Matching Items (56)
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- All Subjects: Mechanical Engineering
- Creators: Lee, Hyunglae
Description
The increasing demand for structural materials with superior mechanical properties has provided a strong impetus to the discovery of novel materials, and innovations in processing techniques to improve the properties of existing materials. Methods like severe plastic deformation (SPD) and surface mechanical attrition treatment (SMAT) have led to significant enhancement in the strength of traditional structural materials like Al and Fe based alloys via microstructural refinement. However, the nanocrystalline materials produced using these techniques exhibit poor ductility due to the lack of effective strain hardening mechanisms, and as a result the well-known strength-ductility trade-off persists. To overcome this trade-off, researchers have proposed the concept of heterostructured materials, which are composed of domains ranging in size from a few nanometers to several micrometers. Over the last two decades, there has been intense research on the development of new methods to synthesize heterostructured materials. However, none of these methods is capable of providing precise control over key microstructural parameters such as average grain size, grain morphology, and volume fraction and connectivity of coarse and fine grains. Due to the lack of microstructural control, the relationship between these parameters and the deformation behavior of heterostructured materials cannot be investigated systematically, and hence designing heterostructured materials with optimized properties is currently infeasible. This work aims to address this scientific and technological challenge and is composed of two distinct but interrelated parts. The first part concerns the development of a broadly applicable synthesis method to produce heterostructured metallic films with precisely defined architectures. This method exploits two forms of film growth (epitaxial and Volmer-Weber) to generate heterostructured metallic films. The second part investigates the effect of different microstructural parameters on the deformation behavior of heterostructured metallic films with the aim of elucidating their structure-property relationships. Towards this end, freestanding heterostructured Fe films with different architectures were fabricated and uniaxially deformed using MEMS stages. The results from these experiments are presented and their implications for the mechanical properties of heterostructured materials is discussed.
ContributorsBerlia, Rohit (Author) / Rajagopalan, Jagannathan (Thesis advisor) / Sieradzki, Karl (Committee member) / Peralta, Pedro (Committee member) / Crozier, Peter (Committee member) / Solanki, Kiran (Committee member) / Arizona State University (Publisher)
Created2021
Description
Technological progress in robot sensing, design, and fabrication, and the availability of open source software frameworks such as the Robot Operating System (ROS), are advancing the applications of swarm robotics from toy problems to real-world tasks such as surveillance, precision agriculture, search-and-rescue, and infrastructure inspection. These applications will require the development of robot controllers and system architectures that scale well with the number of robots and that are robust to robot errors and failures. To achieve this, one approach is to design decentralized robot control policies that require only local sensing and local, ad-hoc communication. In particular, stochastic control policies can be designed that are agnostic to individual robot identities and do not require a priori information about the environment or sophisticated computation, sensing, navigation, or communication capabilities. This dissertation presents novel swarm control strategies with these properties for detecting and mapping static targets, which represent features of interest, in an
unknown, bounded, obstacle-free environment. The robots move on a finite spatial grid according to
the time-homogeneous transition probabilities of a Discrete-Time Discrete-State (DTDS) Markov chain model, and they exchange information with other robots within their communication range using a consensus (agreement) protocol. This dissertation extend theoretical guarantees on multi-robot consensus over fixed and time-varying communication networks with known connectivity properties to consensus over the networks that have Markovian switching dynamics and no presumed connectivity. This dissertation develops such swarm consensus strategies for detecting a single feature in the environment, tracking multiple features, and reconstructing a discrete distribution of features modeled as an occupancy grid map.
The proposed consensus approaches are validated in numerical simulations and in 3D physics-based simulations of quadrotors in Gazebo. The scalability of the proposed approaches is examined through extensive numerical simulation studies over different swarm populations and environment sizes.
ContributorsShirsat, Aniket (Author) / Berman, Spring (Thesis advisor) / Lee, Hyunglae (Committee member) / Marvi, Hamid (Committee member) / Saripalli, Srikanth (Committee member) / Gharavi, Lance (Committee member) / Arizona State University (Publisher)
Created2022
Description
Over the past few decades there has been significant interest in the design and construction of hypersonic vehicles. Such vehicles exhibit strongly coupled aerodynamics, acoustics, heat transfer, and structural deformations, which can take significant computational efforts to simulate using standard finite element and computational fluid dynamics techniques. This situation has lead to development of various reduced order modelling (ROM) methods which reduce the parameter space of these simulations so they can be run more quickly. The planned hypersonic vehicles will be constructed by assembling a series of sub-structures, such as panels and stiffeners, that will be welded together creating built-up structures.In this light, the focus of the present investigation is on the formulation and validation of nonlinear reduced order models (NLROMs) of built-up structures that include nonlinear geometric effects induced by the large loads/large response. Moreover, it is recognized that gaps between sub-structures could result from the these intense loadings can thus the inclusion of the nonlinearity introduced by contact separation will also be addressed. These efforts, application to built-up structures and inclusion of contact nonlinearity, represent novel developments of existing NLROM strategies. A hat stiffened panel is selected as a representative example of built-up structure and a compact NRLOM is successfully constructed for this structure which exhibited a potential internal resonance. For the investigation of contact nonlinearity, two structural models were used: a cantilevered beam which can contact several stops and an overlapping plate model which can exhibit the opening/closing of a gap. Successful NLROMs were constructed for these structures with the basis for the plate model determined as a two-step process, i.e., considering the plate without gap first and then enriching the corresponding basis to account for opening of the gap. Adaptions were then successfully made to a Newton-Raphson solver to properly account for contact and the associated forces in static predictions by NLROMs.
ContributorsWainwright, Bret Aaron (Author) / Mignolet, Marc P (Thesis advisor) / Oswald, Jay (Committee member) / Peralta, Pedro (Committee member) / Spottswood, Stephen (Committee member) / Rajan, Subramaniam (Committee member) / Arizona State University (Publisher)
Created2021
Description
The relationships between the properties of materials and their microstructures have been a central topic in materials science. The microstructure-property mapping and numerical failure prediction are critical for integrated computational material engineering (ICME). However, the bottleneck of ICME is the lack of a clear understanding of the failure mechanism as well as an efficient computational framework. To resolve these issues, research is performed on developing novel physics-based and data-driven numerical methods to reveal the failure mechanism of materials in microstructure-sensitive applications.
First, to explore the damage mechanism of microstructure-sensitive materials in general loading cases, a nonlocal lattice particle model (LPM) is adopted because of its intrinsic ability to handle the discontinuity. However, the original form of LPM is unsuitable for simulating nonlinear behavior involving tensor calculation. Therefore, a damage-augmented LPM (DLPM) is proposed by introducing the concept of interchangeability and bond/particle-based damage criteria. The proposed DLPM successfully handles the damage accumulation behavior in general material systems under static and fatigue loading cases.
Then, the study is focused on developing an efficient physics-based data-driven computational framework. A data-driven model is proposed to improve the efficiency of a finite element analysis neural network (FEA-Net). The proposed model, i.e., MFEA-Net, aims to learn a more powerful smoother in a multigrid context. The learned smoothers have good generalization properties, and the resulted MFEA-Net has linear computational complexity. The framework has been applied to efficiently predict the thermal and elastic behavior of composites with various microstructural fields. Finally, the fatigue behavior of additively manufactured (AM) Ti64 alloy is analyzed both experimentally and numerically. The fatigue experiments show the fatigue life is related with the contour process parameters, which can result in different pore defects, surface roughness, and grain structures. The fractography and grain structures are closely observed using scanning electron microscope. The sample geometry and defect/crack morphology are characterized through micro computed tomography (CT). After processing the pixel-level CT data, the fatigue crack initiation and growth behavior are numerically simulated using MFEA-Net and DLPM. The experiments and simulation results provided valuable insights in fatigue mechanism of AM Ti64 alloy.
ContributorsMeng, Changyu (Author) / Liu, Yongming (Thesis advisor) / Hoover, Christian (Committee member) / Li, Lin (Committee member) / Peralta, Pedro (Committee member) / Wang, Liping (Committee member) / Arizona State University (Publisher)
Created2023
Description
This dissertation introduces and examines Soft Curved Reconfigurable Anisotropic Mechanisms (SCRAMs) as a solution to address actuation, manufacturing, and modeling challenges in the field of soft robotics, with the aim of facilitating the broader implementation of soft robots in various industries. SCRAM systems utilize the curved geometry of thin elastic structures to tackle these challenges in soft robots. SCRAM devices can modify their dynamic behavior by incorporating reconfigurable anisotropic stiffness, thereby enabling tailored locomotion patterns for specific tasks. This approach simplifies the actuation of robots, resulting in lighter, more flexible, cost-effective, and safer soft robotic systems. This dissertation demonstrates the potential of SCRAM devices through several case studies. These studies investigate virtual joints and shape change propagation in tubes, as well as anisotropic dynamic behavior in vibrational soft twisted beams, effectively demonstrating interesting locomotion patterns that are achievable using simple actuation mechanisms. The dissertation also addresses modeling and simulation challenges by introducing a reduced-order modeling approach. This approach enables fast and accurate simulations of soft robots and is compatible with existing rigid body simulators. Additionally, this dissertation investigates the prototyping processes of SCRAM devices and offers a comprehensive framework for the development of these devices. Overall, this dissertation demonstrates the potential of SCRAM devices to overcome actuation, modeling, and manufacturing challenges in soft robotics. The innovative concepts and approaches presented have implications for various industries that require cost-effective, adaptable, and safe robotic systems. SCRAM devices pave the way for the widespread application of soft robots in diverse domains.
ContributorsJiang, Yuhao (Author) / Aukes, Daniel (Thesis advisor) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Srivastava, Siddharth (Committee member) / Arizona State University (Publisher)
Created2023
Description
This thesis presents a study on the user adaptive variable impedance control of a wearable ankle robot for robot-aided rehabilitation with a primary focus on enhancing accuracy and speed. The controller adjusts the impedance parameters based on the user's kinematic data to provide personalized assistance. Bayesian optimization is employed to minimize an objective function formulated from the user's kinematic data to adapt the impedance parameters per user, thereby enhancing speed and accuracy. Gaussian process is used as a surrogate model for optimization to account for uncertainties and outliers inherent to human experiments. Student-t process based outlier detection is utilized to enhance optimization robustness and accuracy. The efficacy of the optimization is evaluated based on measures of speed, accuracy, and effort, and compared with an untuned variable impedance controller during 2D curved trajectory following tasks. User effort was measured based on muscle activation data from the tibialis anterior, peroneus longus, soleus, and gastrocnemius muscles. The optimized controller was evaluated on 15 healthy subjects and demonstrated an average increase in speed of 9.85% and a decrease in deviation from the ideal trajectory of 7.57%, compared to an unoptimized variable impedance controller. The strategy also reduced the time to complete tasks by 6.57%, while maintaining a similar level of user effort.
ContributorsManoharan, Gautham (Author) / Lee, Hyunglae (Thesis advisor) / Berman, Spring (Committee member) / Xu, Zhe (Committee member) / Arizona State University (Publisher)
Created2023
Description
The Soft Robotic Hip Exosuit (SR-HExo) was designed, fabricated, and tested in treadmill walking experiments with healthy participants to gauge effectivity of the suit in assisting locomotion and in expanding the basin of entrainment as a method of rehabilitation. The SR-HExo consists of modular, compliant materials to move freely with a user’s range of motion and is actuated with X-oriented flat fabric pneumatic artificial muscles (X-ff-PAM) that contract when pressurized and can generate 190N of force at 200kPa in a 0.3 sec window. For use in gait assistance experiments, X-ff-PAM actuators were placed anterior and posterior to the right hip joint. Extension assistance and flexion assistance was provided in 10-45% and 50-90% of the gait cycle, respectively. Device effectivity was determined through range of motion (ROM) preservation and hip flexor and extensor muscular activity reduction. While the active suit reduced average hip ROM by 4o from the target 30o, all monitored muscles experienced significant reductions in electrical activity. The gluteus maximus and biceps femoris experienced electrical activity reduction of 13.1% and 6.6% respectively and the iliacus and rectus femoris experienced 10.7% and 27.7% respectively. To test suit rehabilitative potential, the actuators were programmed to apply periodic torque perturbations to induce locomotor entrainment. An X-ff-PAM was contracted at
the subject’s preferred gait frequency and, in randomly ordered increments of 3%, increased up to 15% beyond.
Perturbations located anterior and posterior to the hip were tested separately to assess impact of location on entrainment characteristics. All 11 healthy participants achieved entrainment in all 12 experimental conditions in both
suit orientations. Phase-locking consistently occurred around toe-off phase of the gait cycle (GC). Extension perturbations synchronized earlier in the gait cycle (before 60% GC where peak hip extension occurs) than flexion perturbations (just after 60% GC at the transition from full hip extension to hip flexion), across group averaged results. The study demonstrated the suit can significantly extend the basin of entrainment and improve transient response compared to previously reported results and confirms that a single stable attractor exists during gait entrainment to unidirectional hip perturbations.
ContributorsBaye-Wallace, Lily (Author) / Lee, Hyunglae (Thesis advisor) / Marvi, Hamidreza (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2021
Description
The introduction of assistive/autonomous features in cyber-physical systems, e.g., self-driving vehicles, have paved the way to a relatively new field of system analysis for safety-critical applications, along with the topic of controlling systems with performance and safety guarantees. The different works in this thesis explore and design methodologies that focus on the analysis of nonlinear dynamical systems via set-membership approximations, as well as the development of controllers and estimators that can give worst-case performance guarantees, especially when the sensor data containing information on system outputs is prone to data drops and delays. For analyzing the distinguishability of nonlinear systems, building upon the idea of set membership over-approximation of the nonlinear systems, a novel optimization-based method for multi-model affine abstraction (i.e., simultaneous set-membership over-approximation of multiple models) is designed. This work solves for the existence of set-membership over-approximations of a pair of different nonlinear models such that the different systems can be distinguished/discriminated within a guaranteed detection time under worst-case uncertainties and approximation errors. Specifically, by combining mesh-based affine abstraction methods with T-distinguishability analysis in the literature yields a bilevel bilinear optimization problem, whereby leveraging robust optimization techniques and a suitable change of variables result in a sufficient linear program that can obtain a tractable solution with T-distinguishability guarantees. Moreover, the thesis studied the designs of controllers and estimators with performance guarantees, and specifically, path-dependent feedback controllers and bounded-error estimators for time-varying affine systems are proposed that are subject to delayed observations or missing data. To model the delayed/missing data, two approaches are explored; a fixed-length language and an automaton-based model. Furthermore, controllers/estimators that satisfy the equalized recovery property (a weaker form of invariance with time-varying finite bounds) are synthesized whose feedback gains can be adapted based on the observed path, i.e., the history of observed data patterns up to the latest available time step. Finally, a robust kinodynamic motion planning algorithm is also developed with collision avoidance and probabilistic completeness guarantees. In particular, methods based on fixed and flexible invariant tubes are designed such that the planned motion/trajectories can reject bounded disturbances using noisy observations.
ContributorsHassaan, Syed Muhammad (Author) / Yong, Sze Zheng (Thesis advisor) / Rivera, Daniel (Committee member) / Marvi, Hamidreza (Committee member) / Lee, Hyunglae (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2023
Description
This thesis presents a study of the microstructure and mechanical properties of Yttrium-Zinc (YZn) thin films. Rare-earth intermetallic compounds have gained significant attention in recent years due to their unique structural and mechanical properties, making them suitable for various applications. However, studies on the Y-Zn system are scarce and there are very few published reports on YZn thin films. The main objective of this study is to investigate the microstructure and mechanical properties of YZn thin films using various experimental techniques.In this study, YZn films of various thicknesses were synthesized via magnetron co-sputtering: 200 nm, 500 nm, 1 µm, 2 µm and 11.5 µm. Then these samples were annealed at 250°C, 300°C, 350°C and 400°C to investigate their microstructural evolution and mechanical properties. X-ray diffraction (XRD) and scanning electron microscopy (SEM) based techniques have been used to analyze the microstructure and chemical composition of these compounds. The mechanical properties such as hardness and elastic modulus have been measured using nanoindentation.
The results show that the microstructure of YZn thin films is dependent on the annealing conditions. The microstructure of samples deposited at room temperature and those annealed at 250°C and 300°C were found to be amorphous except for the 200 nm YZn film. Annealing at higher temperatures leads to crystallization of the films. Moreover, the results demonstrate that YZn intermetallic thin films have high hardness, which varies with the film thickness and annealing treatment.
This work represents an initial effort to understand the microstructural evolution and mechanical properties of YZn thin films as a function of film thickness and annealing temperatures. The results of this study can be used to guide the design and development of YZn thin films with tailored microstructures and mechanical properties for various applications.
ContributorsAkkarakaduppil, Riju Philip James (Author) / Rajagopalan, Jagannathan (Thesis advisor, Committee member) / Peralta, Pedro (Committee member) / Solanki, Kiran (Committee member) / Arizona State University (Publisher)
Created2023
Description
The design of energy absorbing structures is driven by application specific requirements like the amount of energy to be absorbed, maximum transmitted stress that is permissible, stroke length, and available enclosing space. Cellular structures like foams are commonly leveraged in nature for energy absorption and have also found use in engineering applications. With the possibility of manufacturing complex cellular shapes using additive manufacturing technologies, there is an opportunity to explore new topologies that improve energy absorption performance. This thesis aims to systematically understand the relationships between four key elements: (i) unit cell topology, (ii) material composition, (iii) relative density, and (iv) fields; and energy absorption behavior, and then leverage this understanding to develop, implement and validate a methodology to design the ideal cellular structure energy absorber. After a review of the literature in the domain of additively manufactured cellular materials for energy absorption, results from quasi-static compression of six cellular structures (hexagonal honeycomb, auxetic and Voronoi lattice, and diamond, Gyroid, and Schwarz-P) manufactured out of AlSi10Mg and Nylon-12. These cellular structures were compared to each other in the context of four design-relevant metrics to understand the influence of cell design on the deformation and failure behavior. Three new and revised metrics for energy absorption were proposed to enable more meaningful comparisons and subsequent design selection. Triply Periodic Minimal Surface (TPMS) structures were found to have the most promising overall performance and formed the basis for the numerical investigation of the effect of fields on the energy absorption performance of TPMS structures. A continuum shell-based methodology was developed to analyze the large deformation behavior of field-driven variable thickness TPMS structures and validated against experimental data. A range of analytical and stochastic fields were then evaluated that modified the TPMS structure, some of which were found to be effective in enhancing energy absorption behavior in the structures while retaining the same relative density. Combining findings from studies on the role of cell geometry, composition, relative density, and fields, this thesis concludes with the development of a design framework that can enable the formulation of cellular material energy absorbers with idealized behavior.
ContributorsShinde, Mandar (Author) / Bhate, Dhruv (Thesis advisor) / Peralta, Pedro (Committee member) / Liu, Yongming (Committee member) / Jiao, Yang (Committee member) / Kwon, Beomjin (Committee member) / Arizona State University (Publisher)
Created2023