models and associated boundary conditions are reviewed. In addition, numerical aspects such as the occurrence of a stress singularity at the contact lines and grid convergence of macroscopic interface shape are dealt with in the context of the level set approach.
ContributorsPendota, Premchand (Author) / Herrmann, Marcus (Thesis advisor) / Rykaczewski, Konrad (Committee member) / Chen, Kangping (Committee member) / Arizona State University (Publisher)
Created2015
154184-Thumbnail Image.png
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

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.
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