Human-Robot Interaction For Assistive Robotics, Jiawei Li

Dissertations

This dissertation presents an in-depth study of human-robot interaction (HRI) withapplication to assistive robotics. In various studies, dexterous in-hand manipulation is included, assistive robots for Sit-To-stand (STS) assistance along with the human intention estimation. In Chapter 1, the background and issues of HRI are explicitly discussed. In Chapter 2, the literature review introduces the recent state-of-the-art research on HRI, such as physical Human-Robot Interaction (HRI), robot STS assistance, dexterous in hand manipulation and human intention estimation. In Chapter 3, various models and control algorithms are described in detail. Chapter 4 introduces the research equipment. Chapter 5 presents innovative theories and …

Experiments And Modeling Of The Chemo-Mechanically Coupled Behavior Of Polymeric Gels, Nikola Bosnjak

Dissertations

Polymeric materials consist of mutually entangled or chemically crosslinked long njitmolecular chains which form a polymer network. Due to their molecular structure, the njitpolymeric materials are known to undergo large deformation in response to various njitenvironmental stimuli, such as temperature, chemical potential and light.

When a polymer network is exposed to a suitable chemical solvent, the solvent molecules are able to diffuse inside the network, causing it to undergo a large volumetric deformation, known as swelling. In addition to volumetric deformation, this process involves the chemical mixing of the polymer network and solvent molecules, and is typically environmentally responsive. A …

Blast Shock-Wave Characterization In Experimental Shock Tubes, Sudeepto Kahali

Dissertations

Blast-induced traumatic brain injuries have affected U.S. soldiers deployed for extended periods in the gulf and Afghanistan wars. To identify the biomechanical and biochemical mechanisms of injury, critical in the identification of diagnostic and therapeutic tools, compressed gas-driven shock tubes are used by investigators to study shockwave-animal specimen interactions and its biological consequences. However, shock tubes are designed and operated in a variety of geometry with a range of process parameters, and the quality of shock wave characteristics relevant to field conditions and therefore the study of blast-induced traumatic brain injuries suffered by soldiers is affected by those conditions. Lab-to-lab …

Cycloidal-Drive Joint Design For Wearable Exoskeletons, Abhi J. Rawal

Theses

This thesis's scope was to construct a highly back drivable and compact joint design that can be used for wearable exoskeletons specifically designed to assist with rehabilitation. A compact cycloidal gear transmission was designed to satisfy the compactness requirement while ensuring the minimum torque is required for backdriving the mechanism. The joint was designed based on the compact cycloidal drive specifications, and the backdrivability test was performed to measure the minimum torque required (1.20 Nm) to backdrive. The joint design incorporates various important features such as rotation lock feature to prevent hyperextension, a housing design that offers the benefit of …

High Fidelity Computational Modeling And Analysis Of Voice Production, Weili Jiang

Electronic Theses and Dissertations

This research aims to improve the fundamental understanding of the multiphysics nature of voice production, particularly, the dynamic couplings among glottal flow, vocal fold vibration and airway acoustics through high-fidelity computational modeling and simulations. Built upon in-house numerical solvers, including an immersed-boundary-method based incompressible flow solver, a finite element method based solid mechanics solver and a hydrodynamic/aerodynamic splitting method based acoustics solver, a fully coupled, continuum mechanics based fluid-structure-acoustics interaction model was developed to simulate the flow-induced vocal fold vibrations and sound production in birds and mammals. Extensive validations of the model were conducted by comparing to excised syringeal and …

Exploring A Platinum Nanocatalytic Microcombustion-Thermoelectric Coupled Device, Dylan Moore Mcnally

Theses and Dissertations

This work aimed to create a first-generation power device for eventual application to portable electronics. A platinum nanoparticle catalytic substrate was employed in a microcombustion-thermoelectric coupled (MTC) device for the purpose of chemical-to-electrical energy conversion. Multiple microcombustion reactors were designed, fabricated, and investigated. Most importantly, the reactor configuration was designed to accommodate thermoelectric generators (TEGs) for power production. Temperature studies with catalytic combustion of methanol-air fuel mixtures were used to evaluate the thermal power generation performance of each reactor. The final reactor design enabled ignition at room temperature with the ability to achieve repeat catalytic cycles upon subsequent exposure to …

Modeling Of Non-Newtonian Fluid Flow In A Porous Medium, Hamza Azzam

Electronic Theses and Dissertations

Flows of Newtonian and non-Newtonian fluids in porous media are of considerable interest in several diverse areas, including petroleum engineering, chemical engineering, and composite materials manufacturing. In the first part of this thesis, one-dimensional linear and radial isothermal infiltration models for a non-Newtonian fluid flow in a porous solid preform are presented. The objective is to investigate the effects of the flow behavior index, preform porosity and the inlet boundary condition (which is either a known applied pressure or a fluid flux factor) on the infiltration front, pore pressure distribution, and fluid content variation. In the second part of the …

Microparticle Propulsion For In Vivo Navigation, Louis Rogowski

Mechanical Engineering Research Theses and Dissertations

Microscale propulsion impacts a diverse array of fields, with simplistic microrobots allowing for novel innovations in microscale surgery and drug delivery. Propulsion at the microscale is constrained by physics, with time-reversal and geometric symmetries limiting available propulsion mechanisms. However, certain fluid environments and surface coatings allow for the propulsion of microparticles through externally applied magnetic fields. Presented here is a detailed analysis of microparticles propelling using spontaneous symmetry breaking, flagella surface coatings, and multi-modal actuation mechanisms. Spontaneous symmetry breaking in nonlinearly viscoelastic fluids is presented for the first time in literature, with two equal and opposite propulsion states existing along …

Detection Of Nucleotides In Hydrated Ssdna Via 2-D H-Bn Nanopore With Ionic-Liquid/Salt-Water Interface, Jungsoo Lee

Multidisciplinary Studies Theses and Dissertations

Accomplishing slow translocation speed with high sensitivity has been the greatest mission for solid-state nanopore (SSN) to electrically detect nucleobases in single-stranded DNA (ssDNA). In this study, a method to detect nucleobases in ssDNA using a SSN is introduced by considerably slowing down the translocation speed and effectively increasing its sensitivity. The ultra-thin titanium dioxide (TiO₂) coated hexagonal boron nitride (h-BN) nanopore was fabricated, along with an ionic-liquid [bmim][PF₆]/2.0 M KCl aqueous (cis/trans) interfacial system, to increase both the spatial and the temporal resolutions. As the ssDNA molecules entered the nanopore, a …

Advanced Thermal Characterization And Temperature Control To Enable The Next Generation Of Micro-Electronic Technologies, Assaad El Helou

Mechanical Engineering Research Theses and Dissertations

In the electronics world, self-heating is an inevitable by-product of electrical activation that has a major impact on device performance and reliability. Thermal technologies have been in constant development to effectively dissipate the generated heat and keep device operation temperatures within reliable limits. Moreover, thermal characterization technologies have been implemented to understand the thermal performance within microelectronic sys- tems, but not without facing experimental and numerical challenges. This work presents ad- vanced thermal investigations, both experimental and numerical, that are adapted and most suited for emerging micro-electronic technologies. Initially, the main experimental and numerical modeling challenges faced in the thermal …

Fabrication Of Binder-Free Electrodes Based On Graphene Oxide With Cnt For Decrease Of Resistance, Di Zhang

Masters Theses

In electrode double layer capacitor (EDLC), electrodes usually contain binder materials to provide adhesion between electrode materials. However, binder materials usually bring unwanted resistances to the component due to their non-conductivity properties and the occupation of ion cavities. The purpose of this thesis is to demonstrate the feasibility of fabricating electrodes for EDLCs by using carbon nanotubes (CNTs) and graphene oxide (GO) without using any binding materials. At the same time, investigating the binder-free electrode’s electrochemical properties and make an assumption of its potential application in the future.

The slurry of binder-free electrodes was fabricated by ultrasonicating water suspended CNTs …

Nozzle Clogging Prevention And Analysis In Cold Spray, Alden Foelsche

Masters Theses

Cold spray is an additive manufacturing method in which powder particles are accelerated through a supersonic nozzle and impinged upon a nearby substrate, provided they reach their so-called critical velocity. True to its name, the cold spray process employs lower particle temperatures than other thermal spray processes while the particle velocities are comparably high. Because bonding occurs mostly in the solid state and at high speeds, cold spray deposits are distinguished for having low porosity and low residual stresses which nearly match those of the bulk material.

One complication with the cold spray process is the tendency for nozzles to …

A Study On Latent Thermal Energy Storage (Ltes) Using Phase Change Materials (Pcms) 2020, Ritvij Dixit

Masters Theses

The significant increase in energy requirements across the world, provides several opportunities for innovative methods to be developed to facilitate the storage and utilization of energy. The major energy demand is in the form of electrical energy for domestic as well as industrial sectors, a large part of which are the heating and cooling requirements. Appropriate utilization of thermal energy storage can effectively aid in reducing the electrical demand by storage and release of this thermal energy during peak hours.

Thermal Energy Storage using Phase Change Materials (PCMs) is an attractive method of energy storage, with a wide variety of …

Considerations For The Design Optimization Of Floating Offshore Wind Turbine Blades, Evan M. Gaertner

Doctoral Dissertations

Floating offshore wind turbines are an immature technology with relatively high costs and risk associated with deployment. Of the few floating wind turbine prototypes and demonstration projects deployed in real metocean conditions, all have used standard turbines design for onshore or offshore fixed bottom conditions. This neglects the unique unsteady aerodynamics brought on by floating support structure motion. While the floating platform has been designed and optimized for a given rotor, the global system is suboptimal due to the rotor operating in conditions outside of which it was design for. If the potential offered by floating wind turbines is to …

Experimental Study Of Viscoelastic Fluid-Structure Interactions, Anita Anup Dey

Doctoral Dissertations

It is well known that when a flexible or flexibly-mounted structure is placed perpendicular to a Newtonian fluid flow, it can oscillate due to the shedding of vortices at high Reynolds numbers. Unlike Newtonian fluids, viscoelastic fluid flow can become unstable even at infinitesimal Reynolds numbers due to a purely elastic flow instability occurring at large Weissenberg numbers. This thesis focuses on exploring the mechanisms of viscoelastic fluid-structure interactions (VFSI) through experimental investigations on several different combinations of flexible and flexibly-mounted circular cylinders, micro and macro-scale cantilevered beams and viscoelastic fluids such as wormlike micelle solutions and polymer solutions. VFSI …

A Numerical And Experimental Study Of Lid Driven Square Cavity Flow For Laminar And Turbulent Cases, Abdullah Bin Naeem

University of New Orleans Theses and Dissertations

Experimental and numerical studies are performed on steady and unsteady lid-driven cavity flow for laminar flow regime. In the experiments, a PIV and an LDA were employed to measure the global and local velocities, respectively inside a cavity of AR 1.0. The velocity vector plots and streamline plots which represent unsteady circulation patterns are obtained using the PIV. The steady local velocities measured with LDA are then used to calibrate the PIV measurements. The numerical study is performed using a commercial CFD solver. For turbulent flow simulation RANS equations with K-Epsilon closure model were used. From the PIV calibration study, …

Thermo-Fluid Characterizations Of The Powder-Bed Fusion Additive Manufacturing Processes Using Laser And Electron Beam, M Shafiqur Rahman

University of New Orleans Theses and Dissertations

The powder-bed fusion (PBF) process is a subdivision of Additive Manufacturing (AM) technology where a heat source at a controlled speed selectively fuses regions of a powder-bed material to form three-dimensional (3-D) parts. Two of the most effective PBF processes are selective laser melting (SLM) and electron beam additive manufacturing (EBAM), which can fabricate full-density metallic parts in a layer-by-layer fashion. In this study, thermal behavior and melt-pool dynamics in the PBF process are investigated by developing 3-D multiphysics-based thermo-fluid models for both SLM and EBAM, containing Ti-6Al-4V alloy as a powder-bed material. The laser and electron beams are modeled …

Design And Fabrication Of A 3-Dimensional Capacitive-Based Force Sensor, Md Shafiqur Rahman

Electronic Theses and Dissertations

The detection of abnormal gait patterns is imperative for early diagnoses and treatment of serious health issues such as loss of mobility and balance, risk of falls, cardiovascular disease, etc. Human gait analysis is the tool used to detect abnormal gait patterns. Gait analysis also can help to understand the cause of gait abnormalities and to make a treatment plan for individual patients. Ground reaction forces (GRFs) at the foot during walking or running are essential for kinetic analysis of the human gait. However, there are no wearable systems that can directly measure three-directional (3D) forces during daily walking. Currently, …

Interface Engineering Of Materials For Energy And Biological Applications, Ardalan Chaichi

LSU Doctoral Dissertations

Interface interactions are generally classified into solid-liquid, solid-gas, solid-vacuum, liquid-gas, light-matter and electron-matter categories. Surface morphological studies as well as surface chemical reactions can be studied in various types of complex systems thanks to technological advances in materials characterization methods. By employing interface engineering in different applications, it is possible to control electrical, chemical, mechanical, optical and biological properties of materials. Accordingly, we have applied interface engineering in three different areas of energy materials, biomaterials and surface imaging. As a result, firstly, we have introduced a high intensity light flash-based method on engineered substrates for delamination of reduced graphene oxide …

Geometry Optimization Of Building-Integrated Photovoltaic Sunshade, Seyedsoroush Sadatifar

Electronic Thesis and Dissertation Repository

Building-integrated photovoltaic (BIPV) systems are one of the growing applications of PV technology. These approaches allow PV panels to perform additional functions for the building, such as regulating interior lighting and incoming heat. In this work, we explore a design framework for optimizing the configuration of BIPV shading devices to optimize a combination of power generation, daylighting conditions within the building, and heating and cooling loads.

We develop a generalizable computational model and apply it to a case study for the Cornerstone Architecture Building in London, Ontario. We optimize the configuration of static and dynamic BIPV shading devices in both …

Experimental Investigation Of Inverse Liquid-Solid Fluidized Bed Hydrodynamics, Saleh A. Srabet

Electronic Thesis and Dissertation Repository

Abstract

Inverse liquid-solid fluidized beds have recently received increased attention, particularly for use with wastewater treatment bioreactors (i.e., particle-supported biofilms). The flow behaviour of free-rising light particles is especially interesting because their drag coefficients deviate from the standard drag curve. For this reason, the work presented in this thesis was focussed on investigating the minimum fluidization velocity () and the steady-state bed voidage associated with four particles, with densities of 28, 122, 300, and 678 kg/m³, in a conventional inverse fluidization regime. All experimental measurements were completed using a large-scale system comprising a downer column with a diameter …

Software Tool For Analyzing The Bending Strength Of Gear Teeth, Tayla Hall

Honors Theses

Current finite element (FE) models for gear analysis are computationally expensive. We will develop a software tool in Excel to efficiently assess the effect of different root geometries on gear tooth bending strength. The tool will assess the change in root stress as the root fillet shape is changed, using a 2-D model of a representative gear tooth using an A to B comparison. This is assumed to correlate to equivalent stress reduction in an actual gear. The tool will be validated by comparing the root stress found using the software to a FE analysis of root stress using ANSYS. …

An Improved Foam Modeling Technique And Its Application To Petroleum Drilling And Production Practice, Yanfang Wang

LSU Doctoral Dissertations

Foam is one of the most common used multiphase fluid in Underbalanced Drilling (UBD) and Managed Pressure Drilling (MPD). Because of its low density, high capacity of lifting and carrying cuttings, low cost and compatibility with formations, foam has become more superior than the conventional drilling mud when depleted reservoir pressure, severe lost circulation, or unstable borehole are encountered. In general, the success of foam applications rely on the understanding of the fundamentals of foam rheology in downhole conditions.

Foam rheology has been studied for decades. Conventional foam rheological models such as Power Law, Bingham Plastic, Herschel-Bulkley to explain foam …

Performance Improvements For Next Generation Falling Particle Receiver Systems, Nathan R. Schroeder

Mechanical Engineering ETDs

Falling particle receiver (FPR) systems are a rapidly developing technology for concentrating solar power applications. Solid particles are used as both the heat transfer fluid and thermal energy storage media. Through the direct solar irradiation of the solid particles, flux and temperature limitations of tube-bundle receives can be overcome leading to higher operating temperatures and energy conversion efficiencies. Particle residence time, curtain opacity, and curtain stability affect the performance of FPR designs. As the particles fall through the receiver the curtain accelerates, increasing its transmissivity thus decreasing the amount of energy absorbed. Multistage release trough structures catch and release the …

Entrainment Processes For A Jet In Cross-Flow: The Quantification Of Turbulent Contributions And Their Importance On Accurate Modeling, Graham Asher Freedland

Dissertations and Theses

A jet in cross flow (JICF) is examined experimentally by injecting a stream of air into crossing fluid with an aim into quantifying entrainment process and downstream evolution. The behavior of JICF is important to fields ranging from turbine-blade cooling to smokestack pollution and volcanic eruption dynamics. Existing simplified volcanic plume models are tested; most importantly, the near-field contributions of complex interconnected vortex systems, which present significant uncertainties because they assume negligible turbulence. While jets in irrotational cross-flow have been investigated, this analysis has focused on the interaction between a turbulent jet in low and highly turbulent cross-flow created by …

The Effect Of Humeral Short Stem Positioning, Humeral Head Contact, And Head Positioning On Bone Stress Following Total Shoulder Arthroplasty, Amir Tavakoli

Electronic Thesis and Dissertation Repository

Uncemented humeral stems cause stress shielding which result in bone resorption when used in total shoulder arthroplasty (TSA). Shorter length stems show a decrease in stress shielding, however the effect of humeral short stem positioning and humeral head contact and positioning on bone stress is currently not known, hence CT-based tools and Finite Element (FE) methods are used to quantify the effects of the mentioned variables on bone stresses after TSA.

Eight male cadaveric humeri were virtually constructed from computed tomography (CT) data, with a generic short humeral short stem as the implant.

The results of this work show that …

Mechanics Of The Solid-State Bonding Under Severe Thermomechanical Processes, Xue Wang

Doctoral Dissertations

Friction stir welding (FSW) has found increased applications in automotive and aerospace industries due to its advantages of solid-state bonding, no fusion and melting, and versatility in various working conditions and material combinations. The extent and quality of the solid-state bonding between workpieces in FSW is the ultimate outcome of their industrial applications. However, the relationship among processing parameters, material properties, and bonding extent and fidelity remains largely empirical, primarily because of the lack of the mechanistic understanding of (1) tool-workpiece frictional behavior, and (2) bonding formation and evolution.

In this dissertation, to study the underlying mechanism of tool-workpiece frictional …

Enhanced Kinetics And Modeling Of Pan-Based Carbon Felt Anodes In Vanadium Redox Flow Batteries, Michael Cyrus Daugherty

Doctoral Dissertations

All-vanadium redox flow batteries (VRFBs) are a promising technology for grid-level energy storage, however, there are still several limitations in the forms of durability, efficiency, and overall costs, which are barriers to its commercial viability. With both bulk electrolyte flowing through its porous matrix and species flux at the solid-electrolyte interface, electrodes are the component of VRFB systems which host electrochemical reactions and facilitate contact between the liquid phase electrolyte and the electronically conductive solid phase. While the more limiting electrode in VRFB systems is dependent on the material, for polyacrylonitrile (PAN)-based carbon felts, the anode constitutes a larger portion …

Scaling And Entropic Approaches To Clusters In Materials Science And In Network, Prosun Roy

Theses and Dissertations

The thesis we have studied, is about scaling and entropic content in various networks related to the material science, colloids and biological systems. The thesis is based on two papers:⦁ Nosonovsky M.; Roy P. Allometric scaling law and ergodicity breaking in the vascular system. Microfluidics and Nanofluidic-Springer. 2020 [Chapter 2 and 3] ⦁ Nosonovsky M.; Roy P. Scaling and Entropy in colloidal and neural networks. Entropy-MPDI. 2020 [Chapter 5 to 7] In chapter 2, we investigate scaling properties of vascular networks with fractal topology. Computational fluid dynamic (CFD) simulation of blood flow through one bifurcating vessel has been illustrated to …

Numerical And Experimental Investigation Of Aeration Self Mixing By Using Pulsating And Continuous Air Flow, Ahmed Ali Alkhafaji

Theses and Dissertations

Wastewater treatment is considered one of the most common forms of pollution control in the united states. Considered as an integral part of the wastewater treatment, the aeration process is the most energy-consuming process among all the processes that take place in any wastewater treatment plant. According to the United States Environmental Protection Agency (EPA), a wastewater treatment plant is expected to remove at least 85% of the suspended solids and dissolved organic compounds from the wastewater before discharging it to a river or a lake. The normal operation of the aeration process is by compressing air continuously to basin …