Digital Commons Network^™

Development Of A Soft Robotic Approach For An Intra-Abdominal Wireless Laparoscopic Camera, Hui Liu

Doctoral Dissertations

In Single-Incision Laparoscopic Surgery (SILS), the Magnetic Anchoring and Guidance System (MAGS) arises as a promising technique to provide larger workspaces and field of vision for the laparoscopes, relief space for other instruments, and require fewer incisions. Inspired by MAGS, many concept designs related to fully insertable magnetically driven laparoscopes are developed and tested on the transabdominal operation. However, ignoring the tissue interaction and insertion procedure, most of the designs adopt rigid structures, which not only damage the patients' tissue with excess stress concentration and sliding motion but also require complicated operation for the insertion. Meanwhile, lacking state tracking of …

Intelligent Traffic Control With Connected And Automated Vehicles, Yang Shi

Doctoral Dissertations

The recent advancements in communication technology, transportation infrastructure, computational techniques, and artificial intelligence are driving a revolution in future transportation systems. Connected and Automated Vehicles (CAVs) are attracting a lot of attention due to their potential to reduce traffic accidents, ease congestion, and improve traffic efficiency. This study focuses on addressing the challenges in controlling future CAV-enabled transportation systems. The aim is to develop a framework for the control of CAV-based traffic systems to improve roadway safety, travel efficiency, and energy efficiency. The study proposes new methods for vehicle speed control and traffic signal control at signalized intersections and corridors …

Investigating The Electrochemical Performance Of Biphenyl-Sodium Polysulfide Organic Redox Flow Batteries, Mohammad Bahzad

Doctoral Dissertations

With the increased utilization of renewable energy sources, demand for long-duration energy storage systems has increased to moderate the intermittent power generation problem of these sources. Among the various energy storage technologies, those based on electrochemical conversion have received tremendous attention in recent decades. Organic redox flow batteries (ORFBs) are promising candidates for large-scale energy storage. The advantages of ORFBs are flexibility, wide voltage window, high energy density, and low cost. Although recent developments in ORFBs are promising, their future implementation requires further development, especially to understand their electrochemical performance and alleviate system inefficiencies. Most of ORFBs' performance loss comes …

Space-Angle Discontinuous Galerkin Finite Element Method For Radiative Transfer Equation, Hang Wang

Doctoral Dissertations

Radiative transfer theory describes the interaction of radiation with scattering and absorbing media. It has applications in neutron transport, atmospheric physics, heat transfer, molecular imaging, and others. In steady state, the radiative transfer equation is an integro-differential equation of five independent variables, which are 3 dimensions in space and 2 dimensions in the angular direction. This high dimensionality and the presence of the integral term present serious challenges when solving the equation numerically. Over the past 50 years, several techniques for solving the radiative transfer equation (RTE) have been introduced. These include, but are certainly not limited to, Monte Carlo …

A Primal Treatise Of Constant-Force Compliant Segment And Mechanism Design With Applications, Vamsi Lodagala

Doctoral Dissertations

"The evolution of compliant mechanisms propelled the development of constant-force mechanisms (CFMs) for various applications because of their unique characteristics. Many research endeavors have presented different techniques that often involve some optimization to design the CFMs. However, the mechanics of the generation of constant force at the elemental level is not well understood. This research effort theorizes and validates that simple, compliant segment with different boundary conditions, subjected to axial loading, produce near-constant force without the need for design optimization. Analytical models are developed based on the pseudo-rigid-body model (PRBM) concept to predict their force-displacement behavior, and to establish that …

Characterization And Improvement Of Powder Properties Through Plasma Spheroidization For Use In The Laser Powder Bed Fusion Process, M. Hossein Sehhat

Doctoral Dissertations

"This research was conducted to characterize the powder properties using different characterization techniques to enhance the powder behavior in the Laser Powder Bed Fusion (LPBF) process. One of the shortcomings of LPBF process is the high cost of gas-atomized powder feedstock. To overcome this downside, the cheaper water-atomized powder was characterized and used in LPBF process, and its performance was compared with those of gas-atomized powder. Also, the plasma spheroidization process was used to improve the powder characteristics; if the spheroidized powder could function as well as the virgin powder, plasma spheroidization process could be applied to the used powders …

Unsteady Flow Behaviors Generated By Three-Dimensional Lattice Geometries As Measured By Laser Doppler Velocimetry, Yi Qiao

Doctoral Dissertations

"The relation between flow stream turbulence and heat transfer has been known for a long time, that the heat transfer rate is increased if the turbulence or fluctuation level of the flow increases. Open cell foams and compact heat exchangers are two of the most common models applied for heat transfer augmentation. However, the small ligaments of open cell foams limit the heat conducted and smooth passages in compact heat exchangers cannot cause flow unsteadiness. Accordingly, new geometric models are needed to improve the heat transfer enhancement. Three-dimensional (3D) lattice geometries with a range of features and sizes can be …

Advanced Thomson Scattering Diagnostics For Various Applications, Zichen He

Doctoral Dissertations

Controlled nuclear fusion has been pursued as an ideal form of renewable energy for decades and the study of fusion plasma is fueling an increased demand for diagnostic capability. Furthermore, with the increasing applications of plasma in industry and medicine, it has become essential to characterize plasma dynamics and properties. Laser Thomson scattering diagnostics are considered to be the most reliable plasma diagnostic approaches for measuring electron temperature and electron density, the two most important parameters of a plasma. Four advanced Thomson scattering systems are discussed in this work to respectively address four different limitations or difficulties commonly encountered in …

Investigation Of Fore-Aft Element Connectors For An Ultra-Efficient Slotted, Natural-Laminar-Flow Aircraft Wing, Corey M. Arndt

Doctoral Dissertations

The SNLF [slotted, natural-laminar-flow airfoil] is a revolutionary technology projected to contribute significant decreases in fuel consumption and carbon emissions. The SNLF is designed to allow favorable pressure gradients to extend further aft increasing the extent of laminar flow achievable to about 90% of the entire airfoil, thus reducing the wing profile drag and subsequently fuel consumption. The SNLF is not without its complexity as it introduces several design challenges to maintain laminar flow. The slot width must be maintained during flight to engage the favorable pressure gradients that enable these benefits. As such a crucial aspect for implementing this …

Multiscale Investigation Of Freeze Cast Process And Ion Transport For Graphene Aerogel Electrodes, Yu-Kai Weng

Doctoral Dissertations

Effective use of renewable energy resources has been regarded as the most promising solution to climate emergency and energy crisis. However, the fluctuating and intermittent nature of renewable resources causes stability issues in the electric grid. High-capacity electrical energy storage is essential to stabilize the electric power supply using renewable resources. Among various types of energy storage systems, organic redox flow battery (ORFB) has attracted attentions due to their high stability, flexibility, low cost, and environmental compatibility, but the performance of the ORFB still needs a significant improvement due to their low energy or current density. Specifically, even though the …

Improving Strength And Stability In Continuum Robots, Jake A Childs

Doctoral Dissertations

Continuum robots, which are bio-inspired ’trunk-like’ robots, are characterized for their inherent compliance and range of motion. One of the key challenges in continuum robotics research is developing robots with sufficient strength and stability without adding additional weight or complexity to the design. The research conducted in this dissertation encompasses design and modeling strategies that address these challenges in strength and stability. This work improves three continuum robot actuation paradigms: (1) tendon-driven continuum robots (TDCR), (2) concentric tube robots (CTR), and (3) concentric push-pull robots (CPPR). The first chapter of contribution covers strategies for improving strength in TDCRs. The payload …

Aluminum-Based Material Fabrication By Friction Stir Processing: Microstructural Evolution And Mechanical Properties, Suhong Zhang

Doctoral Dissertations

Friction stir processing (FSP) is an energy efficient solid-state material processing technique for microstructure modification of commercial high-strength Al alloys. Many variant techniques were developed in recent years that enabled light-weight and high-strength structure fabrication. Identifying relationship among process conditions, microstructures, and mechanical properties is of critical importance to facilitate the practical implementation of these new techniques. The research in the dissertation focusses on developing two main techniques of the FSP: a) friction stir back extrusion (FSBE) of 6063 aluminum alloy for tube making and b) FSP of 7075 aluminum alloy from powder feedstock. FSBE fabricated Al 6063 alloy tubes …

Heat Pipes With Arbitrary Boundary Conditions, Katrina Sweetland

Doctoral Dissertations

Heat pipes passively transfer heat in numerous applications. Traditionally one side of the heat pipe is coupled to a heat source (evaporator) while the opposite side is coupled to a heat sink (condenser). This configuration has working fluid stagnation points at each end of the heat pipe. Other configurations may also prove useful, such as heat pipes with multiple evaporators or multiple condensers. In such heat pipes, additional working fluid stagnation points form at locations dependent on the configuration of the thermal boundary conditions. These stagnation points divide the heat pipe into multiple cells that each have an evaporator and …

Modelling, Sensing, And Control Of Weld Beads In Gravity Aligned And Non-Gravity Aligned Orientations For Wire Arc Additive Manufacturing, Joshua J. Penney

Doctoral Dissertations

Wire Arc Additive Manufacturing (WAAM) has recently developed into a viable manufacturing process for large, complex metal parts. The WAAM process uses a Gas Metal Arc Welding (GMAW) torch mounted to an automated motion platform to execute a predetermined path plan based on a desired CAD geometry. As the desired geometry becomes more complex, it is advantageous to utilize out-of-position welding techniques used by human welders to stabilize the weld pool during the deposition of large overhangs. To ensure part accuracy and quality, adding layers of real-time control to manage various aspects of the WAAM process is critical. First, a …

Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi

Doctoral Dissertations

Continuum Robots are bio-inspired structures that mimic the motion of snakes, elephant trunks, octopus tentacles, etc. With good design, these robots can be naturally compliant and miniaturizable, which makes Continuum Robots ideal for traversing narrow complex environments. Their flexible design, however, prevents us from using traditional methods for controlling and estimating loading on rigid link robots.

In the first thrust of this research, we provided a novel stiffness control law that alters the behavior of an end effector during contact. This controller is applicable to any continuum robot where a method for sensing or estimating tip forces and pose exists. …

Environmental Design And Optimization Of Modular Hydropower Plants, Colin Sasthav

Doctoral Dissertations

This research aimed to understand the pathways to cost-effective and sustainable low-head hydropower. Designing viable hydropower projects requires optimization across many economic, environmental, and social outcomes. However, existing run-of-river hydropower design models often focus on economic performance and customizing technologies for high-head diversion schemes. Standard modular hydropower is a new design approach that uses standardized rather than custom-designed technologies to achieve economies of scale. Oak Ridge National Laboratory established a conceptual outline for module classes based on functions, such as generation modules and fish passage modules, but further research was needed to identify how modules should be selected and operated …

Electrode Development Of Water Electrolyzer Cells For Low-Cost And High-Efficiency Hydrogen Production, Shule Yu

Doctoral Dissertations

A worldwide increase in energy demand and a latent crisis in the fossil fuel supply have spurred broad research in the renewable energy. Currently, most renewable energy resources (e.g., hydro, wind, solar, tide) face supply challenges as they are known to be intermittent, unstable, and locally shackled, which calls for urgent development in energy storage and conversion. Hydrogen is regarded as an ideal energy carrier with its advantages (e.g., high energy density, environmentally friendliness, and low weight). In practice, the proton exchange membrane electrolyzer cell (PEMEC) is considered to be one of the optimal hydrogen production and energy storage devices …

Trajectory Planning Of Non-Gravity Aligned (Nga) Segments In Arbitrary Directions For Large Scale Additive Manufacturing Of Metals (Lsamm), James Logan Mcneil

Doctoral Dissertations

Traditionally, slicing and path planning are done along the gravity-aligned direction of a part, causing more complex geometrical shapes to have unsupported overhangs. Wire Arc Additive Manufacturing (WAAM) has typically handled overhangs with a robotic part positioner; but, to extend the current capabilities of LSAMM, a new framework for slicing and building parts out of gravity alignment has been developed. The proposed framework focuses on segmenting more complex geometrical parts into gravity-aligned (GA), non-gravity aligned (NGA), and transition zones to support tool-path generation. GA and NGA segments can be planned with traditional slicing techniques, but the NGA tool-paths must be …

Characterization Of High Cycle Fatigue And Laser-Aided Machining And Polishing Of Additively Manufactured Materials, Mohammad Masud Parvez

Doctoral Dissertations

“Additive manufacturing (AM) and laser-aided machining and polishing (LAMP) of materials are emerging manufacturing processes both for research and industrial sectors. The AM process can manufacture near-net-shape parts with complex geometries. Meanwhile, the LAMP process integrated with an AM system offers a high processing rate, minimum heat-affected zone, and easily adjustable process parameters during machining and polishing. In mechanical properties characterization of AM metals and alloys, fatigue is a vitally important test method to understand the behavior of materials in cycling loading and unloading circumstances since most mechanical failures of structures are due to fatigue. To characterize AM metal fatigue …

Processing And Characterization Of Tini-Based Alloys Fabricated By Laser Aided Manufacturing, Yitao Chen

Doctoral Dissertations

"Laser powder-based directed energy deposition (DED) is a major laser aided additive manufacturing (AM) process for metals. It applies laser energy to deposit metal powders to form 3D metal parts. Apart from manufacturing traditional alloys, DED can also be used to develop advanced alloys with the novel idea of elemental powder mixture feedstock. TiNi-based alloy is a type of shape memory alloy (SMA), a smart material with unique shape memory effects. Using laser powder DED to synthesize TiNi-based SMAs from elemental powder mixture can create more possibilities in new compositions and properties. It can also overcome the limitations of conventional …

Influences Of The Internal Residual On Combustion Instabilities In The Misfire And Partial Burn Regimes Of A Dilute Spark-Ignition Engine, Rachel Inez Stiffler

Doctoral Dissertations

"Dilution in spark-ignition (SI) engines can improve fuel consumption and reduce emissions; however, increased levels of dilution either from excess oxidizer or exhaust gas recirculation (EGR) causes combustion to become more strained and cycle-to-cycle variations increase. At high levels of dilution incomplete combustion events (i.e. misfires and partial burns) start to occur, which cause combustion instabilities and eventually a dilute limit is reached. It is known the combustion instabilities seen are primarily due to the feed-forward mechanism present in the residual gases, but it is still unknown what about the residual is influencing the dynamics under high levels of dilution …

Development Of An Interactive Robot For Overground Physical Human-Robot Interaction, Sambad Regmi

Doctoral Dissertations

"The overground interactive robots are potentially beneficial for humans in various areas, such as overground rehabilitation therapies and robotic interactive assistance. However, it is unclear what the expectations and challenges are for a robot to be physically interactive with a human during overground tasks, such as a robot helping an older adult walk. To develop such a robot, one must first build a clear understanding of how the human motor intent is communicated when interacting with another agent. Specifically, how do humans understand the leader’s intention when being led?

Based on previous works, we hypothesized that humans modulate their arm …

Determining Thermal Properties Via Parameter Estimation Of A One-Dimensional, Analytical Model, Lauren B. Tomanek

Doctoral Dissertations

“In thermal applications, thermal conductivity is used to predict how well a material conducts heat. The accuracy of the magnitude of the thermal conductivity becomes increasingly essential to optimize part geometry. Thermal conductivity can vary significantly from the nominal value due to post-processing. The ASTM standards available to measure thermal conductivity are challenging to reproduce because of the insulated and prescribed temperature boundary conditions that are needed. The research introduces two new methods for estimating thermal conductivity that deliver the same accuracy as the existing ASTM standards and are easier to implement. The methods account for losses in the heating …

Advances In Control Of Uncertain Dynamical Systems With Optimal And Adaptive Approaches, Meryem Deniz

Doctoral Dissertations

"This research starts with designing optimal control for uncertain systems, adding the adaptive control input to suppress the uncertainty. It then follows with designing the optimal control for state constraint, designing the optimal nonlinear reference model, designing adaptive control to handle state constraint and uncertainty. Finally, it designs the finite-time controller for uncertain multiagent systems.

It is well known that the design of the control algorithm for an uncertain dynamical system is not trivial. Motivated by this standpoint, this study focuses on optimal and adaptive control approaches with stability and performance guarantees for uncertain sole and multiagent dynamical systems. From …

Sustainable Face Milling Of Inconel 718 Using Mql And Nanofluids Mql With Vegetable Oil As Base Fluid, Theodore Obumselu Nwoguh

Doctoral Dissertations

"Extreme heat and friction are generated in machining difficult-to-cut metals used in aerospace and nuclear industries leading to poor machinability (high cutting forces, rapid tool wear, shorter tool life, and poor surface integrity). Conventional flood coolant (CEC) used in industry is environmentally unfriendly, hazardous to operators, and unsustainable. These problems motivated this research, which can be mitigated with the use of effective biodegradable cutting fluids, appropriate cutting conditions, and lubrication/cooling strategies. This research provides a sustainable and environmentally friendly replacement to CEC. Firstly, the research characterized three vegetable oils (High Oleic Soybean Oil (HOSO), Low Oleic Soybean Oil (LOSO), and …

Mobility Analysis And Topology Synthesis Of Compliant Mechanism Using Compliance Number And Pseudo-Rigid-Body Model (Prbm), Pratheek Bagivalu Prasanna

Doctoral Dissertations

"Establishing and understanding the kinematic properties of a compliant mechanism has been a relatively recent endeavor and has proved to be a challenging task. A concept of compliance number was offered earlier; the development of terminologies was emphasized that aided in its determination. It also hypothesized that the compliance number (C) and stored strain energy, or mode shapes, are strongly correlated. This compliance number (C) concept is revisited, and a more lucid interpretation of its significance is provided. A fundamental understanding of the concept of deformation mode shapes in compliant mechanisms is formalized using two distinct categories: (i) segmental and …

Processing Of Preceramic Polymers For Direct-Ink Writing, James W. Kemp

Doctoral Dissertations

Preceramic polymers are organosilicon polymers that, when pyrolyzed to above 1000°C, convert from a polymer to an amorphous ceramic. These polymers have been used for fiber spinning, polymer infiltration, and casting of materials but have recently gained interest for use as the feedstock material for additive manufacturing techniques. This work explores preceramic polymers being used for direct-ink writing (an additive manufacturing method) and many of the issues that occur with the polymers during curing and pyrolysis.

The first chapter of this dissertation provides a review of preceramic polymers, while the second and third chapters focus on the development of inks …

A Multi-Scale Homogenization Scheme For Modeling Anisotropic Material’S Elastic And Failure Response, Justin Matthew Garrard

Doctoral Dissertations

The effect of small-scale random defects such as microcracks or inclusions are critical to the prediction of material failure, yet including these in a fracture simulation can be difficult to perform efficiently. Typically, work has focused on implementing these through a statistical characterization of the micro- or meso-scales. This characterization has traditionally focused on the spatial distribution of faults, assuming the material is purely isotropic. At the macro-scale, many materials can be assumed to be fully isotropic and homogeneous, but at the small scale may show significant anisotropy or heterogeneity. Other materials may be effectively anisotropic in bulk, such as …

Interfacial Bonding Between Thermoset And Thermoplastic Polyurethane Reinforced Textile Grade Carbon Fiber: Structure Property Relationships, Surbhi Subhash Kore

Doctoral Dissertations

The research work focused on examining the interfacial adhesion of unsized, epoxy, and urethane-sized textile grade carbon fiber (TCF) reinforced in different classes of polyurethane (PU) thermoplastic (TPU) and thermoset (TSU) polyurethane (PU) through the structure-property relationship. The Carbon Fiber Technology Facility (CFTF) at Oak Ridge National Laboratory (ORNL) has produced TCF to reduce the cost of commercial-grade carbon fiber. The first part of the research examined the fundamental relationships between (a) soft segment thermoplastic polyurethane (S-TPU), (b) hard segment thermoplastic polyurethane (H-TPU), (c) thermoset polyurethane (TSU) and TCF reinforcement’s molecular behavior at the interface using the surface and thermal …

Innovations In Aligned And Overmolded Long Fiber Thermoplastic Composites, Shailesh P. Alwekar

Doctoral Dissertations

Long fiber thermoplastic (LFT) composite materials are increasingly used in high performance lightweight automotive, sporting, and industrial applications. LFT composites are processed with extrusion-compression molding (ECM) and/or injection molding (IM). Melt extrusion offers unique opportunities to align long fibers in a thermoplastic polymer melt. The properties of LFT materials are highly influenced by processing techniques which leads to different porosity content, fiber length distribution, and fiber orientation distribution. Hence, it is important to understand the various LFT processing techniques and their effect on mechanical, thermal, and microscopic properties.

The fundamental process-property relationships in LFT composites are investigated in this dissertation. …