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- Creators: Haydn, Joseph, 1732-1809
Description
Trenchless technology is a group of techniques whose utilization allows for the installation, rehabilitation, and repair of underground infrastructure with minimal excavation from the ground surface. As the built environment becomes more congested, projects are trending towards using trenchless technologies for their ability to quickly produce a quality product with minimal environmental and social costs. Pilot tube microtunneling (PTMT) is a trenchless technology where new pipelines may be installed at accurate and precise line and grade over manhole to manhole distances. The PTMT process can vary to a certain degree, but typically involves the following three phases: jacking of the pilot tube string to achieve line and grade, jacking of casing along the pilot bore and rotation of augers to excavate the borehole to a diameter slightly larger than the product pipe, and jacking of product pipe directly behind the last casing. Knowledge of the expected productivity rates and jacking forces during a PTMT installation are valuable tools that can be used for properly weighing its usefulness versus competing technologies and minimizing risks associated with PTMT. This thesis outlines the instrumentation and monitoring process used to record jacking frame hydraulic pressures from seven PTMT installations. Cyclic patterns in the data can be detected, indicating the installation of a single pipe segment, and enabling productivity rates for each PTMT phase to be determined. Furthermore, specific operations within a cycle, such as pushing a pipe or retracting the machine, can be observed, allowing for identification of the critical tasks associated with each phase. By identifying the critical tasks and developing more efficient means for their completion, PTMT productivity can be increased and costs can be reduced. Additionally, variations in depth of cover, drive length, pipe diameter, and localized ground conditions allowed for trends in jacking forces to be identified. To date, jacking force predictive models for PTMT are non-existent. Thus, jacking force data was compared to existing predictive models developed for the closely related pipe jacking and microtunneling methodologies, and the applicability of their adoption for PTMT jacking force prediction was explored.
ContributorsOlson, Matthew P (Author) / Ariaratnam, Samuel T (Thesis advisor) / Lueke, Jason S (Committee member) / Zapata, Claudia E (Committee member) / Tang, Pingbo (Committee member) / Arizona State University (Publisher)
Created2013
ContributorsHaydn, Joseph, 1732-1809 (Composer)
ContributorsHaydn, Joseph, 1732-1809 (Composer)
Description
The construction industry is very mundane and tiring for workers without the assistance of machines. This challenge has changed the trend of construction industry tremendously by motivating the development of robots that can replace human workers. This thesis presents a computed torque controller that is designed to produce movements by a small-scale, 5 degree-of-freedom (DOF) robotic arm that are useful for construction operations, specifically bricklaying. A software framework for the robotic arm with motion and path planning features and different control capabilities has also been developed using the Robot Operating System (ROS).
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
First, a literature review of bricklaying construction activity and existing robots’ performance is discussed. After describing an overview of the required robot structure, a mathematical model is presented for the 5-DOF robotic arm. A model-based computed torque controller is designed for the nonlinear dynamic robotic arm, taking into consideration the dynamic and kinematic properties of the arm. For sustainable growth of this technology so that it is affordable to the masses, it is important that the energy consumption by the robot is optimized. In this thesis, the trajectory of the robotic arm is optimized using sequential quadratic programming. The results of the energy optimization procedure are also analyzed for different possible trajectories.
A construction testbed setup is simulated in the ROS platform to validate the designed controllers and optimized robot trajectories on different experimental scenarios. A commercially available 5-DOF robotic arm is modeled in the ROS simulators Gazebo and Rviz. The path and motion planning is performed using the Moveit-ROS interface and also implemented on a physical small-scale robotic arm. A Matlab-ROS framework for execution of different controllers on the physical robot is described. Finally, the results of the controller simulation and experiments are discussed in detail.
ContributorsGandhi, Sushrut (Author) / Berman, Spring (Thesis advisor) / Marvi, Hamidreza (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2019
Description
Basilisk lizards are often studied for their unique ability to run across the surface of
water. Due to the complicated fluid dynamics of this process, the forces applied on the
water’s surface cannot be measured using traditional methods. This thesis presents a
novel technique of measuring the forces using a fluid dynamic force platform (FDFP),
a light, rigid box immersed in water. This platform, along with a motion capture
system, can be used to characterize the kinematics and dynamics of a basilisk lizard
running on water. This could ultimately lead to robots that can run on water in a
similar manner.
water. Due to the complicated fluid dynamics of this process, the forces applied on the
water’s surface cannot be measured using traditional methods. This thesis presents a
novel technique of measuring the forces using a fluid dynamic force platform (FDFP),
a light, rigid box immersed in water. This platform, along with a motion capture
system, can be used to characterize the kinematics and dynamics of a basilisk lizard
running on water. This could ultimately lead to robots that can run on water in a
similar manner.
ContributorsSweeney, Andrew Joseph (Author) / Marvi, Hamidreza (Thesis advisor) / Lentink, David (Committee member) / Lee, Hyunglae (Committee member) / Arizona State University (Publisher)
Created2019
Description
The world population is aging. Age-related disorders such as stroke and spinal cord injury are increasing rapidly, and such patients often suffer from mobility impairment. Wearable robotic exoskeletons are developed that serve as rehabilitation devices for these patients. In this thesis, a knee exoskeleton design with higher torque output compared to the first version, is designed and fabricated.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
A series elastic actuator is one of the many actuation mechanisms employed in exoskeletons. In this mechanism a torsion spring is used between the actuator and human joint. It serves as torque sensor and energy buffer, making it compact and
safe.
A version of knee exoskeleton was developed using the SEA mechanism. It uses worm gear and spur gear combination to amplify the assistive torque generated from the DC motor. It weighs 1.57 kg and provides a maximum assistive torque of 11.26 N·m. It can be used as a rehabilitation device for patients affected with knee joint impairment.
A new version of exoskeleton design is proposed as an improvement over the first version. It consists of components such as brushless DC motor and planetary gear that are selected to meet the design requirements and biomechanical considerations. All the other components such as bevel gear and torsion spring are selected to be compatible with the exoskeleton. The frame of the exoskeleton is modeled in SolidWorks to be modular and easy to assemble. It is fabricated using sheet metal aluminum. It is designed to provide a maximum assistive torque of 23 N·m, two times over the present exoskeleton. A simple brace is 3D printed, making it easy to wear and use. It weighs 2.4 kg.
The exoskeleton is equipped with encoders that are used to measure spring deflection and motor angle. They act as sensors for precise control of the exoskeleton.
An impedance-based control is implemented using NI MyRIO, a FPGA based controller. The motor is controlled using a motor driver and powered using an external battery source. The bench tests and walking tests are presented. The new version of exoskeleton is compared with first version and state of the art devices.
ContributorsJhawar, Vaibhav (Author) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas G. (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2018
Description
Implementing Building Information Modeling (BIM) in construction projects has many potential benefits, but issues of projects can hinder its realization in practice. Although BIM involves using the technology, more than four-fifths of the recurring issues in current BIM-based construction projects are related to the people and processes (i.e., the non-technological elements of BIM). Therefore, in addition to the technological skills required for using BIM, educators should also prepare university graduates with the non-technological skills required for managing the people and processes of BIM. This research’s objective is to develop a learning module that teaches the non-technological skills for addressing common, people- and process-related, issues in BIM-based construction projects. To achieve this objective, this research outlines the steps taken to create the learning module and identify its impact on a BIM course. The contribution of this research is in the understanding of the pedagogical value of the developed problem-based learning module and documenting the learning module’s development process.
ContributorsAbdul Rahman, Abdul Rahimi Bin (Author) / Ayer, Steven K (Thesis advisor) / Tang, Pingbo (Committee member) / Wiezel, Avi (Committee member) / Arizona State University (Publisher)
Created2018
Description
The United States building sector was the most significant carbon emission contributor (over 40%). The United States government is trying to decrease carbon emissions by enacting policies, but emissions increased by approximately 7 percent in the U.S. between 1990 and 2013. To reduce emissions, investigating the factors affecting carbon emissions should be a priority. Therefore, in this dissertation, this research examine the relationship between carbon emissions and the factors affecting them from macro and micro perspectives. From a macroscopic perspective, the relationship between carbon dioxide, energy resource consumption, energy prices, GDP (gross domestic product), waste generation, and recycling waste generation in the building and waste sectors has been verified. From a microscopic perspective, the impact of non-permanent electric appliances and stationary and non-stationary occupancy has been investigated. To verify the relationships, various kinds of statistical and data mining techniques were applied, such as the Granger causality test, linear and logarithmic correlation, and regression method. The results show that natural gas and electricity prices are higher than others, as coal impacts their consumption, and electricity and coal consumption were found to cause significant carbon emissions. Also, waste generation and recycling significantly increase and decrease emissions from the waste sector, respectively. Moreover, non-permanent appliances such as desktop computers and monitors consume a lot of electricity, and significant energy saving potential has been shown. Lastly, a linear relationship exists between buildings’ electricity use and total occupancy, but no significant relationship exists between occupancy and thermal loads, such as cooling and heating loads. These findings will potentially provide policymakers with a better understanding of and insights into carbon emission manipulation in the building sector.
ContributorsLee, Seungtaek (Author) / Chong, Oswald (Thesis advisor) / Sullivan, Kenneth (Committee member) / Tang, Pingbo (Committee member) / Arizona State University (Publisher)
Created2018
Description
Multiaxial mechanical fatigue of heterogeneous materials has been a significant cause of concern in the aerospace, civil and automobile industries for decades, limiting the service life of structural components while increasing time and costs associated with inspection and maintenance. Fiber reinforced composites and light-weight aluminum alloys are widely used in aerospace structures that require high specific strength and fatigue resistance. However, studying the fundamental crack growth behavior at the micro- and macroscale as a function of loading history is essential to accurately predict the residual fatigue life of components and achieve damage tolerant designs. The issue of mechanical fatigue can be tackled by developing reliable in-situ damage quantification methodologies and by comprehensively understanding fatigue damage mechanisms under a variety of complex loading conditions. Although a multitude of uniaxial fatigue loading studies have been conducted on light-weight metallic materials and composites, many service failures occur from components being subjected to variable amplitude, mixed-mode multiaxial fatigue loadings. In this research, a systematic approach is undertaken to address the issue of fatigue damage evolution in aerospace materials by:
(i) Comprehensive investigation of micro- and macroscale crack growth behavior in aerospace grade Al 7075 T651 alloy under complex biaxial fatigue loading conditions. The effects of variable amplitude biaxial loading on crack growth characteristics such as crack acceleration and retardation were studied in detail by exclusively analyzing the influence of individual mode-I, mixed-mode and mode-II overload and underload fatigue cycles in an otherwise constant amplitude mode-I baseline load spectrum. The micromechanisms governing crack growth behavior under the complex biaxial loading conditions were identified and correlated with the crack growth behavior and fracture surface morphology through quantitative fractography.
(ii) Development of novel multifunctional nanocomposite materials with improved fatigue resistance and in-situ fatigue damage detection and quantification capabilities. A state-of-the-art processing method was developed for producing sizable carbon nanotube (CNT) membranes for multifunctional composites. The CNT membranes were embedded in glass fiber laminates and in-situ strain sensing and damage quantification was achieved by exploiting the piezoresistive property of the CNT membrane. In addition, improved resistance to fatigue crack growth was observed due to the embedded CNT membrane.
(i) Comprehensive investigation of micro- and macroscale crack growth behavior in aerospace grade Al 7075 T651 alloy under complex biaxial fatigue loading conditions. The effects of variable amplitude biaxial loading on crack growth characteristics such as crack acceleration and retardation were studied in detail by exclusively analyzing the influence of individual mode-I, mixed-mode and mode-II overload and underload fatigue cycles in an otherwise constant amplitude mode-I baseline load spectrum. The micromechanisms governing crack growth behavior under the complex biaxial loading conditions were identified and correlated with the crack growth behavior and fracture surface morphology through quantitative fractography.
(ii) Development of novel multifunctional nanocomposite materials with improved fatigue resistance and in-situ fatigue damage detection and quantification capabilities. A state-of-the-art processing method was developed for producing sizable carbon nanotube (CNT) membranes for multifunctional composites. The CNT membranes were embedded in glass fiber laminates and in-situ strain sensing and damage quantification was achieved by exploiting the piezoresistive property of the CNT membrane. In addition, improved resistance to fatigue crack growth was observed due to the embedded CNT membrane.
ContributorsDatta, Siddhant (Author) / Chattopadhyay, Aditi (Thesis advisor) / Liu, Yongming (Committee member) / Jiang, Hanqing (Committee member) / Marvi, Hamidreza (Committee member) / Tang, Pingbo (Committee member) / Yekani Fard, Masoud (Committee member) / Iyyer, Nagaraja (Committee member) / Arizona State University (Publisher)
Created2018
Description
Wearable robotics has gained huge popularity in recent years due to its wide applications in rehabilitation, military, and industrial fields. The weakness of the skeletal muscles in the aging population and neurological injuries such as stroke and spinal cord injuries seriously limit the abilities of these individuals to perform daily activities. Therefore, there is an increasing attention in the development of wearable robots to assist the elderly and patients with disabilities for motion assistance and rehabilitation. In military and industrial sectors, wearable robots can increase the productivity of workers and soldiers. It is important for the wearable robots to maintain smooth interaction with the user while evolving in complex environments with minimum effort from the user. Therefore, the recognition of the user's activities such as walking or jogging in real time becomes essential to provide appropriate assistance based on the activity.
This dissertation proposes two real-time human activity recognition algorithms intelligent fuzzy inference (IFI) algorithm and Amplitude omega ($A \omega$) algorithm to identify the human activities, i.e., stationary and locomotion activities. The IFI algorithm uses knee angle and ground contact forces (GCFs) measurements from four inertial measurement units (IMUs) and a pair of smart shoes. Whereas, the $A \omega$ algorithm is based on thigh angle measurements from a single IMU.
This dissertation also attempts to address the problem of online tuning of virtual impedance for an assistive robot based on real-time gait and activity measurement data to personalize the assistance for different users. An automatic impedance tuning (AIT) approach is presented for a knee assistive device (KAD) in which the IFI algorithm is used for real-time activity measurements. This dissertation also proposes an adaptive oscillator method known as amplitude omega adaptive oscillator ($A\omega AO$) method for HeSA (hip exoskeleton for superior augmentation) to provide bilateral hip assistance during human locomotion activities. The $A \omega$ algorithm is integrated into the adaptive oscillator method to make the approach robust for different locomotion activities. Experiments are performed on healthy subjects to validate the efficacy of the human activities recognition algorithms and control strategies proposed in this dissertation. Both the activity recognition algorithms exhibited higher classification accuracy with less update time. The results of AIT demonstrated that the KAD assistive torque was smoother and EMG signal of Vastus Medialis is reduced, compared to constant impedance and finite state machine approaches. The $A\omega AO$ method showed real-time learning of the locomotion activities signals for three healthy subjects while wearing HeSA. To understand the influence of the assistive devices on the inherent dynamic gait stability of the human, stability analysis is performed. For this, the stability metrics derived from dynamical systems theory are used to evaluate unilateral knee assistance applied to the healthy participants.
This dissertation proposes two real-time human activity recognition algorithms intelligent fuzzy inference (IFI) algorithm and Amplitude omega ($A \omega$) algorithm to identify the human activities, i.e., stationary and locomotion activities. The IFI algorithm uses knee angle and ground contact forces (GCFs) measurements from four inertial measurement units (IMUs) and a pair of smart shoes. Whereas, the $A \omega$ algorithm is based on thigh angle measurements from a single IMU.
This dissertation also attempts to address the problem of online tuning of virtual impedance for an assistive robot based on real-time gait and activity measurement data to personalize the assistance for different users. An automatic impedance tuning (AIT) approach is presented for a knee assistive device (KAD) in which the IFI algorithm is used for real-time activity measurements. This dissertation also proposes an adaptive oscillator method known as amplitude omega adaptive oscillator ($A\omega AO$) method for HeSA (hip exoskeleton for superior augmentation) to provide bilateral hip assistance during human locomotion activities. The $A \omega$ algorithm is integrated into the adaptive oscillator method to make the approach robust for different locomotion activities. Experiments are performed on healthy subjects to validate the efficacy of the human activities recognition algorithms and control strategies proposed in this dissertation. Both the activity recognition algorithms exhibited higher classification accuracy with less update time. The results of AIT demonstrated that the KAD assistive torque was smoother and EMG signal of Vastus Medialis is reduced, compared to constant impedance and finite state machine approaches. The $A\omega AO$ method showed real-time learning of the locomotion activities signals for three healthy subjects while wearing HeSA. To understand the influence of the assistive devices on the inherent dynamic gait stability of the human, stability analysis is performed. For this, the stability metrics derived from dynamical systems theory are used to evaluate unilateral knee assistance applied to the healthy participants.
ContributorsChinimilli, Prudhvi Tej (Author) / Redkar, Sangram (Thesis advisor) / Zhang, Wenlong (Thesis advisor) / Sugar, Thomas G. (Committee member) / Lee, Hyunglae (Committee member) / Marvi, Hamidreza (Committee member) / Arizona State University (Publisher)
Created2018