Matching Items (29)
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- All Subjects: Mechanical Engineering
- Creators: Mignolet, Marc
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
Uncertainty quantification is critical for engineering design and analysis. Determining appropriate ways of dealing with uncertainties has been a constant challenge in engineering. Statistical methods provide a powerful aid to describe and understand uncertainties. This work focuses on applying Bayesian methods and machine learning in uncertainty quantification and prognostics among all the statistical methods. This study focuses on the mechanical properties of materials, both static and fatigue, the main engineering field on which this study focuses. This work can be summarized in the following items: First, maintaining the safety of vintage pipelines requires accurately estimating the strength. The objective is to predict the reliability-based strength using nondestructive multimodality surface information. Bayesian model averaging (BMA) is implemented for fusing multimodality non-destructive testing results for gas pipeline strength estimation. Several incremental improvements are proposed in the algorithm implementation. Second, the objective is to develop a statistical uncertainty quantification method for fatigue stress-life (S-N) curves with sparse data.Hierarchical Bayesian data augmentation (HBDA) is proposed to integrate hierarchical Bayesian modeling (HBM) and Bayesian data augmentation (BDA) to deal with sparse data problems for fatigue S-N curves. The third objective is to develop a physics-guided machine learning model to overcome limitations in parametric regression models and classical machine learning models for fatigue data analysis. A Probabilistic Physics-guided Neural Network (PPgNN) is proposed for probabilistic fatigue S-N curve estimation. This model is further developed for missing data and arbitrary output distribution problems. Fourth, multi-fidelity modeling combines the advantages of low- and high-fidelity models to achieve a required accuracy at a reasonable computation cost. The fourth objective is to develop a neural network approach for multi-fidelity modeling by learning the correlation between low- and high-fidelity models. Finally, conclusions are drawn, and future work is outlined based on the current study.
ContributorsChen, Jie (Author) / Liu, Yongming (Thesis advisor) / Chattopadhyay, Aditi (Committee member) / Mignolet, Marc (Committee member) / Ren, Yi (Committee member) / Yan, Hao (Committee member) / Arizona State University (Publisher)
Created2022
Description
Ultra-fast 2D/3D material microstructure reconstruction and quantitative structure-property mapping are crucial components of integrated computational material engineering (ICME). It is particularly challenging for modeling random heterogeneous materials such as alloys, composites, polymers, porous media, and granular matters, which exhibit strong randomness and variations of their material properties due to the hierarchical uncertainties associated with their complex microstructure at different length scales. Such uncertainties also exist in disordered hyperuniform systems that are statistically isotropic and possess no Bragg peaks like liquids and glasses, yet they suppress large-scale density fluctuations in a similar manner as in perfect crystals. The unique hyperuniform long-range order in these systems endow them with nearly optimal transport, electronic and mechanical properties. The concept of hyperuniformity was originally introduced for many-particle systems and has subsequently been generalized to heterogeneous materials such as porous media, composites, polymers, and biological tissues for unconventional property discovery. An explicit mixture random field (MRF) model is proposed to characterize and reconstruct multi-phase stochastic material property and microstructure simultaneously, where no additional tuning step nor iteration is needed compared with other stochastic optimization approaches such as the simulated annealing. The proposed method is shown to have ultra-high computational efficiency and only requires minimal imaging and property input data. Considering microscale uncertainties, the material reliability will face the challenge of high dimensionality. To deal with the so-called “curse of dimensionality”, efficient material reliability analysis methods are developed. Then, the explicit hierarchical uncertainty quantification model and efficient material reliability solvers are applied to reliability-based topology optimization to pursue the lightweight under reliability constraint defined based on structural mechanical responses. Efficient and accurate methods for high-resolution microstructure and hyperuniform microstructure reconstruction, high-dimensional material reliability analysis, and reliability-based topology optimization are developed. The proposed framework can be readily incorporated into ICME for probabilistic analysis, discovery of novel disordered hyperuniform materials, material design and optimization.
ContributorsGao, Yi (Author) / Liu, Yongming (Thesis advisor) / Jiao, Yang (Committee member) / Ren, Yi (Committee member) / Pan, Rong (Committee member) / Mignolet, Marc (Committee member) / Arizona State University (Publisher)
Created2021
Description
The technology and science capabilities of SmallSats continue to grow with the increase of capabilities in commercial off the shelf components. However, the maturation of SmallSat hardware has also led to an increase in component power consumption, this poses an issue with using traditional passive thermal management systems (radiators, thermal straps, etc.) to regulate high-power components. High power output becomes limited in order to maintain components within their allowable temperature ranges. The aim of this study is to explore new methods of using additive manufacturing to enable the usage of heat pipe structures on SmallSat platforms up to 3U’s in size. This analysis shows that these novel structures can increase the capabilities of SmallSat platforms by allowing for larger in-use heat loads from a nominal power density of 4.7 x 10^3 W/m3 to a higher 1.0 x 10^4 W/m3 , an order of magnitude increase. In addition, the mechanical properties of the SmallSat structure are also explored to characterize effects to the mechanical integrity of the spacecraft. The results show that the advent of heat pipe integration to the structures of SmallSats will lead to an increase in thermal management capabilities compared to the current state-of-the-art systems, while not reducing the structural integrity of the spacecraft. In turn, this will lead to larger science and technology capabilities for a field that is growing in both the education and private sectors.
ContributorsAcuna, Antonio (Author) / Das, Jnaneshwar (Thesis advisor) / Phelan, Patrick (Thesis advisor) / Mignolet, Marc (Committee member) / Arizona State University (Publisher)
Created2022
Description
Aromatic polymers, with benzene-like rings in their main chains, include materials such as polyurea, an amorphous elastomer capable of dissipating large amounts of energy under dynamic loading, which makes it a promising coating for defensive systems. Although computational research exists that investigates the atomic-level response of polyurea and other amorphous aromatic polymers to extreme conditions, there is little experimental work to validate these models 1) at the atomic-scale and 2) under high pressures characteristic of extreme dynamic loading. Understanding structure-property relationships at the atomic-level is important for polymers, considering many of them undergo pressure and temperature-induced structural transformations, which must be understood to formulate accurate predictive models. This work aims to gain a deeper understanding of the high-pressure structural response of aromatic polymers at the atomic-level, with emphasis into the mechanisms associated with high-pressure transformations. Hence, atomic-level structural data at high pressures was obtained in situ via multiangle energy dispersive X-ray diffraction (EDXD) experiments at the Advanced Photon Source (APS) for polyurea and another amorphous aromatic polymer, polysulfone, chosen as a reference due to its relatively simple structure. Pressures up to 6 GPa were applied using a Paris Edinburgh (PE) hydraulic press at room temperature. Select polyurea samples were also heated to 277 °C at 6 GPa. The resulting structure factors and pair distribution functions, along with molecular dynamics simulations of polyurea provided by collaborators, suggest that the structures of both polymers are stable up to 6 GPa, aside from reductions in free-volume between polymer backbones. As higher pressures (≲ 32 GPa) were applied using diamond anvils in combination with the PE press, indications of structural transformations were observed in both polymers that appear similar in nature to the sp2-sp3 hybridization in compressed carbon. The transformation occurs gradually up to at least ~ 26 GPa in PSF, while it does not progress past ~ 15 GPa in polyurea. The changes are largely reversible, especially in polysulfone, consistent with pressure-driven, reversible graphite-diamond transformations in the absence of applied temperature. These results constitute some of the first in situ observations of the mechanisms that drive pressure-induced structural transformations in aromatic polymers.
ContributorsEastmond, Tyler (Author) / Peralta, Pedro (Thesis advisor) / Hoover, Christian (Committee member) / Hrubiak, Rostislav (Committee member) / Mignolet, Marc (Committee member) / Oswald, Jay (Committee member) / Arizona State University (Publisher)
Created2022
Description
Shock loading produces a compressive stress pulse with steep gradients in density, temperature, and pressure that are also often modeled as discontinuities. When a material is subject to these dynamic (shock) loading conditions, fracture and deformation patterns due to spall damage can arise. Spallation is a dynamic material failure that is caused by the nucleation, growth, and coalescence of voids, with possible ejection of the surface of the material. Intrinsic defects, such as grain boundaries are the preferred initiation sites of spall damage in high purity materials. The focus of this research is to study the phenomena that cause void nucleation and growth at a particular grain boundary (GB), chosen to maximize spall damage localization.
Bicrystal samples were shock loaded using flyer-plates via light gas gun and direct laser ablation. Stress, pulse duration, and crystal orientation along the shock direction were varied for a fixed boundary misorientation to determine thresholds for void nucleation and coalescence as functions of these parameters. Pressures for gas gun experiments ranged from 2 to 5 GPa, while pressures for laser ablation experiments varied from 17 to 25 GPa. Samples were soft recovered to perform damage characterization using electron backscattering diffraction (EBSD) and Scanning Electron Microscopy (SEM). Results showed a 14% difference in the thresholds for void nucleation and coalescence between samples with different orientations along the shock direction, which were affected by pulse duration and stress level. Fractography on boundaries with strong damage localization showed many small voids, indicating they experience rapid nucleation, causing early coalescence. Composition analysis was also performed to determine the effect of impurities on damage evolution. Results showed that higher levels of impurities led to more damage. ABAQUS/Explicit models were developed to simulate flyer-plate impact and void growth with the same crystal orientations and experimental conditions. Results are able to match the damage seen in each grain of the target experimentally. The Taylor Factor mismatch at the boundary can also be observed in the model with the higher Taylor Factor grain exhibiting more damage.
Bicrystal samples were shock loaded using flyer-plates via light gas gun and direct laser ablation. Stress, pulse duration, and crystal orientation along the shock direction were varied for a fixed boundary misorientation to determine thresholds for void nucleation and coalescence as functions of these parameters. Pressures for gas gun experiments ranged from 2 to 5 GPa, while pressures for laser ablation experiments varied from 17 to 25 GPa. Samples were soft recovered to perform damage characterization using electron backscattering diffraction (EBSD) and Scanning Electron Microscopy (SEM). Results showed a 14% difference in the thresholds for void nucleation and coalescence between samples with different orientations along the shock direction, which were affected by pulse duration and stress level. Fractography on boundaries with strong damage localization showed many small voids, indicating they experience rapid nucleation, causing early coalescence. Composition analysis was also performed to determine the effect of impurities on damage evolution. Results showed that higher levels of impurities led to more damage. ABAQUS/Explicit models were developed to simulate flyer-plate impact and void growth with the same crystal orientations and experimental conditions. Results are able to match the damage seen in each grain of the target experimentally. The Taylor Factor mismatch at the boundary can also be observed in the model with the higher Taylor Factor grain exhibiting more damage.
ContributorsFortin, Elizabeth Victoria (Author) / Peralta, Pedro (Thesis advisor) / Mignolet, Marc (Committee member) / Loomis, Eric (Committee member) / Oswald, Jay (Committee member) / Solanki, Kiran (Committee member) / Arizona State University (Publisher)
Created2020
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
The focus of this dissertation is first on understanding the difficulties involved in constructing reduced order models of structures that exhibit a strong nonlinearity/strongly nonlinear events such as snap-through, buckling (local or global), mode switching, symmetry breaking. Next, based on this understanding, it is desired to modify/extend the current Nonlinear Reduced Order Modeling (NLROM) methodology, basis selection and/or identification methodology, to obtain reliable reduced order models of these structures. Focusing on these goals, the work carried out addressed more specifically the following issues:
i) optimization of the basis to capture at best the response in the smallest number of modes,
ii) improved identification of the reduced order model stiffness coefficients,
iii) detection of strongly nonlinear events using NLROM.
For the first issue, an approach was proposed to rotate a limited number of linear modes to become more dominant in the response of the structure. This step was achieved through a proper orthogonal decomposition of the projection on these linear modes of a series of representative nonlinear displacements. This rotation does not expand the modal space but renders that part of the basis more efficient, the identification of stiffness coefficients more reliable, and the selection of dual modes more compact. In fact, a separate approach was also proposed for an independent optimization of the duals. Regarding the second issue, two tuning approaches of the stiffness coefficients were proposed to improve the identification of a limited set of critical coefficients based on independent response data of the structure. Both approaches led to a significant improvement of the static prediction for the clamped-clamped curved beam model. Extensive validations of the NLROMs based on the above novel approaches was carried out by comparisons with full finite element response data. The third issue, the detection of nonlinear events, was finally addressed by building connections between the eigenvalues of the finite element software (Nastran here) and NLROM tangent stiffness matrices and the occurrence of the ‘events’ which is further extended to the assessment of the accuracy with which the NLROM captures the full finite element behavior after the event has occurred.
i) optimization of the basis to capture at best the response in the smallest number of modes,
ii) improved identification of the reduced order model stiffness coefficients,
iii) detection of strongly nonlinear events using NLROM.
For the first issue, an approach was proposed to rotate a limited number of linear modes to become more dominant in the response of the structure. This step was achieved through a proper orthogonal decomposition of the projection on these linear modes of a series of representative nonlinear displacements. This rotation does not expand the modal space but renders that part of the basis more efficient, the identification of stiffness coefficients more reliable, and the selection of dual modes more compact. In fact, a separate approach was also proposed for an independent optimization of the duals. Regarding the second issue, two tuning approaches of the stiffness coefficients were proposed to improve the identification of a limited set of critical coefficients based on independent response data of the structure. Both approaches led to a significant improvement of the static prediction for the clamped-clamped curved beam model. Extensive validations of the NLROMs based on the above novel approaches was carried out by comparisons with full finite element response data. The third issue, the detection of nonlinear events, was finally addressed by building connections between the eigenvalues of the finite element software (Nastran here) and NLROM tangent stiffness matrices and the occurrence of the ‘events’ which is further extended to the assessment of the accuracy with which the NLROM captures the full finite element behavior after the event has occurred.
ContributorsLin, Jinshan (Author) / Mignolet, Marc (Thesis advisor) / Jiang, Hanqing (Committee member) / Oswald, Jay (Committee member) / Spottswood, Stephen (Committee member) / Rajan, Subramaniam D. (Committee member) / Arizona State University (Publisher)
Created2020