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Description
Magnetic Resonance Imaging using spiral trajectories has many advantages in speed, efficiency in data-acquistion and robustness to motion and flow related artifacts. The increase in sampling speed, however, requires high performance of the gradient system. Hardware inaccuracies from system delays and eddy currents can cause spatial and temporal distortions in the encoding gradient waveforms. This causes sampling discrepancies between the actual and the ideal k-space trajectory. Reconstruction assuming an ideal trajectory can result in shading and blurring artifacts in spiral images. Current methods to estimate such hardware errors require many modifications to the pulse sequence, phantom measurements or specialized hardware. This work presents a new method to estimate time-varying system delays for spiral-based trajectories. It requires a minor modification of a conventional stack-of-spirals sequence and analyzes data collected on three orthogonal cylinders. The method is fast, robust to off-resonance effects, requires no phantom measurements or specialized hardware and estimate variable system delays for the three gradient channels over the data-sampling period. The initial results are presented for acquired phantom and in-vivo data, which show a substantial reduction in the artifacts and improvement in the image quality.
ContributorsBhavsar, Payal (Author) / Pipe, James G (Thesis advisor) / Frakes, David (Committee member) / Kodibagkar, Vikram (Committee member) / Arizona State University (Publisher)
Created2013
Description
Locomotion of microorganisms is commonly observed in nature and some aspects of their motion can be replicated by synthetic motors. Synthetic motors rely on a variety of propulsion mechanisms including auto-diffusiophoresis, auto-electrophoresis, and bubble generation. Regardless of the source of the locomotion, the motion of any motor can be characterized by the translational and rotational velocity and effective diffusivity. In a uniform environment the long-time motion of a motor can be fully characterized by the effective diffusivity. In this work it is shown that when motors possess both translational and rotational velocity the motor transitions from a short-time diffusivity to a long-time diffusivity at a time of pi/w. The short-time diffusivities are two to three orders of magnitude larger than the diffusivity of a Brownian sphere of the same size, increase linearly with concentration, and scale as v^2/2w. The measured long-time diffusivities are five times lower than the short-time diffusivities, scale as v^2/{2Dr [1 + (w/Dr )^2]}, and exhibit a maximum as a function of concentration. The variation of a colloid's velocity and effective diffusivity to its local environment (e.g. fuel concentration) suggests that the motors can accumulate in a bounded system, analogous to biological chemokinesis. Chemokinesis of organisms is the non-uniform equilibrium concentration that arises from a bounded random walk of swimming organisms in a chemical concentration gradient. In non-swimming organisms we term this response diffusiokinesis. We show that particles that migrate only by Brownian thermal motion are capable of achieving non-uniform pseudo equilibrium distribution in a diffusivity gradient. The concentration is a result of a bounded random-walk process where at any given time a larger percentage of particles can be found in the regions of low diffusivity than in regions of high diffusivity. Individual particles are not trapped in any given region but at equilibrium the net flux between regions is zero. For Brownian particles the gradient in diffusivity is achieved by creating a viscosity gradient in a microfluidic device. The distribution of the particles is described by the Fokker-Planck equation for variable diffusivity. The strength of the probe concentration gradient is proportional to the strength of the diffusivity gradient and inversely proportional to the mean probe diffusivity in the channel in accordance with the no flux condition at steady state. This suggests that Brownian colloids, natural or synthetic, will concentrate in a bounded system in response to a gradient in diffusivity and that the magnitude of the response is proportional to the magnitude of the gradient in diffusivity divided by the mean diffusivity in the channel.
ContributorsMarine, Nathan Arasmus (Author) / Posner, Jonathan D (Thesis advisor) / Adrian, Ronald J (Committee member) / Frakes, David (Committee member) / Phelan, Patrick E (Committee member) / Santos, Veronica J (Committee member) / Arizona State University (Publisher)
Created2013
A level set approach for denoising and adaptively smoothing complex geometry stereolithography files
Description
Stereolithography files (STL) are widely used in diverse fields as a means of describing complex geometries through surface triangulations. The resulting stereolithography output is a result of either experimental measurements, or computer-aided design. Often times stereolithography outputs from experimental means are prone to noise, surface irregularities and holes in an otherwise closed surface.
A general method for denoising and adaptively smoothing these dirty stereolithography files is proposed. Unlike existing means, this approach aims to smoothen the dirty surface representation by utilizing the well established levelset method. The level of smoothing and denoising can be set depending on a per-requirement basis by means of input parameters. Once the surface representation is smoothened as desired, it can be extracted as a standard levelset scalar isosurface.
The approach presented in this thesis is also coupled to a fully unstructured Cartesian mesh generation library with built-in localized adaptive mesh refinement (AMR) capabilities, thereby ensuring lower computational cost while also providing sufficient resolution. Future work will focus on implementing tetrahedral cuts to the base hexahedral mesh structure in order to extract a fully unstructured hexahedra-dominant mesh describing the STL geometry, which can be used for fluid flow simulations.
A general method for denoising and adaptively smoothing these dirty stereolithography files is proposed. Unlike existing means, this approach aims to smoothen the dirty surface representation by utilizing the well established levelset method. The level of smoothing and denoising can be set depending on a per-requirement basis by means of input parameters. Once the surface representation is smoothened as desired, it can be extracted as a standard levelset scalar isosurface.
The approach presented in this thesis is also coupled to a fully unstructured Cartesian mesh generation library with built-in localized adaptive mesh refinement (AMR) capabilities, thereby ensuring lower computational cost while also providing sufficient resolution. Future work will focus on implementing tetrahedral cuts to the base hexahedral mesh structure in order to extract a fully unstructured hexahedra-dominant mesh describing the STL geometry, which can be used for fluid flow simulations.
ContributorsKannan, Karthik (Author) / Herrmann, Marcus (Thesis advisor) / Peet, Yulia (Committee member) / Frakes, David (Committee member) / Arizona State University (Publisher)
Created2014
Description
Microfluidics is the study of fluid flow at very small scales (micro -- one millionth of a meter) and is prevalent in many areas of science and engineering. Typical applications include lab-on-a-chip devices, microfluidic fuel cells, and DNA separation technologies. Many of these microfluidic devices rely on micron-resolution velocimetry measurements to improve microchannel design and characterize existing devices. Methods such as micro particle imaging velocimetry (microPIV) and micro particle tracking velocimetry (microPTV) are mature and established methods for characterization of steady 2D flow fields. Increasingly complex microdevices require techniques that measure unsteady and/or three dimensional velocity fields. This dissertation presents a method for three-dimensional velocimetry of unsteady microflows based on spinning disk confocal microscopy and depth scanning of a microvolume. High-speed 2D unsteady velocity fields are resolved by acquiring images of particle motion using a high-speed CMOS camera and confocal microscope. The confocal microscope spatially filters out of focus light using a rotating disk of pinholes placed in the imaging path, improving the ability of the system to resolve unsteady microPIV measurements by improving the image and correlation signal to noise ratio. For 3D3C measurements, a piezo-actuated objective positioner quickly scans the depth of the microvolume and collects 2D image slices, which are stacked into 3D images. Super resolution microPIV interrogates these 3D images using microPIV as a predictor field for tracking individual particles with microPTV. The 3D3C diagnostic is demonstrated by measuring a pressure driven flow in a three-dimensional expanding microchannel. The experimental velocimetry data acquired at 30 Hz with instantaneous spatial resolution of 4.5 by 4.5 by 4.5 microns agrees well with a computational model of the flow field. The technique allows for isosurface visualization of time resolved 3D3C particle motion and high spatial resolution velocity measurements without requiring a calibration step or reconstruction algorithms. Several applications are investigated, including 3D quantitative fluorescence imaging of isotachophoresis plugs advecting through a microchannel and the dynamics of reaction induced colloidal crystal deposition.
ContributorsKlein, Steven Adam (Author) / Posner, Jonathan D (Thesis advisor) / Adrian, Ronald (Committee member) / Chen, Kangping (Committee member) / Devasenathipathy, Shankar (Committee member) / Frakes, David (Committee member) / Arizona State University (Publisher)
Created2011
Description
With the advent of GPGPU, many applications are being accelerated by using CUDA programing paradigm. We are able to achieve around 10x -100x speedups by simply porting the application on to the GPU and running the parallel chunk of code on its multi cored SIMT (Single instruction multiple thread) architecture. But for optimal performance it is necessary to make sure that all the GPU resources are efficiently used, and the latencies in the application are minimized. For this, it is essential to monitor the Hardware usage of the algorithm and thus diagnose the compute and memory bottlenecks in the implementation. In the following thesis, we will be analyzing the mapping of CUDA implementation of BLIINDS-II algorithm on the underlying GPU hardware, and come up with a Kepler architecture specific solution of using shuffle instruction via CUB library to tackle the two major bottlenecks in the algorithm. Experiments were conducted to convey the advantage of using shuffle instru3ction in algorithm over only using shared memory as a buffer to global memory. With the new implementation of BLIINDS-II algorithm using CUB library, a speedup of around 13.7% was achieved.
ContributorsWadekar, Ameya (Author) / Sohoni, Sohum (Thesis advisor) / Aukes, Daniel (Committee member) / Redkar, Sangram (Committee member) / Arizona State University (Publisher)
Created2017
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 the design and testing of a soft robotic device for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes using pneumatic and without the need to adjust rigid, mechanical components. The robot utilizes inflatable soft actuators with an adjustable radius which, when pressurized, can provide a radial force, effectively anchoring the device in place. Additional soft inflatable actuators translate forces along the center axis of the device which creates forward locomotion when used in conjunction with the radial actuation. Furthermore, a bio-inspired control algorithm for locomotion allows the robot to maneuver through a pipe by mimicking the peristaltic gait of an inchworm. This thesis provides an examination and evaluation of the structure and behavior of the inflatable actuators through computational modeling of the material and design, as well as the experimental data of the forces and displacements generated by the actuators. The theoretical results are contrasted with/against experimental data utilizing a physical prototype of the soft robot. The design is anticipated to enable compliant robots to conform to the space offered to them and overcome occlusions from accumulated solids found in pipes. The intent of the device is to be used for inspecting existing pipelines owned and operated by Salt River Project, a Phoenix-area water and electricity utility provider.
ContributorsAdams, Wade Silas (Author) / Aukes, Daniel (Thesis advisor) / Sugar, Thomas (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Created2019
Description
Owing to the surge in development of endovascular devices such as coils and flow diverter stents, doctors are inclined to approach surgical cases non-invasively more often than before. Treating brain aneurysms as a bulging of a weakened area of a blood vessel is no exception. Therefore, promoting techniques that can help surgeons have a better idea of treatment outcomes are of invaluable importance.
In order to investigate the effects of these devices on intra-aneurysmal hemodynamics, the conventional computational fluid dynamics (CFD) approach uses the explicit geometry of the device within an aneurysm and discretizes the fluid domain to solve the Navier-Stokes equations. However, since the devices are made of small struts, the number of mesh elements in the boundary layer region would be considerable. This cumbersome task led to the implementation of the porous medium assumption. In this approach, the explicit geometry of the device is eliminated, and relevant porous medium assumptions are applied. Unfortunately, as it will be shown in this research, some of the porous medium approaches used in the literature are over-simplified. For example, considering the porous domain to be homogeneous is one major drawback which leads to significant errors in capturing the intra-aneurysmal flow features. Specifically, since the devices must comply with the complex geometry of an aneurysm, the homogeneity assumption is not valid.
In this research, a novel heterogeneous porous medium approach is introduced. This results in a substantial reduction in the total number of mesh elements required to discretize the flow domain while not sacrificing the accuracy of the method by over-simplifying the utilized assumptions.
In order to investigate the effects of these devices on intra-aneurysmal hemodynamics, the conventional computational fluid dynamics (CFD) approach uses the explicit geometry of the device within an aneurysm and discretizes the fluid domain to solve the Navier-Stokes equations. However, since the devices are made of small struts, the number of mesh elements in the boundary layer region would be considerable. This cumbersome task led to the implementation of the porous medium assumption. In this approach, the explicit geometry of the device is eliminated, and relevant porous medium assumptions are applied. Unfortunately, as it will be shown in this research, some of the porous medium approaches used in the literature are over-simplified. For example, considering the porous domain to be homogeneous is one major drawback which leads to significant errors in capturing the intra-aneurysmal flow features. Specifically, since the devices must comply with the complex geometry of an aneurysm, the homogeneity assumption is not valid.
In this research, a novel heterogeneous porous medium approach is introduced. This results in a substantial reduction in the total number of mesh elements required to discretize the flow domain while not sacrificing the accuracy of the method by over-simplifying the utilized assumptions.
ContributorsYadollahi Farsani, Hooman (Author) / Herrmann, Marcus (Thesis advisor) / Frakes, David (Thesis advisor) / Chong, Brian (Committee member) / Peet, Yulia (Committee member) / Oswald, Jay (Committee member) / Arizona State University (Publisher)
Created2018
Description
In this paper, we discuss the methods and requirements to simulate a soft bodied beam using traditional rigid body kinematics to produce motion inspired by eels. Eels produce a form of undulatory locomotion called anguilliform locomotion that propagates waves throughout the entire body. The system that we are analyzing is a flexible 3D printed beam being actively driven by a servo motor. Using the simulation, we also analyze different parameters for these spines to maximize the linear speed of the system.
ContributorsKwan, Anson (Author) / Aukes, Daniel (Thesis director) / Marvi, Hamidreza (Committee member) / Barrett, The Honors College (Contributor) / Engineering Programs (Contributor)
Created2022-05
Description
The application of novel visualization and modeling methods to the study of cardiovascular disease is vital to the development of innovative diagnostic techniques, including those that may aid in the early detection and prevention of cardiovascular disorders. This dissertation focuses on the application of particle image velocimetry (PIV) to the study of intracardiac hemodynamics. This is accomplished primarily though the use of ultrasound based PIV, which allows for in vivo visualization of intracardiac flow without the requirement for optical access, as is required with traditional camera-based PIV methods.
The fundamentals of ultrasound PIV are introduced, including experimental methods for its implementation as well as a discussion on estimating and mitigating measurement error. Ultrasound PIV is then compared to optical PIV; this is a highly developed technique with proven accuracy; through rigorous examination it has become the “gold standard” of two-dimensional flow visualization. Results show good agreement between the two methods.
Using a mechanical left heart model, a multi-plane ultrasound PIV technique is introduced and applied to quantify a complex, three-dimensional flow that is analogous to the left intraventricular flow. Changes in ventricular flow dynamics due to the rotational orientation of mechanical heart valves are studied; the results demonstrate the importance of multi-plane imaging techniques when trying to assess the strongly three-dimensional intraventricular flow.
The potential use of ultrasound PIV as an early diagnosis technique is demonstrated through the development of a novel elasticity estimation technique. A finite element analysis routine is couple with an ensemble Kalman filter to allow for the estimation of material elasticity using forcing and displacement data derived from PIV. Results demonstrate that it is possible to estimate elasticity using forcing data derived from a PIV vector field, provided vector density is sufficient.
The fundamentals of ultrasound PIV are introduced, including experimental methods for its implementation as well as a discussion on estimating and mitigating measurement error. Ultrasound PIV is then compared to optical PIV; this is a highly developed technique with proven accuracy; through rigorous examination it has become the “gold standard” of two-dimensional flow visualization. Results show good agreement between the two methods.
Using a mechanical left heart model, a multi-plane ultrasound PIV technique is introduced and applied to quantify a complex, three-dimensional flow that is analogous to the left intraventricular flow. Changes in ventricular flow dynamics due to the rotational orientation of mechanical heart valves are studied; the results demonstrate the importance of multi-plane imaging techniques when trying to assess the strongly three-dimensional intraventricular flow.
The potential use of ultrasound PIV as an early diagnosis technique is demonstrated through the development of a novel elasticity estimation technique. A finite element analysis routine is couple with an ensemble Kalman filter to allow for the estimation of material elasticity using forcing and displacement data derived from PIV. Results demonstrate that it is possible to estimate elasticity using forcing data derived from a PIV vector field, provided vector density is sufficient.
ContributorsWesterdale, John Curtis (Author) / Adrian, Ronald (Thesis advisor) / Belohlavek, Marek (Committee member) / Squires, Kyle (Committee member) / Trimble, Steve (Committee member) / Frakes, David (Committee member) / Arizona State University (Publisher)
Created2015