Matching Items (252)
Description
A heterogeneous team of robots working in symbiosis can maximize their strengths while complementing each other’s weaknesses. These simple robots can achieve more working together than they could on their own but cost less than a single robot with the same combination of capabilities. This project aims to validate the symbiotic relationship of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) with a physical implementation of a heterogenous team of robots and a demonstration of their capabilities. This paper details the selection of robots, the design of the physical coupling mechanism, and the design of the autonomous controls. An experiment was performed to assess the capabilities of the robots according to four performance criteria. The UGV must navigate a space while the UAV follows. The UAV must couple with the UGV. The UAV must lift the UGV over an obstacle. The UGV must navigate the space while carrying the UAV.
ContributorsBreaux, Chris (Author) / Artemiadis, Panagiotis (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2019-12
Description
This thesis investigates an interpenetrating network of polyacrylamide and poly acrylic acid for use in a dynamic tactile display, which presents traditionally two-dimensional electronic screens as three-dimensional topographical models that can be experienced through touch. This kind of display would allow for greater access to traditionally visual information for the visually impaired. This hydrogel demonstrates Upper Critical Solution Temperature (UCST) near room temperature which facilitates a swelling transition, characterized by a sharp increase in swelling as this temperature is surpassed. Through the utilization of light responsive additives, light can trigger this shift, as the additives harness visible light, convert it into heat to raise the gel’s temperature, and increase the volume of the gel. Light-responsive additives explored include chlorophyllin, gold nanoparticles, and carbon black. Each of these additives required unique synthesis planning and strategies in order to optimize the performance of the gels. Synthesized gels were characterized using thermal swelling tests, light response tests and compression tests to determine the material strength. The best performing additive was chlorophyllin and allowed for a 20.8%±4.5% percent weight increase upon exposure to light for 10 minutes. In addition to investigating light-responsive additives, modifications were pursued to alter the overall UCST behavior, such as the addition of sodium chloride. By adding sodium chloride into the hydrogel, the gel was found to have a wider transition. Overall, light-responsive behavior was developed, and further work can be done in improving the response time and degree of swelling in order to make this material more viable for use in a dynamic tactile display.
ContributorsSitterle, Philip Kerry (Author) / Dai, Lenore (Thesis director) / Xu, Yifei (Committee member) / School of Music (Contributor) / Chemical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2018-12
Description
This study presents quantification of ankle stability as affected by environmental conditions in two degrees of freedom (DOF) with three distinct analysis techniques. Additionally, this study presents gender-specific trends for comparison. Intuitively, ankle stability decreased in less stable environments with a negative simulated stiffness. Female subjects generally suffered a greater loss of stability in moderately and highly unstable environments. Both gender groups exhibited greater stability in the sagittal plane than the frontal plane across the entire range of simulated stiffness's. Outcomes of this study are useful in the design of controllers for lower extremity physically-interactive robotics, understanding situations in which the ankle is likely to lose stability, and understanding the strengths and weaknesses of unique analysis techniques.
ContributorsHanzlick, Harrison Patrick (Author) / Lee, Hyunglae (Thesis director) / Artemiadis, Panagiotis (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / W. P. Carey School of Business (Contributor) / Barrett, The Honors College (Contributor)
Created2017-12
Description
Walking ability is a complex process that is essential to humans, critical for performing a range of everyday tasks and enables a healthy, independent lifestyle. Human gait has evolved to be robust, adapting to a wide range of external stimuli, including variable walking surface compliance. Unfortunately, many people suffer from impaired gait as a result of conditions such as stroke. For these individuals, recovering their gait is a priority and a challenge. The ASU Variable Stiffness Treadmill (VST) is a device that is able to the change its surface compliance through its unique variable stiffness mechanism. By doing this, the VST can be used to investigate gait and has potential as a rehabilitation tool. The objective of this research is to design a variable damping mechanism for the VST, which addresses the need to control effective surface damping, the only form of mechanical impedance that the VST does not currently control. Thus, this project will contribute toward the development of the Variable Impedance Treadmill (VIT), which will encompass a wider range of variable surface compliance and enable all forms of impedance to be con- trolled for the first time. To achieve this, the final design of the mechanism will employ eddy current damping using several permanent magnets mounted to the treadmill and a large copper plate stationed on the ground. Variable damping is obtained by using lead screw mechanisms to remove magnets from acting on the copper plate, which effectively eliminates their effect on damping and changes the overall treadmill surface damping. Results from experimentation validate the mechanism's ability to provide variable damping to the VST. A model for effective surface damping is generated based on open-loop characterization experiments and is generalized for future experimental setups. Overall, this project progresses to the development of the VIT and has potential applications in walking surface simulation, gait investigation, and robot-assisted rehabilitation technology.
ContributorsFou, Linda Guo (Author) / Artemiadis, Panagiotis (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor, Contributor) / School of Mathematical and Statistical Sciences (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
The quality of life of many people is lowered by impediments to walking ability caused by neurological conditions such as strokes. Since the ankle joint plays an important role in locomotion, it is a common subject of study in rehabilitation research. Robotic devices such as active ankle-foot orthoses and powered exoskeletons have the potential to be used directly in physical therapy or indirectly in research pursuing more effective rehabilitation methods. This paper presents the LiTREAD, a lightweight three degree-of-freedom robotic exoskeletal ankle device. This novel robotic system is designed to be worn on a user's leg and actuate the foot position during treadmill studies. The robot's sagittal plane actuation is complemented by passive virtual axis systems in the frontal and transverse planes. Together, these degrees of freedom allow the device to approximate the full range of motion of the ankle. The virtual axis mechanisms feature locking configurations that will allow the effect of these degrees of freedom on gait dynamics to be studied. Based on a kinematic analysis of the robot's actuation and geometry, it is expected to meet and exceed its torque and speed targets, respectively. The device will fit either leg of a range of subject sizes, and is expected to weigh just 1.3 kg (2.9 lb.). These features and characteristics are designed to minimize the robot's interference with the natural walking motion. Pending validation studies confirming that all design criteria have been met, the LiTREAD prototype that has been constructed will be utilized in various experiments investigating properties of the ankle such as its mechanical impedance. It is hoped that the LiTREAD will yield valuable data that will expand our knowledge of the ankle and aid in the design of future lower-extremity devices.
ContributorsCook, Andrew James Henry (Author) / Lee, Hyunglae (Thesis director) / Artemiadis, Panagiotis (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Graphene is a very strong two-dimensional material with a lot of potential applications in microelectromechanical systems (MEMS). In this research, graphene is being optimized for use in a 5 m x 5 m graphene resonator. To work properly, this graphene resonator must have a uniform strain across all manufactured devices. To reduce strain induced in graphene sheets grown for use in these resonators, evaporated platinum has been used in this investigation due to its relatively lower surface roughness compared to copper films. The final goal is to have the layer of ultrathin platinum (<=200 nm) deposited on the MEMS graphene resonator and used to grow graphene directly onto the devices to remove the manual transfer step due to its inscalability. After growth, graphene is coated with polymer and the platinum is then etched. This investigation concentrated on the transfer process of graphene onto Si/SiO2 substrate from the platinum films. It was determined that the ideal platinum etchant was aqua regia at a volumetric ratio of 6:3:1 (H2O:HCl:HNO3). This concentration was dilute enough to preserve the polymer and graphene layer, but strong enough to etch within a day. Type and thickness of polymer support layers were also investigated. PMMA at a thickness of 200 nm was ideal because it was easy to remove with acetone and strong enough to support the graphene during the etch process. A reference growth recipe was used in this investigation, but now that the transfer has been demonstrated, growth can be optimized for even thinner films.
ContributorsCayll, David Richard (Author) / Tongay, Sefaattin (Thesis director) / Lee, Hyunglae (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
Statistical process control (SPC) is an important quality application that is used throughout industry and is composed of control charts. Most often, it is applied in the final stages of product manufacturing. However it would be beneficial to apply SPC throughout all stages of the manufacturing process such as the beginning stages. This report explores the fundamentals of SPC, applicable programs, important aspects of implementation, and specific examples of where SPC was beneficial. Important programs for SPC are general statistical software such as JMP and Minitab, and some programs are made specifically for SPC such as SPACE: statistical process and control environment. Advanced programs like SPACE are beneficial because they can easily assist with creating control charts and setting up rules, alarms and notifications, and reaction mechanisms. After the charts are set up it is important to apply rules to the charts to see when a system is running off target which indicates the need to troubleshoot and investigate. This makes the notification part an integral aspect as well because attention and awareness must be brought to out of control situations. The next important aspect is ensuring there is a reaction mechanism or plan on what to do in the event of an out of control situation and what to do to get the system running back on target. Setting up an SPC system takes time and practice and requires a lot of collaboration with experts who know more about the system or the quality side. Some of the more difficult parts of implementation is getting everyone on board and creating trainings and getting the appropriate personnel trained.
ContributorsSennavongsa, Christy (Author) / Raupp, Gregory (Thesis director) / Dai, Lenore (Committee member) / Materials Science and Engineering Program (Contributor) / Chemical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
The purpose of this project is to investigate the swelling ratio exhibited due to photothermal effects of double network polyacrylamide poly(acrylic acid) hydrogels synthesized with carbon black as a light-sensitive chromophore. Optimal carbon black dispersion was achieved in solutions through sonication, using V9A32 carbon black, where dynamic light scattering recorded particle diameters in the range of 195.0-375.8 nanometers for water/carbon black mixtures, 242.4-262.6 nanometers for monomer/carbon black mixtures without initiator, and 1109.3-1783.9 nanometers for monomer/carbon black mixtures including initiator. The double network polyacrylamide poly(acrylic acid) hydrogels with carbon black yielded weight increases of 0.126% and 6.043%, respectively, after 2 minutes and 10 minutes of being exposed to a light stimulus; compared to previous work which showed a double network polyacrylamide poly(acrylic acid) hydrogel with chlorophyllin yielded weight increases of 18.3% and 20.8%, respectively, after 2 minutes and 10 minutes of being exposed to a light stimulus, the carbon black resulted in a less robust response. Future work for application of the light-responsive hydrogels includes the development of a screen covering that will be made of the hydrogels. This covering is intended for use on LED screen displays, where a light change will result in a protrusion from the screen. The purpose behind this application is that technology users who are visually impaired can still determine what their LED device is trying to communicate with them.
ContributorsReimann, Morgan Elizabeth (Co-author) / Yifei, Xu (Co-author) / Dai, Lenore (Co-author, Thesis director) / Xu, Yifei (Committee member) / Chemical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
The ability to sense applied damage and correlate it with a measurable signal is extremely desirable in any material application to prevent catastrophic failure and the possible loss of use of the material or human injury. Mechanochemistry, in which mechanical forces induce chemical changes, can allow for targeted damage detection by way of embedded mechanophore units, with certain mechanophore chemistries emitting a fluorescent signal in response an applied force. In this work, we successfully employed microparticles of the mechanophore dimeric 9-anthracene carboxylic acid (Di-AC) in a thermoset polyurethane matrix to study their application as universal stress-sensing fillers in network polymer matrix composites. Under a compressive force, there is bond breakage in the mechanically weak cyclooctane photodimers of Di-AC, such that there is reversion to the fluorescent anthracene-type monomers. This fluorescent emission was then correlated to the applied strain, and the precursors to damage were detected with a noticeable fluorescent signal change at an applied strain of only 2%. This early damage detection was additionally possible at very low particle loadings of 2.5 and 5 wt%, with the 5 wt% loading showing enhanced material properties compared to the 2.5 wt%, due to particle reinforcement in the composite. Overall, the synthesis of Di-AC as a stress-sensitive particle filler allows for facile addition of advanced functionality to these ubiquitous thermoset composites.
ContributorsDasgupta, Avi Ryan (Author) / Dai, Lenore (Thesis director) / Nofen, Elizabeth (Committee member) / Chemical Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
Admittance control with fixed damping has been a successful control strategy in previous human-robotic interaction research. This research implements a variable damping admittance controller in a 7-DOF robotic arm coupled with a human subject’s arm at the end effector to study the trade-off of agility and stability and aims to produce a control scheme which displays both fast rise time and stability. The variable damping controller uses a measure of intent of movement to vary damping to aid the user’s movement to a target. The range of damping values is bounded by incorporating knowledge of a human arm to ensure the stability of the coupled human-robot system. Human subjects completed experiments with fixed positive, fixed negative, and variable damping controllers to evaluate the variable damping controller’s ability to increase agility and stability. Comparisons of the two fixed damping controllers showed as fixed damping increased, the coupled human-robot system reacted with less overshoot at the expense of rise time, which is used as a measure of agility. The inverse was also true; as damping became increasingly negative, the overshoot and stability of the system was compromised, while the rise time became faster. Analysis of the variable damping controller demonstrated humans could extract the benefits of the variable damping controller in its ability to increase agility in comparison to a positive damping controller and increase stability in comparison to a negative damping controller.
ContributorsBitz, Tanner Jacob (Author) / Lee, Hyunglae (Thesis advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019