Matching Items (135)
Description
Carbon nanomaterials have caught tremendous attention in the last few decades due to their unique physical and chemical properties. Tremendous effort has been made to develop new synthesis techniques for carbon nanomaterials and investigate their properties for different applications. In this work, carbon nanospheres (CNSs), carbon foams (CF), and single-walled carbon nanotubes (SWNTs) were studied for various applications, including water treatment, energy storage, actuators, and sensors.
A facile spray pyrolysis synthesis technique was developed to synthesize individual CNSs with specific surface area (SSA) up to 1106 m2/g. The hollow CNSs showed adsorption of up to 300 mg rhodamine B dye per gram carbon, which is more than 15 times higher than that observed for conventional carbon black. They were also evaluated as adsorbents for removal of arsenate and selenate from water and displayed good binding to both species, outperforming commercial activated carbons for arsenate removal in pH > 8. When evaluated as supercapacitor electrode materials, specific capacitances of up to 112 F/g at a current density of 0.1 A/g were observed. When used as Li-ion battery anode materials, the CNSs achieved a discharge capacity of 270 mAh/g at a current density of 372 mA/g (1C), which is 4-fold higher than that of commercial graphite anode.
Carbon foams were synthesized using direct pyrolysis and had SSA up to 2340 m2/g. When used as supercapacitor electrode materials, a specific capacitance up to 280 F/g was achieved at current density of 0.1 A/g and remained as high as 207 F/g, even at a high current density of 10 A/g.
A printed walking robot was made from common plastic films and coatings of SWNTs. The solid-state thermal bimorph actuators were multifunctional energy transducers powered by heat, light, or electricity. The actuators were also investigated for photo/thermal detection. Electrochemical actuators based on MnO2 were also studied for potential underwater applications.
SWNTs were also used to fabricate printable electrodes for trace Cr(VI) detection, which displayed sensitivity up to 500 nA/ppb for Cr(VI). The limit of detection was shown to be as low as 5 ppb. A flow detection system based on CNT/printed electrodes was also demonstrated.
A facile spray pyrolysis synthesis technique was developed to synthesize individual CNSs with specific surface area (SSA) up to 1106 m2/g. The hollow CNSs showed adsorption of up to 300 mg rhodamine B dye per gram carbon, which is more than 15 times higher than that observed for conventional carbon black. They were also evaluated as adsorbents for removal of arsenate and selenate from water and displayed good binding to both species, outperforming commercial activated carbons for arsenate removal in pH > 8. When evaluated as supercapacitor electrode materials, specific capacitances of up to 112 F/g at a current density of 0.1 A/g were observed. When used as Li-ion battery anode materials, the CNSs achieved a discharge capacity of 270 mAh/g at a current density of 372 mA/g (1C), which is 4-fold higher than that of commercial graphite anode.
Carbon foams were synthesized using direct pyrolysis and had SSA up to 2340 m2/g. When used as supercapacitor electrode materials, a specific capacitance up to 280 F/g was achieved at current density of 0.1 A/g and remained as high as 207 F/g, even at a high current density of 10 A/g.
A printed walking robot was made from common plastic films and coatings of SWNTs. The solid-state thermal bimorph actuators were multifunctional energy transducers powered by heat, light, or electricity. The actuators were also investigated for photo/thermal detection. Electrochemical actuators based on MnO2 were also studied for potential underwater applications.
SWNTs were also used to fabricate printable electrodes for trace Cr(VI) detection, which displayed sensitivity up to 500 nA/ppb for Cr(VI). The limit of detection was shown to be as low as 5 ppb. A flow detection system based on CNT/printed electrodes was also demonstrated.
ContributorsWang, Chengwei, Ph.D (Author) / Chan, Candace K. (Thesis advisor) / Tongay, Sefaattin (Committee member) / Wang, Qing Hua (Committee member) / Seo, Dong (Committee member) / Arizona State University (Publisher)
Created2015
Description
The interaction between humans and robots has become an important area of research as the diversity of robotic applications has grown. The cooperation of a human and robot to achieve a goal is an important area within the physical human-robot interaction (pHRI) field. The expansion of this field is toward moving robotics into applications in unstructured environments. When humans cooperate with each other, often there are leader and follower roles. These roles may change during the task. This creates a need for the robotic system to be able to exchange roles with the human during a cooperative task. The unstructured nature of the new applications in the field creates a need for robotic systems to be able to interact in six degrees of freedom (DOF). Moreover, in these unstructured environments, the robotic system will have incomplete information. This means that it will sometimes perform an incorrect action and control methods need to be able to correct for this. However, the most compelling applications for robotics are where they have capabilities that the human does not, which also creates the need for robotic systems to be able to correct human action when it detects an error. Activity in the brain precedes human action. Utilizing this activity in the brain can classify the type of interaction desired by the human. For this dissertation, the cooperation between humans and robots is improved in two main areas. First, the ability for electroencephalogram (EEG) to determine the desired cooperation role with a human is demonstrated with a correct classification rate of 65%. Second, a robotic controller is developed to allow the human and robot to cooperate in six DOF with asymmetric role exchange. This system allowed human-robot cooperation to perform a cooperative task at 100% correct rate. High, medium, and low levels of robotic automation are shown to affect performance, with the human making the greatest numbers of errors when the robotic system has a medium level of automation.
ContributorsWhitsell, Bryan Douglas (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Committee member) / Berman, Spring (Committee member) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2017
Description
Alloying in semiconductors has enabled many civilian technologies in optoelectronic, photonic fields and more. While the phenomenon of alloying is well established in traditional bulk semiconductors, owing to vastly available ternary phase diagrams, the ability to alloy in 2D systems are less clear. Recently anisotropic materials such as ReS2 and TiS3 have been extensively studied due to their direct-gap semiconductor and high mobility behaviors. This work is a report on alloys of ReS2 & ReSe2 and TiS3 &TiSe3.
Alloying selenium into ReS2 in the creation of ReS2xSe2-x, tunes the band gap and changes its vibrational spectrum. Depositing this alloy using bottom up approach has resulted in the loss of crystallinity. This loss of crystallinity was evidenced by grain boundaries and point defect shown by TEM images.
Also, in the creation of TiS3xSe3-x, by alloying Se into TiS3, a fixed ratio of 8% selenium deposit into TiS3 host matrix is observed. This is despite the vastly differing precursor amounts and growth temperatures, as evinced by detailed TEM, EDAX, TEM diffraction, and Raman spectroscopy measurements. This unusual behavior contrasts with other well-known layered material systems such as MoSSe, WMoS2 where continuous alloying can be attained. Cluster expansion theory calculations suggest that only limited composition (x) can be achieved. Considering the fact that TiSe3 vdW crystals have not been synthesized in the past, these alloying rejections can be attributed to energetic instability in the ternary phase diagrams estimated by calculations performed. Overall findings highlight potential means and challenges in achieving stable alloying in promising direct gap and high carrier mobility TiS3 materials.
Alloying selenium into ReS2 in the creation of ReS2xSe2-x, tunes the band gap and changes its vibrational spectrum. Depositing this alloy using bottom up approach has resulted in the loss of crystallinity. This loss of crystallinity was evidenced by grain boundaries and point defect shown by TEM images.
Also, in the creation of TiS3xSe3-x, by alloying Se into TiS3, a fixed ratio of 8% selenium deposit into TiS3 host matrix is observed. This is despite the vastly differing precursor amounts and growth temperatures, as evinced by detailed TEM, EDAX, TEM diffraction, and Raman spectroscopy measurements. This unusual behavior contrasts with other well-known layered material systems such as MoSSe, WMoS2 where continuous alloying can be attained. Cluster expansion theory calculations suggest that only limited composition (x) can be achieved. Considering the fact that TiSe3 vdW crystals have not been synthesized in the past, these alloying rejections can be attributed to energetic instability in the ternary phase diagrams estimated by calculations performed. Overall findings highlight potential means and challenges in achieving stable alloying in promising direct gap and high carrier mobility TiS3 materials.
ContributorsAgarwal, Ashutosh (Author) / Tongay, Sefaattin (Thesis advisor) / Green, Matthew (Committee member) / Zhuang, Houlong (Committee member) / Arizona State University (Publisher)
Created2018
Description
Since the discovery of graphene, two dimensional materials (2D materials) have become a focus of interest for material research due to their many unique physical properties embedded in their 2D structure. While they host many exciting potential applications, some of these 2D materials are subject to environmental instability issues induced by interaction between material and gas molecules in air, which poses a barrier to further application and manufacture. To overcome this, it is necessary to understand the origin of material instability and interaction with molecules commonly found in air, as well as developing a reproducible and manufacturing compatible method to post-process these materials to extend their lifetime. In this work, the very first investigation on environmental stability on Te containing anisotropic 2D materials such as GaTe and ZrTe3 is reported. Experimental results have demonstrated that freshly exfoliated GaTe quickly deteriorate in air, during which the Raman spectrum, surface morphology, and surface chemistry undergo drastic changes. Environmental Raman spectroscopy and XPS measurements demonstrate that H2O molecules in air interact strongly on the surface while O2, N2, and inert gases don't show any detrimental effects on GaTe surface. Moreover, the anisotropic properties of GaTe slowly disappear during the aging process. To prevent this gas/material interaction based surface transformation, diazonium based surface functionalization is adopted on these Te based 2D materials. Environmental Raman spectroscopy results demonstrate that the stability of functionalized Te based 2D materials exhibit much higher stability both in ambient and extreme conditions. Meanwhile, PL spectroscopy, angle resolved Raman spectroscopy, atomic force microscopy measurements confirm that many attractive physical properties of the material are not affected by surface functionalization. Overall, these findings unveil the degradation mechanism of Te based 2D materials as well as provide a way to significantly enhance their environmental stability through an inexpensive and reproducible surface chemical functionalization route.
ContributorsYang, Sijie (Author) / Tongay, Sefaattin (Thesis advisor) / Gould, Ian (Thesis advisor) / Trovitch, Ryan (Committee member) / Ghirlanda, Giovanna (Committee member) / Arizona State University (Publisher)
Created2017
Description
Human locomotion is an essential function that enables individuals to lead healthy, independent lives. One important feature of natural walking is the capacity to transition across varying surfaces, enabling an individual to traverse complex terrains while maintaining balance. There has been extensive work regarding improving prostheses' performance in changing walking conditions, but there is still a need to address the transition from rigid to compliant or dynamic surfaces, such as the transition from pavement to long grass or soft sand. This research aims to investigate the mechanisms involved such transitions and identify potential indicators of the anticipated change that can be applied to the control of a powered ankle prosthetic to reduce falls and improve stability in lower-limb amputees in a wider range of walking environments. A series of human subject experiments were conducted using the Variable Stiffness Treadmill (VST) to control walking surface compliance while gait kinematics and muscular activation data were collected from three healthy, nondisabled subjects. Specifically, the kinematics and electromyography (EMG) profiles of the gait cycles immediately preceding and following an expected change in surface compliance were compared to that of normal, rigid surface walking. While the results do not indicate statistical differences in the EMG profiles between the two modes of walking, the muscle activation appears to be qualitatively different from inspection of the data. Additionally, there were promising statistically significant changes in joint angles, especially in observed increases in hip flexion during the swing phases both before and during an expected change in surface. Decreases in ankle flexion immediately before heel strike on the perturbed leg were also observed to occur simultaneously with decreases in tibialis anterior (TA) muscle activation, which encourages additional research investigating potential changes in EMG profiles. Ultimately, more work should be done to make strong conclusions about potential indicators of walking surface transitions, but this research demonstrates the potential of EMG and kinematic data to be used in the control of a powered ankle prosthetic.
ContributorsFou, Linda (Author) / Artemiadis, Panagiotis (Thesis advisor) / Lee, Hyunglae (Committee member) / Polygerinos, Panagiotis (Committee member) / Arizona State University (Publisher)
Created2018
Description
Locomotion is of prime importance in enabling human beings to effectively respond
in space and time to meet different needs. Approximately 2 million Americans live
with an amputation with most of those amputations being of the lower limbs. To
advance current state-of-the-art lower limb prosthetic devices, it is necessary to adapt
performance at a level of intelligence seen in human walking. As such, this thesis
focuses on the mechanisms involved during human walking, while transitioning from
rigid to compliant surfaces such as from pavement to sand, grass or granular media.
Utilizing a unique tool, the Variable Stiffness Treadmill (VST), as the platform for
human walking, rigid to compliant surface transitions are simulated. The analysis of
muscular activation during the transition from rigid to different compliant surfaces
reveals specific anticipatory muscle activation that precedes stepping on a compliant
surface. There is also an indication of varying responses for different surface stiffness
levels. This response is observed across subjects. Results obtained are novel and
useful in establishing a framework for implementing control algorithm parameters to
improve powered ankle prosthesis. With this, it is possible for the prosthesis to adapt
to a new surface and therefore resulting in a more robust smart powered lower limb
prosthesis.
in space and time to meet different needs. Approximately 2 million Americans live
with an amputation with most of those amputations being of the lower limbs. To
advance current state-of-the-art lower limb prosthetic devices, it is necessary to adapt
performance at a level of intelligence seen in human walking. As such, this thesis
focuses on the mechanisms involved during human walking, while transitioning from
rigid to compliant surfaces such as from pavement to sand, grass or granular media.
Utilizing a unique tool, the Variable Stiffness Treadmill (VST), as the platform for
human walking, rigid to compliant surface transitions are simulated. The analysis of
muscular activation during the transition from rigid to different compliant surfaces
reveals specific anticipatory muscle activation that precedes stepping on a compliant
surface. There is also an indication of varying responses for different surface stiffness
levels. This response is observed across subjects. Results obtained are novel and
useful in establishing a framework for implementing control algorithm parameters to
improve powered ankle prosthesis. With this, it is possible for the prosthesis to adapt
to a new surface and therefore resulting in a more robust smart powered lower limb
prosthesis.
ContributorsObeng, Ruby Afriyie (Author) / Artemiadis, Panagiotis (Thesis advisor) / Santello, Marco (Thesis advisor) / Lee, Hyunglae (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
Soft Poly-Limb (SPL) is a pneumatically driven, wearable, soft continuum robotic arm designed to aid humans with medical conditions, such as cerebral palsy, paraplegia, cervical spondylotic myelopathy, perform activities of daily living. To support user's tasks, the SPL acts as an additional limb extending from the human body which can be controlled to perform safe and compliant mobile manipulation in three-dimensional space. The SPL is inspired by invertebrate limbs, such as the elephant trunk and the arms of the octopus. In this work, various geometrical and physical parameters of the SPL are identified, and behavior of the actuators that comprise it are studied by varying their parameters through novel quasi-static computational models. As a result, this study provides a set of engineering design rules to create soft actuators for continuum soft robotic arms by understanding how varying parameters affect the actuator's motion as a function of the input pressure. A prototype of the SPL is fabricated to analyze the accuracy of these computational models by performing linear expansion, bending and arbitrary pose tests. Furthermore, combinations of the parameters based on the application of the SPL are determined to affect the weight, payload capacity, and stiffness of the arm. Experimental results demonstrate the accuracy of the proposed computational models and help in understanding the behavior of soft compliant actuators. Finally, based on the set functional requirements for the assistance of impaired users, results show the effectiveness of the SPL in performing tasks for activities of daily living.
ContributorsNuthi, Sai Gautham (Author) / Polygerinos, Panagiotis (Thesis advisor) / Lee, Hyunglae (Committee member) / Yong, Sze Zheng (Committee member) / Arizona State University (Publisher)
Created2018
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
Recently, two-dimensional (2D) materials have emerged as a new class of materials with highly attractive electronic, optical, magnetic, and thermal properties. However, there exists a sub-category of 2D layers wherein constituent metal atoms are arranged in a way that they form weakly coupled chains confined in the 2D landscape. These weakly coupled chains extend along particular lattice directions and host highly attractive properties including high thermal conduction pathways, high-mobility carriers, and polarized excitons. In a sense, these materials offer a bridge between traditional one-dimensional (1D) materials (nanowires and nanotubes) and 2D layered systems. Therefore, they are often referred as pseudo-1D materials, and are anticipated to impact photonics and optoelectronics fields.
This dissertation focuses on the novel growth routes and fundamental investigation of the physical properties of pseudo-1D materials. Example systems are based on transition metal chalcogenide such as rhenium disulfide (ReS2), titanium trisulfide (TiS3), tantalum trisulfide (TaS3), and titanium-niobium trisulfide (Nb(1-x)TixS3) ternary alloys. Advanced growth, spectroscopy, and microscopy techniques with density functional theory (DFT) calculations have offered the opportunity to understand the properties of these materials both experimentally and theoretically. The first controllable growth of ReS2 flakes with well-defined domain architectures has been established by a state-of-art chemical vapor deposition (CVD) method. High-resolution electron microscopy has offered the very first investigation into the structural pseudo-1D nature of these materials at an atomic level such as the chain-like features, grain boundaries, and local defects.
Pressure-dependent Raman spectroscopy and DFT calculations have investigated the origin of the Raman vibrational modes in TiS3 and TaS3, and discovered the unusual pressure response and its effect on Raman anisotropy. Interestingly, the structural and vibrational anisotropy can be retained in the Nb(1-x)TixS3 alloy system with the presence of phase transition at a nominal Ti alloying limit. Results have offered valuable experimental and theoretical insights into the growth routes as well as the structural, optical, and vibrational properties of typical pseudo-1D layered systems. The overall findings hope to shield lights to the understanding of this entire class of materials and benefit the design of 2D electronics and optoelectronics.
This dissertation focuses on the novel growth routes and fundamental investigation of the physical properties of pseudo-1D materials. Example systems are based on transition metal chalcogenide such as rhenium disulfide (ReS2), titanium trisulfide (TiS3), tantalum trisulfide (TaS3), and titanium-niobium trisulfide (Nb(1-x)TixS3) ternary alloys. Advanced growth, spectroscopy, and microscopy techniques with density functional theory (DFT) calculations have offered the opportunity to understand the properties of these materials both experimentally and theoretically. The first controllable growth of ReS2 flakes with well-defined domain architectures has been established by a state-of-art chemical vapor deposition (CVD) method. High-resolution electron microscopy has offered the very first investigation into the structural pseudo-1D nature of these materials at an atomic level such as the chain-like features, grain boundaries, and local defects.
Pressure-dependent Raman spectroscopy and DFT calculations have investigated the origin of the Raman vibrational modes in TiS3 and TaS3, and discovered the unusual pressure response and its effect on Raman anisotropy. Interestingly, the structural and vibrational anisotropy can be retained in the Nb(1-x)TixS3 alloy system with the presence of phase transition at a nominal Ti alloying limit. Results have offered valuable experimental and theoretical insights into the growth routes as well as the structural, optical, and vibrational properties of typical pseudo-1D layered systems. The overall findings hope to shield lights to the understanding of this entire class of materials and benefit the design of 2D electronics and optoelectronics.
ContributorsWu, Kedi (Author) / Tongay, Sefaattin (Thesis advisor) / Zhuang, Houlong (Committee member) / Green, Matthew (Committee member) / Arizona State University (Publisher)
Created2018