Matching Items (235)
Description
Composite materials are finally providing uses hitherto reserved for metals in structural systems applications – airframes and engine containment systems, wraps for repair and rehabilitation, and ballistic/blast mitigation systems. They have high strength-to-weight ratios, are durable and resistant to environmental effects, have high impact strength, and can be manufactured in a variety of shapes. Generalized constitutive models are being developed to accurately model composite systems so they can be used in implicit and explicit finite element analysis. These models require extensive characterization of the composite material as input. The particular constitutive model of interest for this research is a three-dimensional orthotropic elasto-plastic composite material model that requires a total of 12 experimental stress-strain curves, yield stresses, and Young’s Modulus and Poisson’s ratio in the material directions as input. Sometimes it is not possible to carry out reliable experimental tests needed to characterize the composite material. One solution is using virtual testing to fill the gaps in available experimental data. A Virtual Testing Software System (VTSS) has been developed to address the need for a less restrictive method to characterize a three-dimensional orthotropic composite material. The system takes in the material properties of the constituents and completes all 12 of the necessary characterization tests using finite element (FE) models. Verification and validation test cases demonstrate the capabilities of the VTSS.
ContributorsHarrington, Joseph (Author) / Rajan, Subramaniam D. (Thesis advisor) / Neithalath, Narayanan (Committee member) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2015
Description
A simplified bilinear moment-curvature model are derived based on the moment-curvature response generated from a parameterized stress-strain response of strain softening and or strain-hardening material by Dr. Barzin Mobasher and Dr. Chote Soranakom. Closed form solutions are developed for deflection calculations of determinate beams subjected to usual loading patterns at any load stage. The solutions are based on a bilinear moment curvature response characterized by the flexural crack initiation and ultimate capacity based on a deflection hardening behavior. Closed form equations for deflection calculation are presented for simply supported beams under three point bending, four point bending, uniform load, concentrated moment at the middle, pure bending, and for cantilever beam under a point load at the end, a point load with an arbitrary distance from the fixed end, and uniform load. These expressions are derived for pre-cracked and post cracked regions. A parametric study is conducted to examine the effects of moment and curvature at the ultimate stage to moment and curvature at the first crack ratios on the deflection. The effectiveness of the simplified closed form solution is demonstrated by comparing the analytical load deflection response and the experimental results for three point and four point bending. The simplified bilinear moment-curvature model is modified by imposing the deflection softening behavior so that it can be widely implemented in the analysis of 2-D panels. The derivations of elastic solutions and yield line approach of 2-D panels are presented. Effectiveness of the proposed moment-curvature model with various types of panels is verified by comparing the simulated data with the experimental data of panel test.
ContributorsWang, Xinmeng (Author) / Mobasher, Barzin (Thesis advisor) / Rajan, Subramaniam D. (Committee member) / Neithalath, Narayanan (Committee member) / Arizona State University (Publisher)
Created2015
Description
Unmanned aerial vehicles have received increased attention in the last decade due to their versatility, as well as the availability of inexpensive sensors (e.g. GPS, IMU) for their navigation and control. Multirotor vehicles, specifically quadrotors, have formed a fast growing field in robotics, with the range of applications spanning from surveil- lance and reconnaissance to agriculture and large area mapping. Although in most applications single quadrotors are used, there is an increasing interest in architectures controlling multiple quadrotors executing a collaborative task. This thesis introduces a new concept of control involving more than one quadrotors, according to which two quadrotors can be physically coupled in mid-flight. This concept equips the quadro- tors with new capabilities, e.g. increased payload or pursuit and capturing of other quadrotors. A comprehensive simulation of the approach is built to simulate coupled quadrotors. The dynamics and modeling of the coupled system is presented together with a discussion regarding the coupling mechanism, impact modeling and additional considerations that have been investigated. Simulation results are presented for cases of static coupling as well as enemy quadrotor pursuit and capture, together with an analysis of control methodology and gain tuning. Practical implementations are introduced as results show the feasibility of this design.
ContributorsLarsson, Daniel (Author) / Artemiadis, Panagiotis (Thesis advisor) / Marvi, Hamidreza (Committee member) / Berman, Spring (Committee member) / Arizona State University (Publisher)
Created2016
Description
Unidirectional glass fiber reinforced polymer (GFRP) is tested at four initial strain rates (25, 50, 100 and 200 s-1) and six temperatures (−25, 0, 25, 50, 75 and 100 °C) on a servo-hydraulic high-rate testing system to investigate any possible effects on their mechanical properties and failure patterns. Meanwhile, for the sake of illuminating strain rate and temperature effect mechanisms, glass yarn samples were complementally tested at four different strain rates (40, 80, 120 and 160 s-1) and varying temperatures (25, 50, 75 and 100 °C) utilizing an Instron drop-weight impact system. In addition, quasi-static properties of GFRP and glass yarn are supplemented as references. The stress–strain responses at varying strain rates and elevated temperatures are discussed. A Weibull statistics model is used to quantify the degree of variability in tensile strength and to obtain Weibull parameters for engineering applications.
ContributorsOu, Yunfu (Author) / Zhu, Deju (Author) / Zhang, Huaian (Author) / Huang, Liang (Author) / Yao, Yiming (Author) / Li, Gaosheng (Author) / Mobasher, Barzin (Author) / Ira A. Fulton Schools of Engineering (Contributor)
Created2016-05-19
Description
This thesis presents an overview of virtual reality (VR)-based teleoperation and describes its benefits and several existing challenges to its implementation, as well as potential solutions to these challenges. VR-based teleoperation of robotic arms enables a user to control and maneuver the robotic system from a remote distance while immersed in a virtual environment that simulates the location site of the robot. By implementing VR-based teleoperation, we can send robotic arms operated by trained professionals into harsh and inaccessible environments, including the deep sea and outer space, to accomplish manipulation tasks that would otherwise be unsafe or impossible. Teleoperated robotic arms can also be used to remotely execute fine manipulation tasks such as surgery, for instance, to reduce contamination or to perform operations in places that lack the required medical services.
In order to be able to reliably and comfortably use VR-based teleoperation, we need to focus on solving the challenges of latency and sensory loss. Since the teleoperator has a limited field of view and cannot rely on certain types of sensory information, they can feel disoriented and disconnected from the environment and robotic arm. Sensory information loss can be mitigated by simulating a wider field of view in the virtual environment, implementing additional sensors such as thermometers and gas detection sensors, and using data sonification techniques. Although it may not be possible to completely eliminate latency, the effects of latency can be reduced through the use of assistive interfaces that predict the trajectory of the robotic arm in real-time based on the teleoperator’s input movement using artificial intelligence (AI)-based predictive models. When visualized in the virtual environment, this predictive real-time feedback enables the user to immediately see the effects of their movements on the robotic arm, even though the arm’s actual motion is delayed due to latency, and thus avoid collisions and improve task performance. VR-based teleoperation can be enhanced with these proposed solutions to enable the user to complete the required manipulation task with high precision and to maneuver the robotic arm with reduced cognitive load.
ContributorsTrejo, Patricia (Author) / Berman, Spring (Thesis director) / Lee, Hyunglae (Committee member) / Barrett, The Honors College (Contributor) / Mechanical and Aerospace Engineering Program (Contributor)
Created2024-05