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- Creators: Barrett, The Honors College
- Creators: Kavazanjian, Edward
- Creators: Allenby, Braden
- Creators: Cadillo – Quiroz, Hinsby
Description
This thesis details the design and construction of a torque-controlled robotic gripper for use with the Pheeno swarm robotics platform. This project required expertise from several fields of study including: robotic design, programming, rapid prototyping, and control theory. An electronic Inertial Measurement Unit and a DC Motor were both used along with 3D printed plastic components and an electronic motor control board to develop a functional open-loop controlled gripper for use in collective transportation experiments. Code was developed that effectively acquired and filtered rate of rotation data alongside other code that allows for straightforward control of the DC motor through experimentally derived relationships between the voltage applied to the DC motor and the torque output of the DC motor. Additionally, several versions of the physical components are described through their development.
ContributorsMohr, Brennan (Author) / Berman, Spring (Thesis director) / Ren, Yi (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / School for Engineering of Matter,Transport & Enrgy (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
This paper outlines the development of a script which utilizes a series of user-defined input parameters to construct base-level CAD models of aircraft landing gear. With an increased focus on computation development of aircraft models to allow for a rapidprototyping design process, this program seeks to allow designers to check for the validity of design integration before moving forward on systems testing. With this script, users are able to visually analyze the landing gear configurations on an aircraft in both the gear up and gear down configuration. The primary purpose this serves is to determine the validity of the gear's potential to fit within the limited real estate on an aircraft body. This, theoretically, can save time by weeding out infeasible designs before moving forward with subsystem performance testing. The script, developed in Python, constructs CAD models of dual and dual-tandem main landing gear configurations in the CAD program Rhino5. With an included design template consisting of 33 parameters, the script allows for a reasonable trade off between conciseness and flexibility of design.
ContributorsPatrick, Noah Edward (Author) / Takahashi, Timothy (Thesis director) / Middleton, James (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-05
Description
Currently conventional Subtitle D landfills are the primary means of disposing of our waste in the United States. While this method of waste disposal aims at protecting the environment, it does so through the use of liners and caps that effectively freeze the breakdown of waste. Because this method can keep landfills active, and thus a potential groundwater threat for over a hundred years, I take an in depth look at the ability of bioreactor landfills to quickly stabilize waste. In the thesis I detail the current state of bioreactor landfill technologies, assessing the pros and cons of anaerobic and aerobic bioreactor technologies. Finally, with an industrial perspective, I conclude that moving on to bioreactor landfills as an alternative isn't as simple as it may first appear, and that it is a contextually specific solution that must be further refined before replacing current landfills.
ContributorsWhitten, George Avery (Author) / Kavazanjian, Edward (Thesis director) / Allenby, Braden (Committee member) / Houston, Sandra (Committee member) / Civil, Environmental and Sustainable Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2013-05
Description
The purpose of this project is to assess how well today’s youth is able to learn new skills<br/>in the realm of engineering through online video-conferencing resources. Each semester of this<br/>last year, a class of students in both 3rd and 6th grade learned about computer-aided design (CAD)<br/>and 3D printing through their laptops at school. This was done by conducting online lessons of<br/>TinkerCAD via Zoom and Google Meet. TinkerCAD is a simple website that incorporates easy-to-learn skills and gives students an introduction to some of the basic operations that are used in<br/>everyday CAD endeavors. In each lesson, the students would learn new skills by creating<br/>increasingly difficult objects that would test both their ability to learn new skills and their overall<br/>enjoyment with the subject matter. The findings of this project reflect that students are able to<br/>quickly learn and retain new information relating to CAD. The group of 6th graders was able to<br/>learn much faster, which was expected, but the class of 3rd graders still maintained the<br/>knowledge gained from previous lessons and were able to construct increasingly complicated<br/>objects without much struggle. Overall, the students in both classes enjoyed the lessons and did<br/>not find them too difficult, despite the online environment that we were required to use. Some<br/>students found the material more interesting than others, but in general, the students found it<br/>enjoyable to learn about a new skill that has significant real-world applications
ContributorsWerner, Matthew (Author) / Song, Kenan (Thesis director) / Lin, Elva (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Description
In this study, a scissor jack was structurally analyzed and compared to a FEA model to study the structure of the jack. the system was simplified to a 2D system, and one of the truss members was analyzed for yielding, fatigue, and buckling.
ContributorsLedalla, Aishwarya (Author) / Kosaraju, Srinivas (Thesis director) / Patel, Jay (Committee member) / Mechanical and Aerospace Engineering Program (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2021-05
Characterization and Manipulation of Microbiomes From Arid Landfills for Improved Methane Production
Description
Environmentally harmful byproducts from solid waste’s decomposition, including methane (CH4) emissions, are managed through standardized landfill engineering and gas-capture mechanisms. Yet only a limited number of studies have analyzed the development and composition of Bacteria and Archaea involved in CH4 production from landfills. The objectives of this research were to compare microbiomes and bioactivity from CH4-producing communities in contrasting spatial areas of arid landfills and to tests a new technology to biostimulate CH4 production (methanogenesis) from solid waste under dynamic environmental conditions controlled in the laboratory. My hypothesis was that the diversity and abundance of methanogenic Archaea in municipal solid waste (MSW), or its leachate, play an important role on CH4 production partially attributed to the group’s wide hydrogen (H2) consumption capabilities. I tested this hypothesis by conducting complementary field observations and laboratory experiments. I describe niches of methanogenic Archaea in MSW leachate across defined areas within a single landfill, while demonstrating functional H2-dependent activity. To alleviate limited H2 bioavailability encountered in-situ, I present biostimulant feasibility and proof-of-concepts studies through the amendment of zero valent metals (ZVMs). My results demonstrate that older-aged MSW was minimally biostimulated for greater CH4 production relative to a control when exposed to iron (Fe0) or manganese (Mn0), due to highly discernable traits of soluble carbon, nitrogen, and unidentified fluorophores found in water extracts between young and old aged, starting MSW. Acetate and inhibitory H2 partial pressures accumulated in microcosms containing old-aged MSW. In a final experiment, repeated amendments of ZVMs to MSW in a 600 day mesocosm experiment mediated significantly higher CH4 concentrations and yields during the first of three ZVM injections. Fe0 and Mn0 experimental treatments at mesocosm-scale also highlighted accelerated development of seemingly important, but elusive Archaea including Methanobacteriaceae, a methane-producing family that is found in diverse environments. Also, prokaryotic classes including Candidatus Bathyarchaeota, an uncultured group commonly found in carbon-rich ecosystems, and Clostridia; All three taxa I identified as highly predictive in the time-dependent progression of MSW decomposition. Altogether, my experiments demonstrate the importance of H2 bioavailability on CH4 production and the consistent development of Methanobacteriaceae in productive MSW microbiomes.
ContributorsReynolds, Mark Christian (Author) / Cadillo-Quiroz, Hinsby (Thesis advisor) / Krajmalnik-Brown, Rosa (Thesis advisor) / Wang, Xuan (Committee member) / Kavazanjian, Edward (Committee member) / Arizona State University (Publisher)
Created2022
Description
Zero-Valent Metals (ZVM) are highly reactive materials and have been proved to be effective in contaminant reduction in soils and groundwater remediation. In fact, zero-Valent Iron (ZVI) has proven to be very effective in removing, particularly chlorinated organics, heavy metals, and odorous sulfides. Addition of ZVI has also been proved in enhancing the methane gas generation in anaerobic digestion of activated sludge. However, no studies have been conducted regarding the effect of ZVM stimulation to Municipal Solid Waste (MSW) degradation. Therefore, a collaborative study was developed to manipulate microbial activity in the landfill bioreactors to favor methane production by adding ZVMs. This study focuses on evaluating the effects of added ZVM on the leachate generated from replicated lab scale landfill bioreactors. The specific objective was to investigate the effects of ZVMs addition on the organic and inorganic pollutants in leachate. The hypothesis here evaluated was that adding ZVM including ZVI and Zero Valent Manganese (ZVMn) will enhance the removal rates of the organic pollutants present in the leachate, likely by a putative higher rate of microbial metabolism. Test with six (4.23 gallons) bioreactors assembled with MSW collected from the Salt River Landfill and Southwest Regional Landfill showed that under 5 grams /liter of ZVI and 0.625 grams/liter of ZVMn additions, no significant difference was observed in the pH and temperature data of the leachate generated from these reactors. The conductivity data suggested the steady rise across all reactors over the period of time. The removal efficiency of sCOD was highest (27.112 mg/lit/day) for the reactors added with ZVMn at the end of 150 days for bottom layer, however the removal rate was highest (16.955 mg/lit/day) for ZVI after the end of 150 days of the middle layer. Similar trends in the results was observed in TC analysis. HPLC study indicated the dominance of the concentration of heptanoate and isovalerate were leachate generated from the bottom layer across all reactors. Heptanoate continued to dominate in the ZVMn added leachate even after middle layer injection. IC analysis concluded the chloride was dominant in the leachate generated from all the reactors and there was a steady increase in the chloride content over the period of time. Along with chloride, fluoride, bromide, nitrate, nitrite, phosphate and sulfate were also detected in considerable concentrations. In the summary, the addition of the zero valent metals has proved to be efficient in removal of the organics present in the leachate.
ContributorsPandit, Gandhar Abhay (Author) / Cadillo – Quiroz, Hinsby (Thesis advisor) / Olson, Larry (Thesis advisor) / Boyer, Treavor (Committee member) / Arizona State University (Publisher)
Created2019
Description
Multi-material manufacturing combines multiple fabrication processes to produce individual parts that can be made up of several different materials. These processes can include both additive and subtractive manufacturing methods as well as embedding other components during manufacturing. This yields opportunities for creating single parts that can take the place of an assembly of parts produced using conventional techniques. Some example applications of multi-material manufacturing include parts that are produced using one process then machined to tolerance using another, parts with integrated flexible joints, or parts that contain discrete embedded components such as reinforcing materials or electronics.
Multi-material manufacturing has applications in robotics because, with it, mechanisms can be built into a design without adding additional moving parts. This allows for robot designs that are both robust and low cost, making it a particularly attractive method for education or research. 3D printing is of particular interest in this area because it is low cost, readily available, and capable of easily producing complicated part geometries. Some machines are also capable of depositing multiple materials during a single process. However, up to this point, planning the steps to create a part using multi-material manufacturing has been done manually, requiring specialized knowledge of the tools used. The difficulty of this planning procedure can prevent many students and researchers from using multi-material manufacturing.
This project studied methods of automating the planning of multi-material manufacturing processes through the development of a computational framework for processing 3D models and automatically generating viable manufacturing sequences. This framework includes solid operations and algorithms which assist the designer in computing manufacturing steps for multi-material models. This research is informing the development of a software planning tool which will simplify the planning needed by multi-material fabrication, making it more accessible for use in education or research.
In our paper, Voxel-Based Cad Framework for Planning Functionally Graded and Multi-Step Rapid Fabrication Processes, we present a new framework for representing and computing functionally-graded materials for use in rapid prototyping applications. We introduce the material description itself, low-level operations which can be used to combine one or more geometries together, and algorithms which assist the designer in computing manufacturing-compatible sequences. We then apply these techniques to several example scenarios. First, we demonstrate the use of a Gaussian blur to add graded material transitions to a model which can then be produced using a multi-material 3D printing process. Our second example highlights our solution to the problem of inserting a discrete, off-the-shelf part into a 3D printed model during the printing sequence. Finally, we implement this second example and manufacture two example components.
Multi-material manufacturing has applications in robotics because, with it, mechanisms can be built into a design without adding additional moving parts. This allows for robot designs that are both robust and low cost, making it a particularly attractive method for education or research. 3D printing is of particular interest in this area because it is low cost, readily available, and capable of easily producing complicated part geometries. Some machines are also capable of depositing multiple materials during a single process. However, up to this point, planning the steps to create a part using multi-material manufacturing has been done manually, requiring specialized knowledge of the tools used. The difficulty of this planning procedure can prevent many students and researchers from using multi-material manufacturing.
This project studied methods of automating the planning of multi-material manufacturing processes through the development of a computational framework for processing 3D models and automatically generating viable manufacturing sequences. This framework includes solid operations and algorithms which assist the designer in computing manufacturing steps for multi-material models. This research is informing the development of a software planning tool which will simplify the planning needed by multi-material fabrication, making it more accessible for use in education or research.
In our paper, Voxel-Based Cad Framework for Planning Functionally Graded and Multi-Step Rapid Fabrication Processes, we present a new framework for representing and computing functionally-graded materials for use in rapid prototyping applications. We introduce the material description itself, low-level operations which can be used to combine one or more geometries together, and algorithms which assist the designer in computing manufacturing-compatible sequences. We then apply these techniques to several example scenarios. First, we demonstrate the use of a Gaussian blur to add graded material transitions to a model which can then be produced using a multi-material 3D printing process. Our second example highlights our solution to the problem of inserting a discrete, off-the-shelf part into a 3D printed model during the printing sequence. Finally, we implement this second example and manufacture two example components.
ContributorsBrauer, Cole D (Author) / Aukes, Daniel (Thesis director) / Sodemann, Angela (Committee member) / Engineering Programs (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
The premise of this thesis developed from my personal interests and undergraduate educational experiences in both industrial engineering and design studies, particularly those related to product design. My education has stressed the differences in the ways that engineers and designers approach problem solving and creating solutions, but I am most interested in marrying the two mindsets of designers and engineers to better solve problems creatively and efficiently.
This thesis focuses on the recent appearance of generative design technology into the world of industrial design and engineering as it relates to product development. An introduction to generative design discusses the uses and benefits of this tool for both designers and engineers and also addresses the challenges of this technology. The relevance of generative design to the world of product development is discussed as well as the implications of how this technology will change the roles of designers and engineers, and especially their traditional design processes. The remainder of this paper is divided into two elements. The first serves as documentation of my own exploration of using generative design software to solve a product design challenge and my reflections on the benefits and challenges of using this tool. The second element addresses the need for employing quantitiative methodologies within the generative design process to aid designers in selecting the most advantageous design option when presented with generative outcomes. Both sections aim to provide more context to this new design process and seek to answer questions about some of the ambiguous processes of generative design.
This thesis focuses on the recent appearance of generative design technology into the world of industrial design and engineering as it relates to product development. An introduction to generative design discusses the uses and benefits of this tool for both designers and engineers and also addresses the challenges of this technology. The relevance of generative design to the world of product development is discussed as well as the implications of how this technology will change the roles of designers and engineers, and especially their traditional design processes. The remainder of this paper is divided into two elements. The first serves as documentation of my own exploration of using generative design software to solve a product design challenge and my reflections on the benefits and challenges of using this tool. The second element addresses the need for employing quantitiative methodologies within the generative design process to aid designers in selecting the most advantageous design option when presented with generative outcomes. Both sections aim to provide more context to this new design process and seek to answer questions about some of the ambiguous processes of generative design.
ContributorsElgin, Mariah Crystal (Author) / Bacalzo, Dean (Thesis director) / Gel, Esma (Committee member) / Industrial, Systems & Operations Engineering Prgm (Contributor) / Dean, Herberger Institute for Design and the Arts (Contributor) / Barrett, The Honors College (Contributor)
Created2019-05
Description
In nature, some animals have an exoskeleton that provides protection, strength, and stability to the organism, but in engineering, an exoskeleton refers to a device that augments or aids human ability. Since the 1890s, engineers have been designing exoskeletal devices, and conducting research into the possible uses of such devices. These bio-inspired mechanisms do not necessarily relate to a robotic device, though since the 1900s, robotic principles have been applied to the design of exoskeletons making their development a subfield in robotic research. There are different multiple types of exoskeletons that target different areas of the human body, and the targeted area depends on the need of the device. Usually, the devices are developed for medical or military usage; for this project, the focus is on medical development of an automated elbow joint to assist in rehabilitation. This project is being developed for therapeutic purposes in conjunction between Arizona State University and Mayo Clinic. Because of the nature of this project, I am responsible for the development of a lightweight brace that could be applied to the elbow joint that was designed by Dr. Kevin Hollander. In this project, my research centered on the use of the Wilmer orthosis brace design, and its possible application to the exoskeleton elbow being developed for Mayo Clinic. This brace is a lightweight solution that provides extra comfort to the user.
ContributorsCarlton, Bryan (Author) / Sugar, Thomas (Thesis director) / Aukes, Daniel (Committee member) / Barrett, The Honors College (Contributor) / Engineering Programs (Contributor)
Created2022-05