Matching Items (127)
Description
One of the main challenges in planetary robotics is to traverse the shortest path through a set of waypoints. The shortest distance between any two waypoints is a direct linear traversal. Often times, there are physical restrictions that prevent a rover form traversing straight to a waypoint. Thus, knowledge of the terrain is needed prior to traversal. The Digital Terrain Model (DTM) provides information about the terrain along with waypoints for the rover to traverse. However, traversing a set of waypoints linearly is burdensome, as the rovers would constantly need to modify their orientation as they successively approach waypoints. Although there are various solutions to this problem, this research paper proposes the smooth traversability of the rover using splines as a quick and easy implementation to traverse a set of waypoints. In addition, a rover was used to compare the smoothness of the linear traversal along with the spline interpolations. The data collected illustrated that spline traversals had a less rate of change in the velocity over time, indicating that the rover performed smoother than with linear paths.
ContributorsKamasamudram, Anurag (Author) / Saripalli, Srikanth (Thesis advisor) / Fainekos, Georgios (Thesis advisor) / Turaga, Pavan (Committee member) / Arizona State University (Publisher)
Created2013
Description
As the complexity of robotic systems and applications grows rapidly, development of high-performance, easy to use, and fully integrated development environments for those systems is inevitable. Model-Based Design (MBD) of dynamic systems using engineering software such as Simulink® from MathWorks®, SciCos from Metalau team and SystemModeler® from Wolfram® is quite popular nowadays. They provide tools for modeling, simulation, verification and in some cases automatic code generation for desktop applications, embedded systems and robots. For real-world implementation of models on the actual hardware, those models should be converted into compilable machine code either manually or automatically. Due to the complexity of robotic systems, manual code translation from model to code is not a feasible optimal solution so we need to move towards automated code generation for such systems. MathWorks® offers code generation facilities called Coder® products for this purpose. However in order to fully exploit the power of model-based design and code generation tools for robotic applications, we need to enhance those software systems by adding and modifying toolboxes, files and other artifacts as well as developing guidelines and procedures. In this thesis, an effort has been made to propose a guideline as well as a Simulink® library, StateFlow® interface API and a C/C++ interface API to complete this toolchain for NAO humanoid robots. Thus the model of the hierarchical control architecture can be easily and properly converted to code and built for implementation.
ContributorsRaji Kermani, Ramtin (Author) / Fainekos, Georgios (Thesis advisor) / Lee, Yann-Hang (Committee member) / Sarjoughian, Hessam S. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Debugging is a boring, tedious, time consuming but inevitable step of software development and debugging multiple threaded applications with user interactions is even more complicated. Since concurrency and synchronism are normal features in Android mobile applications, the order of thread execution may vary in every run even with the same input. To make things worse, the target erroneous cases may happen just in a few specific runs. Besides, the randomness of user interactions makes the whole debugging procedure more unpredictable. Thus, debugging a multiple threaded application is a tough and challenging task. This thesis introduces a replay mechanism for debugging user interactive multiple threaded Android applications. The approach is based on the 'Lamport Clock' concept, 'Event Driven' implementation and 'Client-Server' architecture. The debugger tool described in this thesis provides a user controlled debugging environment where users or developers are allowed to use modified record application to generate a log file. During the record time, all the necessary events like thread creation, synchronization and user input are recorded. Therefore, based on the information contained in the generated log files, the debugger tool can replay the application off-line since log files provide the deterministic order of execution. In this case, user or developers can replay an application as many times as they need to pinpoint the errors in the applications.
ContributorsLu, He (Author) / Lee, Yann-Hang (Thesis advisor) / Fainekos, Georgios (Committee member) / Chen, Yinong (Committee member) / Arizona State University (Publisher)
Created2012
Description
The main objective of this study is to develop an innovative system in the form of a sandwich panel type composite with textile reinforced skins and aerated concrete core. Existing theoretical concepts along with extensive experimental investigations were utilized to characterize the behavior of cement based systems in the presence of individual fibers and textile yarns. Part of this thesis is based on a material model developed here in Arizona State University to simulate experimental flexural response and back calculate tensile response. This concept is based on a constitutive law consisting of a tri-linear tension model with residual strength and a bilinear elastic perfectly plastic compression stress strain model. This parametric model was used to characterize Textile Reinforced Concrete (TRC) with aramid, carbon, alkali resistant glass, polypropylene TRC and hybrid systems of aramid and polypropylene. The same material model was also used to characterize long term durability issues with glass fiber reinforced concrete (GFRC). Historical data associated with effect of temperature dependency in aging of GFRC composites were used. An experimental study was conducted to understand the behavior of aerated concrete systems under high stain rate impact loading. Test setup was modeled on a free fall drop of an instrumented hammer using three point bending configuration. Two types of aerated concrete: autoclaved aerated concrete (AAC) and polymeric fiber-reinforced aerated concrete (FRAC) were tested and compared in terms of their impact behavior. The effect of impact energy on the mechanical properties was investigated for various drop heights and different specimen sizes. Both materials showed similar flexural load carrying capacity under impact, however, flexural toughness of fiber-reinforced aerated concrete was proved to be several degrees higher in magnitude than that provided by plain autoclaved aerated concrete. Effect of specimen size and drop height on the impact response of AAC and FRAC was studied and discussed. Results obtained were compared to the performance of sandwich beams with AR glass textile skins with aerated concrete core under similar impact conditions. After this extensive study it was concluded that this type of sandwich composite could be effectively used in low cost sustainable infrastructure projects.
ContributorsDey, Vikram (Author) / Mobasher, Barzin (Thesis advisor) / Rajan, Subramaniam D. (Committee member) / Neithalath, Narayanan (Committee member) / Arizona State University (Publisher)
Created2012
Description
Woven fabric composite materials are widely used in the construction of aircraft engine fan containment systems, mostly due to their high strength to weight ratios and ease of implementation. The development of a predictive model for fan blade containment would provide great benefit to engine manufactures in shortened development cycle time, less risk in certification and fewer dollars lost to redesign/recertification cycles. A mechanistic user-defined material model subroutine has been developed at Arizona State University (ASU) that captures the behavioral response of these fabrics, namely Kevlar® 49, under ballistic loading. Previously developed finite element models used to validate the consistency of this material model neglected the effects of the physical constraints imposed on the test setup during ballistic testing performed at NASA Glenn Research Center (NASA GRC). Part of this research was to explore the effects of these boundary conditions on the results of the numerical simulations. These effects were found to be negligible in most instances. Other material models for woven fabrics are available in the LS-DYNA finite element code. One of these models, MAT234: MAT_VISCOELASTIC_LOOSE_FABRIC (Ivanov & Tabiei, 2004) was studied and implemented in the finite element simulations of ballistic testing associated with the FAA ASU research. The results from these models are compared to results obtained from the ASU UMAT as part of this research. The results indicate an underestimation in the energy absorption characteristics of the Kevlar 49 fabric containment systems. More investigation needs to be performed in the implementation of MAT234 for Kevlar 49 fabric. Static penetrator testing of Kevlar® 49 fabric was performed at ASU in conjunction with this research. These experiments are designed to mimic the type of loading experienced during fan blade out events. The resulting experimental strains were measured using a non-contact optical strain measurement system (ARAMIS).
ContributorsFein, Jonathan (Author) / Rajan, Subramaniam D. (Thesis advisor) / Mobasher, Barzin (Committee member) / Jiang, Hanqing (Committee member) / Arizona State University (Publisher)
Created2012
Description
Dwindling energy resources and associated environmental costs have resulted in a serious need to design and construct energy efficient buildings. One of the strategies to develop energy efficient structural materials is through the incorporation of phase change materials (PCM) in the host matrix. This research work presents details of a finite element-based framework that is used to study the thermal performance of structural precast concrete wall elements with and without a layer of phase change material. The simulation platform developed can be implemented for a wide variety of input parameters. In this study, two different locations in the continental United States, representing different ambient temperature conditions (corresponding to hot, cold and typical days of the year) are studied. Two different types of concrete - normal weight and lightweight, different PCM types, gypsum wallboard's with varying PCM percentages and different PCM layer thicknesses are also considered with an aim of understanding the energy flow across the wall member. Effect of changing PCM location and prolonged thermal loading are also studied. The temperature of the inside face of the wall and energy flow through the inside face of the wall, which determines the indoor HVAC energy consumption are used as the defining parameters. An ad-hoc optimization scheme is also implemented where the PCM thickness is fixed but its location and properties are varied. Numerical results show that energy savings are possible with small changes in baseline values, facilitating appropriate material design for desired characteristics.
ContributorsHembade, Lavannya Babanrao (Author) / Neithalath, Narayanan (Thesis advisor) / Rajan, Subramaniam D. (Thesis advisor) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2012
Description
Critical infrastructures in healthcare, power systems, and web services, incorporate cyber-physical systems (CPSes), where the software controlled computing systems interact with the physical environment through actuation and monitoring. Ensuring software safety in CPSes, to avoid hazards to property and human life as a result of un-controlled interactions, is essential and challenging. The principal hurdle in this regard is the characterization of the context driven interactions between software and the physical environment (cyber-physical interactions), which introduce multi-dimensional dynamics in space and time, complex non-linearities, and non-trivial aggregation of interaction in case of networked operations. Traditionally, CPS software is tested for safety either through experimental trials, which can be expensive, incomprehensive, and hazardous, or through static analysis of code, which ignore the cyber-physical interactions. This thesis considers model based engineering, a paradigm widely used in different disciplines of engineering, for safety verification of CPS software and contributes to three fundamental phases: a) modeling, building abstractions or models that characterize cyberphysical interactions in a mathematical framework, b) analysis, reasoning about safety based on properties of the model, and c) synthesis, implementing models on standard testbeds for performing preliminary experimental trials. In this regard, CPS modeling techniques are proposed that can accurately capture the context driven spatio-temporal aggregate cyber-physical interactions. Different levels of abstractions are considered, which result in high level architectural models, or more detailed formal behavioral models of CPSes. The outcomes include, a well defined architectural specification framework called CPS-DAS and a novel spatio-temporal formal model called Spatio-Temporal Hybrid Automata (STHA) for CPSes. Model analysis techniques are proposed for the CPS models, which can simulate the effects of dynamic context changes on non-linear spatio-temporal cyberphysical interactions, and characterize aggregate effects. The outcomes include tractable algorithms for simulation analysis and for theoretically proving safety properties of CPS software. Lastly a software synthesis technique is proposed that can automatically convert high level architectural models of CPSes in the healthcare domain into implementations in high level programming languages. The outcome is a tool called Health-Dev that can synthesize software implementations of CPS models in healthcare for experimental verification of safety properties.
ContributorsBanerjee, Ayan (Author) / Gupta, Sandeep K.S. (Thesis advisor) / Poovendran, Radha (Committee member) / Fainekos, Georgios (Committee member) / Maciejewski, Ross (Committee member) / Arizona State University (Publisher)
Created2012
Description
Alkali-activated aluminosilicates, commonly known as "geopolymers", are being increasingly studied as a potential replacement for Portland cement. These binders use an alkaline activator, typically alkali silicates, alkali hydroxides or a combination of both along with a silica-and-alumina rich material, such as fly ash or slag, to form a final product with properties comparable to or better than those of ordinary Portland cement. The kinetics of alkali activation is highly dependent on the chemical composition of the binder material and the activator concentration. The influence of binder composition (slag, fly ash or both), different levels of alkalinity, expressed using the ratios of Na2O-to-binders (n) and activator SiO2-to-Na2O ratios (Ms), on the early age behavior in sodium silicate solution (waterglass) activated fly ash-slag blended systems is discussed in this thesis. Optimal binder composition and the n values are selected based on the setting times. Higher activator alkalinity (n value) is required when the amount of slag in the fly ash-slag blended mixtures is reduced. Isothermal calorimetry is performed to evaluate the early age hydration process and to understand the reaction kinetics of the alkali activated systems. The differences in the calorimetric signatures between waterglass activated slag and fly ash-slag blends facilitate an understanding of the impact of the binder composition on the reaction rates. Kinetic modeling is used to quantify the differences in reaction kinetics using the Exponential as well as the Knudsen method. The influence of temperature on the reaction kinetics of activated slag and fly ash-slag blends based on the hydration parameters are discussed. Very high compressive strengths can be obtained both at early ages as well as later ages (more than 70 MPa) with waterglass activated slag mortars. Compressive strength decreases with the increase in the fly ash content. A qualitative evidence of leaching is presented through the electrical conductivity changes in the saturating solution. The impact of leaching and the strength loss is found to be generally higher for the mixtures made using a higher activator Ms and a higher n value. Attenuated Total Reflectance-Fourier Transform Infrared Spectroscopy (ATR-FTIR) is used to obtain information about the reaction products.
ContributorsChithiraputhiran, Sundara Raman (Author) / Neithalath, Narayanan (Thesis advisor) / Rajan, Subramaniyam D (Committee member) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2012
Description
Properties of random porous material such as pervious concrete are strongly dependant on its pore structure features. This research deals with the development of an understanding of the relationship between the material structure and the mechanical and functional properties of pervious concretes. The fracture response of pervious concrete specimens proportioned for different porosities, as a function of the pore structure features and fiber volume fraction, is studied. Stereological and morphological methods are used to extract the relevant pore structure features of pervious concretes from planar images. A two-parameter fracture model is used to obtain the fracture toughness (KIC) and critical crack tip opening displacement (CTODc) from load-crack mouth opening displacement (CMOD) data of notched beams under three-point bending. The experimental results show that KIC is primarily dependent on the porosity of pervious concretes. For a similar porosity, an increase in pore size results in a reduction in KIC. At similar pore sizes, the effect of fibers on the post-peak response is more prominent in mixtures with a higher porosity, as shown by the residual load capacity, stress-crack extension relationships, and GR curves. These effects are explained using the mean free spacing of pores and pore-to-pore tortuosity in these systems. A sensitivity analysis is employed to quantify the influence of material design parameters on KIC. This research has also focused on studying the relationship between permeability and tortuosity as it pertains to porosity and pore size of pervious concretes. Various ideal geometric shapes were also constructed that had varying pore sizes and porosities. The pervious concretes also had differing pore sizes and porosities. The permeabilities were determined using three different methods; Stokes solver, Lattice Boltzmann method and the Katz-Thompson equation. These values were then compared to the tortuosity values determined using a Matlab code that uses a pore connectivity algorithm. The tortuosity was also determined from the inverse of the conductivity determined from a numerical analysis that was necessary for using the Katz-Thompson equation. These tortuosity values were then compared to the permeabilities. The pervious concretes and ideal geometric shapes showed consistent similarities betbetween their tortuosities and permeabilities.
ContributorsRehder, Benjamin (Author) / Neithalath, Narayanana (Thesis advisor) / Mobasher, Barzin (Committee member) / Rajan, Subramaniam D. (Committee member) / Arizona State University (Publisher)
Created2013
Description
Buildings consume a large portion of the world's energy, but with the integration of phase change materials (PCMs) in building elements this energy cost can be greatly reduced. The addition of PCMs into building elements, however, becomes a challenge to model and analyze how the material actually affects the energy flow and temperatures in the system. This research work presents a comprehensive computer program used to model and analyze PCM embedded wall systems. The use of the finite element method (FEM) provides the tool to analyze the energy flow of these systems. Finite element analysis (FEA) can model the transient analysis of a typical climate cycle along with nonlinear problems, which the addition of PCM causes. The use of phase change materials is also a costly material expense. The initial expense of using PCMs can be compensated by the reduction in energy costs it can provide. Optimization is the tool used to determine the optimal point between adding PCM into a wall and the amount of energy savings that layer will provide. The integration of these two tools into a computer program allows for models to be efficiently created, analyzed and optimized. The program was then used to understand the benefits between two different wall models, a wall with a single layer of PCM or a wall with two different PCM layers. The effect of the PCMs on the inside wall temperature along with the energy flow across the wall are computed. The numerical results show that a multi-layer PCM wall was more energy efficient and cost effective than the single PCM layer wall. A structural analysis was then performed on the optimized designs using ABAQUS v. 6.10 to ensure the structural integrity of the wall was not affected by adding PCM layer(s).
ContributorsStockwell, Amie (Author) / Rajan, Subramaniam D. (Thesis advisor) / Neithalath, Narayanan (Thesis advisor) / Mobasher, Barzin (Committee member) / Arizona State University (Publisher)
Created2013