Engineering Commons^™

An Adaptive Tool-Based Telerobot Control System, Ge Zhang

Doctoral Dissertations

Modern telerobotics concepts seek to improve the work efficiency and quality of remote operations. The unstructured nature of typical remote operational environments makes autonomous operation of telerobotic systems difficult to achieve. Thus, human operators must always remain in the control loop for safety reasons. Remote operations involve tooling interactions with task environment. These interactions can be strong enough to promote unstable operation sometimes leading to system failures. Interestingly, manipulator/tooling dynamic interactions have not been studied in detail. This dissertation introduces a human-machine cooperative telerobotic (HMCTR) system architecture that has the ability to incorporate tooling interaction control and other computer assistance …

Layer-By-Layer Nanoassembly Combined With Microfabrication Techniques For Microelectronics And Microelectromechanical Systems, Jingshi Shi

Doctoral Dissertations

The objective of this work is to investigate the combination of layer-by-layer self-assembly with microfabrication technology and its applications in microelectronics and MEMS.

One can assemble, on a standard silicon wafer, needed multilayers containing different nanoparticles and polymers and then apply various micromanufacturing techniques to form microdevices with nanostructured elements.

Alternate layer-by-layer self-assembly of linear polyions and colloidal silica at elevated temperatures have been firstly studied by QCM and SEM. LbL self-assembly and photolithography were combined to fabricate an indium resistor. The RTA method was employed in the fabrication. Hot-embossing technique as a reasonably fast and moderately expensive technique was …

Fatigue Of Drill Pipes Used In Horizontal Directional Drilling, Feibai Ma

Doctoral Dissertations

Fatigue is the most common cause of mini-HDD drill rod failure. It can occur at stress levels far below the normal operating stress in most drill stem components. Fatigue failures occur because the drill rod, after it has been forced into a curved path, undergoes a cyclic bending stress oscillating from tension to compression in concert with the other stress components caused by torque, thrust, or pullback.

When a rod breaks underground, there is considerable extra cost caused by the delay in “fishing” out the broken rod as well as the cost of replacing the rod. On the other hand, …