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Description
Presented in this thesis are two projects that fall under the umbrella of magnetically actuated electronics and robotics for medical applications. First, magnetically actuated tunable soft electronics are discussed in Chapter 2. Wearable and implantable soft electronics are clinically available and commonplace. However, these devices can be taken a ste

Presented in this thesis are two projects that fall under the umbrella of magnetically actuated electronics and robotics for medical applications. First, magnetically actuated tunable soft electronics are discussed in Chapter 2. Wearable and implantable soft electronics are clinically available and commonplace. However, these devices can be taken a step further to improve the lives of their users by adding remote tunability. The four electric units tested were planar inductors, axial inductors, capacitors and resistors. The devices were made of polydimethylsiloxane (PDMS) for flexibility with copper components for conductivity. The units were tuned using magnets and mobile components comprised of iron filings and ferrofluid. The characteristic properties examined for each unit are as follows: inductance and quality factor (Q-factor) for inductors, capacitance and Q-factor for capacitors, and impedance for resistors. There were two groups of tuning tests: quantity effect and position effect of the mobile component. The position of the mobile component had a larger effect on each unit, with 20-23% change in inductance for inductors (from 3.31 µH for planar and 0.44 µH for axial), 12.7% from 2.854 pF for capacitors and 185.3% from 0.353 kΩ for resistors.

Chapter 3 discusses a magnetic needle tracking device with operative assistance from a six degree-of-freedom robotic arm. Traditional needle steering faces many obstacles such as torsional effects, buckling, and small radii of curvature. To improve upon the concept, this project uses permanent magnets in parallel with a tracking system to steer and determine the position and orientation of the needle in real time. The magnet configuration is located at the end effector of the robotic arm. The trajectory of the end effector depends on the needle’s path, and vice versa. The distance the needle travels inside the workspace is tracked by a direct current (DC) motor, to which the needle is tethered. Combining this length with the pose of the end effector, the position and orientation of the needle can be calculated. Simulation of this tracking device has shown the functionality of the system. Testing has been done to confirm that a single magnet pulls the needle through the phantom tissue.
ContributorsEdwards, Dakota (Author) / Marvi, Hamidreza (Thesis advisor) / Lee, Hyunglae (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2020
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Description
Needle steering is an extension of manually inserted needles that allows for maneuverability within the body in order to avoid anatomical obstacles and correct for undesired placement errors. Research into needle steering predominantly exploits interaction forces between a beveled tip and the medium, controlling the direction of forces by

Needle steering is an extension of manually inserted needles that allows for maneuverability within the body in order to avoid anatomical obstacles and correct for undesired placement errors. Research into needle steering predominantly exploits interaction forces between a beveled tip and the medium, controlling the direction of forces by applying rotations at the base of the needle shaft in order to steer. These systems are either manually or robotically advanced, but have not achieved clinical relevance due to a multitude of limitations including compression effects in the shaft that cause undesired tissue slicing, torsional friction forces and deflection at tissue boundaries that create control difficulties, and a physical design that inherently restricts the workspace. While most improvements into these systems attempt to innovate the needle design or create tissue models to better understand interaction forces, this paper discusses a promising alternative: magnetic needle steering. Chapter 2 discusses an electromagnetic needle steering system that overcomes all aforementioned issues with traditional steering. The electromagnetic system advances the needle entirely magnetically so it does not encounter any compression or torsion effects, it can steer across tissue-interfaces at various angles of attack (90, 45, 22.5°) with root-mean-square error (RMSE) of 1.2 mm, achieve various radii of curvature as low as 10.2 mm with RMSE of 1.4 mm, and steer along complex 3D paths with RMSE as low as 0.4 mm. Although these results do effectively prove the viability of magnetic steering, the electromagnetic system is limited by a weak magnetic field and small 33mm cubic workspace. In order to overcome these limitations, the use of permanent magnets, which can achieve magnetic forces an order of magnitude larger than similarly sized electromagnetics, is investigated. The needle will be steered toward a permanent magnet configuration that is controlled by a 6 degree-of-freedom robotic manipulator. Three magnet configurations were investigated, two novel ideas that attempt to create local maximum points that stabilize the needle relative to the configuration, and one that pulls the needle toward a single magnet. Ultimately, the last design was found to be most viable to demonstrate the effectiveness of magnetic needle steering.
ContributorsPetras, Alex (Author) / Marvi, Hamidreza (Thesis advisor) / Yong, Sze Z. (Committee member) / Ross, Heather M. (Committee member) / Arizona State University (Publisher)
Created2020
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Description
Current exosuit technologies utilizing soft inflatable actuators for gait assistance have drawbacks of having slow dynamics and limited portability. The first part of this thesis focuses on addressing the aforementioned issues by using inflatable actuator composites (IAC) and a portable pneumatic source. Design, fabrication and finite element modeling of the

Current exosuit technologies utilizing soft inflatable actuators for gait assistance have drawbacks of having slow dynamics and limited portability. The first part of this thesis focuses on addressing the aforementioned issues by using inflatable actuator composites (IAC) and a portable pneumatic source. Design, fabrication and finite element modeling of the IAC are presented. Volume optimization of the IAC is done by varying its internal volume using finite element methods. A portable air source for use in pneumatically actuated wearable devices is also presented. Evaluation of the system is carried out by analyzing its maximum pressure and flow output. Electro-pneumatic setup, design and fabrication of the developed air source are also shown. To provide assistance to the user using the exosuit in appropriate gait phases, a gait detection system is needed. In the second part of this thesis, a gait sensing system utilizing soft fabric based inflatable sensors embedded in a silicone based shoe insole is developed. Design, fabrication and mechanical characterization of the soft gait detection sensors are given. In addition, integration of the sensors, each capable of measuring loads of 700N in a silicone based shoe insole is also shown along with its possible application in detection of various gait phases. Finally, a possible integration of the actuators, air source and gait detection shoes in making of a portable soft exosuit for knee assistance is given.
Contributorspoddar, souvik (Author) / Zhang, Wenlong (Thesis advisor) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2020
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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

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
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Description
In this study, the stereolithography (SLA) 3D printing method is used to manufacture honeycomb-shaped flat sorbents that can capture CO2 from the air. The 3D-printed sorbents were synthesized using polyvinyl alcohol (PVA), propylene glycol, photopolymer resin, and an ion exchange resin (IER). The one-factor-at-a-time (OFAT) design-of-experiment approach was employed to

In this study, the stereolithography (SLA) 3D printing method is used to manufacture honeycomb-shaped flat sorbents that can capture CO2 from the air. The 3D-printed sorbents were synthesized using polyvinyl alcohol (PVA), propylene glycol, photopolymer resin, and an ion exchange resin (IER). The one-factor-at-a-time (OFAT) design-of-experiment approach was employed to determine the best combination ratio of materials to achieve high moisture swing and a good turnout of printed sorbents. The maximum load limit of the liquid photopolymer resin to enable printability of sorbents was found to be 44%. A series of moisture swing experiments was conducted to investigate the adsorption and desorption performance of the 3D-printed sorbents and compare them with the performance of IER samples prepared by a conventional approach. Results from these experiments conducted indicate that the printed sorbents showed less CO2 adsorptive characteristics compared to the conventional IER sample. It is proposed for future research that a liquid photopolymer resin made up of an IER be synthesized in order to improve the CO2-capturing ability of manufactured sorbents.
ContributorsObeng-Ampomah, Terry (Author) / Phelan, Patrick (Thesis advisor) / Lackner, Klaus (Committee member) / Shuaib, Abdelrahman (Committee member) / Arizona State University (Publisher)
Created2020
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Description
The operating temperature of photovoltaic (PV) modules has a strong impact on the expected performance of said modules in photovoltaic arrays. As the install capacity of PV arrays grows throughout the world, improved accuracy in modeling of the expected module temperature, particularly at finer time scales, requires improvements in the

The operating temperature of photovoltaic (PV) modules has a strong impact on the expected performance of said modules in photovoltaic arrays. As the install capacity of PV arrays grows throughout the world, improved accuracy in modeling of the expected module temperature, particularly at finer time scales, requires improvements in the existing photovoltaic temperature models. This thesis work details the investigation, motivation, development, validation, and implementation of a transient photovoltaic module temperature model based on a weighted moving-average of steady-state temperature predictions.

This thesis work first details the literature review of steady-state and transient models that are commonly used by PV investigators in performance modeling. Attempts to develop models capable of accounting for the inherent transient thermal behavior of PV modules are shown to improve on the accuracy of the steady-state models while also significantly increasing the computational complexity and the number of input parameters needed to perform the model calculations.

The transient thermal model development presented in this thesis begins with an investigation of module thermal behavior performed through finite-element analysis (FEA) in a computer-aided design (CAD) software package. This FEA was used to discover trends in transient thermal behavior for a representative PV module in a timely manner. The FEA simulations were based on heat transfer principles and were validated against steady-state temperature model predictions. The dynamic thermal behavior of PV modules was determined to be exponential, with the shape of the exponential being dependent on the wind speed and mass per unit area of the module.

The results and subsequent discussion provided in this thesis link the thermal behavior observed in the FEA simulations to existing steady-state temperature models in order to create an exponential weighting function. This function can perform a weighted average of steady-state temperature predictions within 20 minutes of the time in question to generate a module temperature prediction that accounts for the inherent thermal mass of the module while requiring only simple input parameters. Validation of the modeling method presented here shows performance modeling accuracy improvement of 0.58%, or 1.45°C, over performance models relying on steady-state models at narrow data intervals.
ContributorsPrilliman, Matthew (Author) / Tamizhmani, Govindasamy (Thesis advisor) / Phelan, Patrick (Thesis advisor) / Wang, Liping (Committee member) / Arizona State University (Publisher)
Created2020
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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,

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
Multi-material fabrication allows for the creation of individual parts composed of several materials with distinct properties, providing opportunities for integrating mechanisms into monolithic components. Components produced in this manner will have material boundaries which may be points of failure. However, the unique capabilities of multi-material fabrication allow for the use

Multi-material fabrication allows for the creation of individual parts composed of several materials with distinct properties, providing opportunities for integrating mechanisms into monolithic components. Components produced in this manner will have material boundaries which may be points of failure. However, the unique capabilities of multi-material fabrication allow for the use of graded material transitions at these boundaries to mitigate the impact of abrupt material property changes.

The goal of this work is to identify methods of creating graded material transitions that can improve the ultimate tensile strength of a multi-material component while maintaining other model properties. Particular focus is given towards transitions that can be produced using low cost manufacturing equipment. This work presents a series of methods for creating graded material transitions which include previously established transition types as well as several novel techniques. Test samples of each transition type were produced using additive manufacturing and their performance was measured. It is shown that some types of transitions can increase the ultimate strength of a part, while others may introduce new stress concentrations that reduce performance. This work then presents a method for adjusting the elastic modulus of a component to which graded material transitions have been added to allow the original design properties to be met.
ContributorsBrauer, Cole (Author) / Aukes, Daniel (Thesis advisor) / Chen, Xiangfan (Committee member) / Sugar, Thomas (Committee member) / Arizona State University (Publisher)
Created2020
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Description
Compressible fluid flows involving multiple physical states of matter occur in both nature and technical applications such as underwater explosions and implosions, cavitation-induced bubble collapse in naval applications and Richtmyer-Meshkov type instabilities in inertial confinement fusion. Of particular interest is the atomization of fuels that enable shock-induced mixing of fuel

Compressible fluid flows involving multiple physical states of matter occur in both nature and technical applications such as underwater explosions and implosions, cavitation-induced bubble collapse in naval applications and Richtmyer-Meshkov type instabilities in inertial confinement fusion. Of particular interest is the atomization of fuels that enable shock-induced mixing of fuel and oxidizer in supersonic combustors. Due to low residence times and varying length scales, providing insight through physical experiments is both technically challenging and sometimes unfeasible. Numerical simulations can help provide detailed insight and aid in the engineering design of devices that can harness these physical phenomena.

In this research, computational methods were developed to accurately simulate phase interfaces in compressible fluid flows with a focus on targeting primary atomization. Novel numerical methods which treat the phase interface as a discontinuity, and as a smeared region were developed using low-dissipation, high-order schemes. The resulting methods account for the effects of compressibility, surface tension and viscosity. To aid with the varying length scales and high-resolution requirements found in atomization applications, an adaptive mesh refinement (AMR) framework is used to provide high-resolution only in regions of interest. The developed methods were verified with test cases involving strong shocks, high density ratios, surface tension effects and jumps in the equations of state, in one-, two- and three dimensions, obtaining good agreement with theoretical and experimental results. An application case of the primary atomization of a liquid jet injected into a Mach 2 supersonic crossflow of air is performed with the methods developed.
ContributorsKannan, Karthik (Author) / Herrmann, Marcus (Thesis advisor) / Huang, Huei-Ping (Committee member) / Lopez, Juan (Committee member) / Peet, Yulia (Committee member) / Wang, Liping (Committee member) / Arizona State University (Publisher)
Created2020
Description
Unmanned subsurface investigation technologies for the Moon are of special significance for future exploration when considering the renewed interest of the international community for this interplanetary destination. In precision agriculture, farmers demand quasi-real-time sensors and instruments with remote crop and soil detection properties to meet sustainability goals and achieve healthier

Unmanned subsurface investigation technologies for the Moon are of special significance for future exploration when considering the renewed interest of the international community for this interplanetary destination. In precision agriculture, farmers demand quasi-real-time sensors and instruments with remote crop and soil detection properties to meet sustainability goals and achieve healthier and higher crop yields. Hence, there is the need for a robot that will be able to travel through the soil and conduct sampling or in-situ analysis of the subsurface materials on earth and in space. This thesis presents the design, fabrication, and characterization of a robot that can travel through the soil. The robot consists of a helical screw design coupled with a fin that acts as an anchor. The fin design is an integral part of the robot, allowing it to travel up and down the medium unaided. Experiments were performed to characterize different designs. It was concluded that the most energy-efficient speed from traveling down the medium is 20 rpm, while 60 rpm was the efficient speed for traveling up the medium. This research provides vital insight into developing subsurface robots enabling us to unearth the valuable knowledge that subsurface environment holds to help the agricultural, construction, and exploration communities.
ContributorsOkwae, Nana Kwame Kwame (Author) / Marvi, Hamidreza (Thesis advisor) / Tao, Jungliang (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2020