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- All Subjects: Mechanical Engineering
- Creators: Liu, Yongming
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Description
This dissertation aimed to evaluate the effectiveness and drawbacks of promising fall prevention strategies in individuals with stroke by rigorously analyzing the biomechanics of laboratory falls and compensatory movements required to prevent a fall. Ankle-foot-orthoses (AFOs) and functional electrical stimulators (FESs) are commonly prescribed to treat foot drop. Despite well-established positive impacts of AFOs and FES devices on balance and gait, AFO and FES users fall at a high rate. In chapter 2 (as a preliminary study), solely mechanical impacts of a semi-rigid AFO on the compensatory stepping response of young healthy individuals following trip-like treadmill perturbations were evaluated. It was found that a semi-rigid AFO on the stepping leg diminished the propulsive impulse of the compensatory step which led to decreased trunk movement control, shorter step length, and reduced center of mass (COM) stability. These results highlight the critical role of plantarflexors in generating an effective compensatory stepping response. In chapter 3, the underlying biomechanical mechanisms leading to high fall risk in long-term AFO and FES users with chronic stroke were studied. It was found that AFO and FES users fall more than Non-users because they have a more impaired lower limb that is not fully addressed by AFO/FES, therefore leading to a more impaired compensatory stepping response characterized by increased inability to generate a compensatory step with paretic leg and decreased trunk movement control. An ideal future AFO that provides dorsiflexion assistance during the swing phase and plantarflexion assistance during the push-off phase of gait is suggested to enhance the compensatory stepping response and reduce more falls. In chapter 4, the effects of a single-session trip-specific training on the compensatory stepping response of individuals with stroke were evaluated. Trunk movement control was improved after a single session of training suggesting that this type of training is a viable option to enhance compensatory stepping response and reduce falls in individuals with stroke. Finally, a future powered AFO with plantarflexion assistance complemented by a trip-specific training program is suggested to enhance the compensatory stepping response and decrease falls in individuals with stroke.
ContributorsNevisipour, Masood (Author) / Honeycutt, Claire (Thesis advisor) / Sugar, Thomas (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Abbas, James (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2019
Description
Information exists in various forms and a better utilization of the available information can benefit the system awareness and response predictions. The focus of this dissertation is on the fusion of different types of information using Bayesian-Entropy method. The Maximum Entropy method in information theory introduces a unique way of handling information in the form of constraints. The Bayesian-Entropy (BE) principle is proposed to integrate the Bayes’ theorem and Maximum Entropy method to encode extra information. The posterior distribution in Bayesian-Entropy method has a Bayesian part to handle point observation data, and an Entropy part that encodes constraints, such as statistical moment information, range information and general function between variables. The proposed method is then extended to its network format as Bayesian Entropy Network (BEN), which serves as a generalized information fusion tool for diagnostics, prognostics, and surrogate modeling.
The proposed BEN is demonstrated and validated with extensive engineering applications. The BEN method is first demonstrated for diagnostics of gas pipelines and metal/composite plates for damage diagnostics. Both empirical knowledge and physics model are integrated with direct observations to improve the accuracy for diagnostics and to reduce the training samples. Next, the BEN is demonstrated in prognostics and safety assessment in air traffic management system. Various information types, such as human concepts, variable correlation functions, physical constraints, and tendency data, are fused in BEN to enhance the safety assessment and risk prediction in the National Airspace System (NAS). Following this, the BE principle is applied in surrogate modeling. Multiple algorithms are proposed based on different type of information encoding, such as Bayesian-Entropy Linear Regression (BELR), Bayesian-Entropy Semiparametric Gaussian Process (BESGP), and Bayesian-Entropy Gaussian Process (BEGP) are demonstrated with numerical toy problems and practical engineering analysis. The results show that the major benefits are the superior prediction/extrapolation performance and significant reduction of training samples by using additional physics/knowledge as constraints. The proposed BEN offers a systematic and rigorous way to incorporate various information sources. Several major conclusions are drawn based on the proposed study.
The proposed BEN is demonstrated and validated with extensive engineering applications. The BEN method is first demonstrated for diagnostics of gas pipelines and metal/composite plates for damage diagnostics. Both empirical knowledge and physics model are integrated with direct observations to improve the accuracy for diagnostics and to reduce the training samples. Next, the BEN is demonstrated in prognostics and safety assessment in air traffic management system. Various information types, such as human concepts, variable correlation functions, physical constraints, and tendency data, are fused in BEN to enhance the safety assessment and risk prediction in the National Airspace System (NAS). Following this, the BE principle is applied in surrogate modeling. Multiple algorithms are proposed based on different type of information encoding, such as Bayesian-Entropy Linear Regression (BELR), Bayesian-Entropy Semiparametric Gaussian Process (BESGP), and Bayesian-Entropy Gaussian Process (BEGP) are demonstrated with numerical toy problems and practical engineering analysis. The results show that the major benefits are the superior prediction/extrapolation performance and significant reduction of training samples by using additional physics/knowledge as constraints. The proposed BEN offers a systematic and rigorous way to incorporate various information sources. Several major conclusions are drawn based on the proposed study.
ContributorsWang, Yuhao (Author) / Liu, Yongming (Thesis advisor) / Chattopadhyay, Aditi (Committee member) / Mignolet, Marc (Committee member) / Yan, Hao (Committee member) / Ren, Yi (Committee member) / Arizona State University (Publisher)
Created2020
Description
One potential application of multi-robot systems is collective transport, a task in which multiple mobile robots collaboratively transport a payload that is too large or heavy to be carried by a single robot. Numerous control schemes have been proposed for collective transport in environments where robots can localize themselves (e.g., using GPS) and communicate with one another, have information about the payload's geometric and dynamical properties, and follow predefined robot and/or payload trajectories. However, these approaches cannot be applied in uncertain environments where robots do not have reliable communication and GPS and lack information about the payload. These conditions characterize a variety of applications, including construction, mining, assembly in space and underwater, search-and-rescue, and disaster response.
Toward this end, this thesis presents decentralized control strategies for collective transport by robots that regulate their actions using only their local sensor measurements and minimal prior information. These strategies can be implemented on robots that have limited or absent localization capabilities, do not explicitly exchange information, and are not assigned predefined trajectories. The controllers are developed for collective transport over planar surfaces, but can be extended to three-dimensional environments.
This thesis addresses the above problem for two control objectives. First, decentralized controllers are proposed for velocity control of collective transport, in which the robots must transport a payload at a constant velocity through an unbounded domain that may contain strictly convex obstacles. The robots are provided only with the target transport velocity, and they do not have global localization or prior information about any obstacles in the environment. Second, decentralized controllers are proposed for position control of collective transport, in which the robots must transport a payload to a target position through a bounded or unbounded domain that may contain convex obstacles. The robots are subject to the same constraints as in the velocity control scenario, except that they are assumed to have global localization. Theoretical guarantees for successful execution of the task are derived using techniques from nonlinear control theory, and it is shown through simulations and physical robot experiments that the transport objectives are achieved with the proposed controllers.
Toward this end, this thesis presents decentralized control strategies for collective transport by robots that regulate their actions using only their local sensor measurements and minimal prior information. These strategies can be implemented on robots that have limited or absent localization capabilities, do not explicitly exchange information, and are not assigned predefined trajectories. The controllers are developed for collective transport over planar surfaces, but can be extended to three-dimensional environments.
This thesis addresses the above problem for two control objectives. First, decentralized controllers are proposed for velocity control of collective transport, in which the robots must transport a payload at a constant velocity through an unbounded domain that may contain strictly convex obstacles. The robots are provided only with the target transport velocity, and they do not have global localization or prior information about any obstacles in the environment. Second, decentralized controllers are proposed for position control of collective transport, in which the robots must transport a payload to a target position through a bounded or unbounded domain that may contain convex obstacles. The robots are subject to the same constraints as in the velocity control scenario, except that they are assumed to have global localization. Theoretical guarantees for successful execution of the task are derived using techniques from nonlinear control theory, and it is shown through simulations and physical robot experiments that the transport objectives are achieved with the proposed controllers.
ContributorsFarivarnejad, Hamed (Author) / Berman, Spring (Thesis advisor) / Mignolet, Marc (Committee member) / Tsakalis, Konstantinos (Committee member) / Artemiadis, Panagiotis (Committee member) / Gil, Stephanie (Committee member) / Arizona State University (Publisher)
Created2020
Description
Additive manufacturing (AM) has been extensively investigated in recent years to explore its application in a wide range of engineering functionalities, such as mechanical, acoustic, thermal, and electrical properties. The proposed study focuses on the data-driven approach to predict the mechanical properties of additively manufactured metals, specifically Ti-6Al-4V. Extensive data for Ti-6Al-4V using three different Powder Bed Fusion (PBF) additive manufacturing processes: Selective Laser Melting (SLM), Electron Beam Melting (EBM), and Direct Metal Laser Sintering (DMLS) are collected from the open literature. The data is used to develop models to estimate the mechanical properties of Ti-6Al-4V. For this purpose, two models are developed which relate the fabrication process parameters to the static and fatigue properties of the AM Ti-6Al-4V. To identify the behavior of the relationship between the input and output parameters, each of the models is developed on both linear multi-regression analysis and non-linear Artificial Neural Network (ANN) based on Bayesian regularization. Uncertainties associated with the performance prediction and sensitivity with respect to processing parameters are investigated. Extensive sensitivity studies are performed to identify the important factors for future optimal design. Some conclusions and future work are drawn based on the proposed study with investigated material.
ContributorsSharma, Antriksh (Author) / Liu, Yongming (Thesis advisor) / Nian, Qiong (Committee member) / Jiao, Yang (Committee member) / Arizona State University (Publisher)
Created2020
Description
The human ankle is a vital joint in the lower limb of the human body. As the point of interaction between the human neuromuscular system and the physical world, the ankle plays important role in lower extremity functions including postural balance and locomotion . Accurate characterization of ankle mechanics in lower extremity function is essential not just to advance the design and control of robots physically interacting with the human lower extremities but also in rehabilitation of humans suffering from neurodegenerative disorders.
In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of the ankle, a novel multi-axial robotic platform was developed. The robotic platform is capable of simulating various haptic environments and transiently perturbing the ankle to analyze the neuromechanics of the ankle, specifically the ankle impedance. Humans modulate ankle impedance to perform various tasks of the lower limb. The robotic platform is used to analyze the modulation of ankle impedance during postural balance and locomotion on various haptic environments. Further, various factors that influence modulation of ankle impedance were identified. Using the factors identified during environment dependent impedance modulation studies, the quantitative relationship between these factors, namely the muscle activation of major ankle muscles, the weight loading on ankle and the torque generation at the ankle was analyzed during postural balance and locomotion. A universal neuromuscular model of the ankle that quantitatively relates ankle stiffness, the major component of ankle impedance, to these factors was developed.
This neuromuscular model is then used as a basis to study the alterations caused in ankle behavior due to neurodegenerative disorders such as Multiple Sclerosis and Stroke. Pilot studies to validate the analysis of altered ankle behavior and demonstrate the effectiveness of robotic rehabilitation protocols in addressing the altered ankle behavior were performed. The pilot studies demonstrate that the altered ankle mechanics can be quantified in the affected populations and correlate with the observed adverse effects of the disability. Further, robotic rehabilitation protocols improve ankle control in affected populations as seen through functional improvements in postural balance and locomotion, validating the neuromuscular approach for rehabilitation.
In order to characterize the ankle mechanics and understand the underlying mechanisms that influence the neuromuscular properties of the ankle, a novel multi-axial robotic platform was developed. The robotic platform is capable of simulating various haptic environments and transiently perturbing the ankle to analyze the neuromechanics of the ankle, specifically the ankle impedance. Humans modulate ankle impedance to perform various tasks of the lower limb. The robotic platform is used to analyze the modulation of ankle impedance during postural balance and locomotion on various haptic environments. Further, various factors that influence modulation of ankle impedance were identified. Using the factors identified during environment dependent impedance modulation studies, the quantitative relationship between these factors, namely the muscle activation of major ankle muscles, the weight loading on ankle and the torque generation at the ankle was analyzed during postural balance and locomotion. A universal neuromuscular model of the ankle that quantitatively relates ankle stiffness, the major component of ankle impedance, to these factors was developed.
This neuromuscular model is then used as a basis to study the alterations caused in ankle behavior due to neurodegenerative disorders such as Multiple Sclerosis and Stroke. Pilot studies to validate the analysis of altered ankle behavior and demonstrate the effectiveness of robotic rehabilitation protocols in addressing the altered ankle behavior were performed. The pilot studies demonstrate that the altered ankle mechanics can be quantified in the affected populations and correlate with the observed adverse effects of the disability. Further, robotic rehabilitation protocols improve ankle control in affected populations as seen through functional improvements in postural balance and locomotion, validating the neuromuscular approach for rehabilitation.
ContributorsNalam, Varun (Author) / Lee, Hyunglae (Thesis advisor) / Artemiadis, Panagiotis (Committee member) / Santello, Marco (Committee member) / Sugar, Thomas (Committee member) / Lockhart, Thurmon (Committee member) / Arizona State University (Publisher)
Created2020
Description
AA 7XXX alloys are used extensively in aircraft and naval structures due to their excellent strength to weight ratio. These alloys are often exposed to harsh corrosive environments and mechanical stresses that can compromise their reliability in service. They are also coupled with fasteners that are composed of different materials such as Titanium alloys. Such dissimilar metal contact facilitates galvanic and crevice corrosion, which can further reduce their lifetimes. Despite decades of research in the area, the confluence of mechanical, microstructural, and electrochemical aspects of damage is still unclear. Traditionally, 2D and destructive methods have often been employed to study the corrosion and cracking behavior in these systems which can be severely limiting and lead to inaccurate conclusions. This dissertation is aimed at comprehensively studying the corrosion and cracking behavior of these systems using time-dependent 3D microstructural characterization, as well as correlative microscopy. The microstructural evolution of corrosion in AA 7075 was studied using a combination of potentiodynamic polarization, X-ray Computed Tomography (XCT) and Transmission X-ray Microscopy (TXM). In both experiments, a strong emphasis was placed on studying localized corrosion attack at constituent particles and intergranular corrosion. With an understanding of the alloy’s corrosion behavior, a dissimilar alloy couple comprising AA 7075 / Ti-6Al-4V was then investigated. Ex situ and in situ x-ray microtomography was used extensively to investigate the evolution of pitting corrosion and corrosion fatigue in AA 7075 plates fastened separately with Ti-6Al-4V screws and rivets. The 4D tomography combined with the extensive fractography yielded valuable information pertaining the preferred sites of pit initiation, crack initiation and growth in these complex geometries. The use of correlative microscopy-based methodologies yielded multimodal characterization results that provided a unique and seminal insight on corrosion mechanisms in these materials.
ContributorsNiverty, Sridhar (Author) / Chawla, Nikhilesh (Thesis advisor) / Liu, Yongming (Committee member) / Ankit, Kumar (Committee member) / Xiao, Xianghui (Committee member) / Arizona State University (Publisher)
Created2020
Description
Precursors of carbon fibers include rayon, pitch, and polyacrylonitrile fibers that can be heat-treated for high-strength or high-modulus carbon fibers. Among them, polyacrylonitrile has been used most frequently due to its low viscosity for easy processing and excellent performance for high-end applications. To further explore polyacrylonitrile-based fibers for better precursors, in this study, carbon nanofillers were introduced in the polymer matrix to examine their reinforcement effects and influences on carbon fiber performance. Two-dimensional graphene nanoplatelets were mainly used for the polymer reinforcement and one-dimensional carbon nanotubes were also incorporated in polyacrylonitrile as a comparison. Dry-jet wet spinning was used to fabricate the composite fibers. Hot-stage drawing and heat-treatment were used to evolve the physical microstructures and molecular morphologies of precursor and carbon fibers. As compared to traditionally used random dispersions, selective placement of nanofillers was effective in improving composite fiber properties and enhancing mechanical and functional behaviors of carbon fibers. The particular position of reinforcement fillers with polymer layers was enabled by the in-house developed spinneret used for fiber spinning. The preferential alignment of graphitic planes contributed to the enhanced mechanical and functional behaviors than those of dispersed nanoparticles in polyacrylonitrile composites. The high in-plane modulus of graphene and the induction to polyacrylonitrile molecular carbonization/graphitization were the motivation for selectively placing graphene nanoplatelets between polyacrylonitrile layers. Mechanical tests, scanning electron microscopy, thermal, and electrical properties were characterized. Applications such as volatile organic compound sensing and pressure sensing were demonstrated.
ContributorsFranklin, Rahul Joseph (Author) / Song, Kenan (Thesis advisor) / Jiao, Yang (Thesis advisor) / Liu, Yongming (Committee member) / Arizona State University (Publisher)
Created2020
Description
Engineering materials and structures undergo a wide variety of multiaxial fatigue loading conditions during their service life. Some of the most complex multiaxial loading scenarios include proportional/non-proportional loading, mix-mode loading, overload/underload, etc. Such loadings are often experienced in many critical applications including aircraft, rotorcraft, and wind turbines. Any accidental failure of these structures during their service life can lead to catastrophic damage to life, property, and environment. All fatigue failure begins with the nucleation of a small crack, followed by crack growth, and ultimately the occurrence of final failure; however, the mechanisms governing the crack nucleation and the crack propagation behavior depend on the nature of fatigue loading and microstructure of the material. In general, ductile materials witness multiple nucleation sites leading to its failure; however, high strength material fails from the nucleation of a single dominant crack. Crack propagation, on the other hand, is governed by various competing mechanisms, which can act either ahead of the crack tip or in the wake region of the crack. Depending upon the magnitude of load, overload/underload, mode-mixity, and microstructure, dominant governing mechanisms may include: crack tip blunting; crack deflection, branching and secondary cracking; strain hardening; residual compressive stresses; plasticity-induced closure, etc. Therefore, it is essential to investigate the mechanisms governing fatigue failure of structural components under such complex multiaxial loading conditions in order to provide a reliable estimation of useful life. The research presented in this dissertation provides the foundation for a comprehensive understanding of fatigue damage in AA 7075 subjected to a range of loading conditions. A series of fatigue tests were conducted on specially designed specimens under different forms of multiaxial loading, which was followed by fracture-surface analysis in order to identify the governing micromechanisms and correlate them with macroscopic fatigue damage behavior. An empirical model was also developed to predict the crack growth rate trend under mode II overloads in an otherwise constant amplitude biaxial loading. The model parameters were calculated using the shape and the size of the plastic zone ahead of the crack tip, and the degree of material hardening within the overload plastic zone. The data obtained from the model showed a good correlation with the experimental values for crack growth rate in the transient region.
ContributorsSingh, Abhay Kumar (Author) / Chattopadhyay, Aditi (Thesis advisor) / Dai, Lenore (Committee member) / Liu, Yongming (Committee member) / Jiao, Yang (Committee member) / Fard, Masoud Y (Committee member) / Arizona State University (Publisher)
Created2021
Description
How to effectively and accurately describe, character and quantify the microstructure of the heterogeneous material and its 4D evolution process with time suffered from external stimuli or provocations is very difficult and challenging, but it’s significant and crucial for its performance prediction, processing, optimization and design. The goal of this research is to overcome these challenges by developing a series of novel hierarchical statistical microstructure descriptors called “n-point polytope functions” which is as known as Pn functions to quantify heterogeneous material’s microstructure and creating Pn functions related quantification methods which are Omega Metric and Differential Omega Metric to analyze its 4D processing.In this dissertation, a series of powerful programming tools are used to demonstrate that Pn functions can be used up to n=8 for chaotically scattered images which can hardly be distinguished by our naked eyes in chapter 3 to find or compare the potential configuration feature of structure such as symmetry or polygon geometry relation between the different targets when target’s multi-modal imaging is provided. These n-point statistic results calculated from Pn functions for features of interest in the microstructure can efficiently decompose the structural hidden features into a set of “polytope basis” to provide a concise, explainable, expressive, universal and efficient quantifying manner.
In Chapter 4, the Pn functions can also be incorporated into material reconstruction algorithms readily for fast virtualizing 3D microstructure regeneration and also allowing instant material property prediction via analytical structure-property mappings for material design.
In Chapter 5, Omega Metric and Differential Omega Metric are further created and used to provide a time-dependent reduced-dimension metric to analyze the 4D evaluation processing instead of using Pn functions directly because these 2 simplified methods can provide undistorted results to be easily compared. The real case of vapor-deposition alloy films analysis are implemented in this dissertation to demonstrate that One can use these methods to predict or optimize the design for 4D evolution of heterogeneous material.
The advantages of the all quantification methods in this dissertation can let us economically and efficiently quantify, design, predict the microstructure and 4D evolution of the heterogeneous material in various fields.
ContributorsCHEN, PEI-EN (Author) / Jiao, Yang (Thesis advisor) / Ren, Yi (Thesis advisor) / Liu, Yongming (Committee member) / Zhuang, Houlong (Committee member) / Nian, Qiong (Committee member) / Arizona State University (Publisher)
Created2021
Description
Fiber reinforced composites are rapidly replacing conventional metallic or polymeric materials as materials of choice in a myriad of applications across a wide range of industries. The relatively low weight, high strength, high stiffness, and a variety of thermal and mechanical environmental and loading capabilities are in part what make composite materials so appealing to material experts and design engineers. Additionally, fiber reinforced composites are highly tailorable and customized composite materials and structures can be readily designed for specific applications including those requiring particular directional material properties, fatigue resistance, damage tolerance, high temperature capabilities, or resistance to environmental degradation due to humidity and oxidation. The desirable properties of fiber reinforced composites arise from the strategic combination of multiple constituents to form a new composite material. However, the significant material anisotropy that occurs as a result of combining multiple constituents, each with different directional thermal and mechanical properties, complicates material analysis and remains a major impediment to fully understanding composite deformation and damage behavior. As a result, composite materials, especially specialized composites such as ceramic matrix composites and various multifunctional composites, are not utilized to their fullest potential. In the research presented in this dissertation, the deformation and damage behavior of several fiber reinforced composite systems were investigated. The damage accumulation and propagation behavior of carbon fiber reinforced polymer (CFRP) composites under complex in-phase biaxial fatigue loading conditions was investigated and the early stage damage and microscale damage were correlated to the eventual fatigue failure behavior and macroscale damage mechanisms. The temperature-dependent deformation and damage response of woven ceramic matrix composites (CMCs) reinforced with carbon and silicon carbide fibers was also studied. A fracture mechanics-informed continuum damage model was developed to capture the brittle damage behavior of the ceramic matrix. A multiscale thermomechanical simulation framework, consisting of cooldown simulations to capture a realistic material initial state and subsequent mechanical loading simulations to capture the temperature-dependent nonlinear stress-strain behavior, was also developed. The methodologies and results presented in this research represent substantial progress toward increasing understanding of the deformation and damage behavior of some key fiber reinforced composite materials.
ContributorsSkinner, Travis Dale (Author) / Chattopadhyay, Aditi (Thesis advisor) / Hall, Asha (Committee member) / Liu, Yongming (Committee member) / Jiao, Yang (Committee member) / Yekani-Fard, Masoud (Committee member) / Arizona State University (Publisher)
Created2021