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Full-Text Articles in Mechanical Engineering

Unsupervised-Learning Assisted Artificial Neural Network For Optimization, Varun Kote Jul 2019

Unsupervised-Learning Assisted Artificial Neural Network For Optimization, Varun Kote

Mechanical & Aerospace Engineering Theses & Dissertations

Innovations in computer technology made way for Computational Fluid Dynamics (CFD) into engineering, which supported the development of new designs by reducing the cost and time by lowering the dependency on experimentation. There is a further need to make the process of development more efficient. One such technology is Artificial Intelligence. In this thesis, we explore the application of Artificial Intelligence (AI) in CFD and how it can improve the process of development.

AI is used as a buzz word for the mechanism which can learn by itself and make the decision accordingly. Machine learning (ML) is a subset of ...


Computational Analysis And Design Optimization Of Convective Pcr Devices, Jung Il Shu Jul 2019

Computational Analysis And Design Optimization Of Convective Pcr Devices, Jung Il Shu

Mechanical & Aerospace Engineering Theses & Dissertations

Polymerase Chain Reaction (PCR) is a relatively novel technique to amplify a few copies of DNA to a detectable level. PCR has already become common in biomedical research, criminal forensics, molecular archaeology, and so on. Many have attempted to develop PCR devices in numerous types for the purpose of the lab-on-chip (LOC) or point-of-care (POC). To use PCR devices for POC lab testing, the price must be lower, and the performance should be comparable to the lab devices. For current practices with the existing methods, the price is pushed up higher partially due to too much dependence on numerous developmental ...


Endogenous Force Transmission Between Epithelial Cells And A Role For Α-Catenin, Sandeep Dumbali Jul 2019

Endogenous Force Transmission Between Epithelial Cells And A Role For Α-Catenin, Sandeep Dumbali

Mechanical & Aerospace Engineering Theses & Dissertations

In epithelial tissues, epithelial cells adhere to each other as well as to the underlying extra-cellular matrix (ECM). E-cadherin-based intercellular junctions play an important role in tissue integrity. These junctions experience cell-generated mechanical forces via apparent adaptor proteins such as beta (β) catenin, alpha (α) catenin and vinculin. Abnormalities in these junctions may result in skin related diseases and cancers. Here, I devised methods to determine the endogenous intercellular force within cell pairs as well as in large epithelial islands. I further ascertained the factors that affect the level of inter-cellular tension.

Experiments with pairs of epithelial cells exogenously expressing ...


Characterization And Optimization Of A Propeller Test Stand, Colin Bruce Leighton Benjamin Apr 2019

Characterization And Optimization Of A Propeller Test Stand, Colin Bruce Leighton Benjamin

Mechanical & Aerospace Engineering Theses & Dissertations

In recent history, there has been a rapid rise in the use of drones, and they are expanding in popularity each year. The widespread use and future capabilities of these unmanned aerial vehicles (UAVs) will call for increased study and classification of propellers to maximize their performance. As a result, it is necessary to have continuity in the development, maximization, and optimization of propeller test stand’s capability to collect accurate and precise measurements. It is of significant advantage to have the capability of accurately characterizing a propeller based on its thrust and torque. In this study, a propeller test ...


Design And Manufacture Of An Inertial Cascade Impactor For Industrial Hygiene Purposes, Hector Joel Gortaire Apr 2019

Design And Manufacture Of An Inertial Cascade Impactor For Industrial Hygiene Purposes, Hector Joel Gortaire

Mechanical & Aerospace Engineering Theses & Dissertations

Inertial cascade impactors are devices commonly used for industrial hygiene and pharmaceutical studies. Their main purpose is to separate particulate matter suspended in aerosols according to their sizes, which can vary from over 10 µm to 0.5 µm. Their versatility and ease of operation make them suitable for on-site sampling; however, designing them requires a careful consideration of the different geometric parameters that characterize them.

In this thesis, a 5-stage inertial cascade impactor was designed, modelled, constructed, and tested. The main design parameter was the volumetric flow rate, 40 l/min, which was provided by a vacuum pump. By ...


Off Axis Compressive Response Of Ice-Templated Ceramics, Rahul Kumar Jujjavarapu Apr 2019

Off Axis Compressive Response Of Ice-Templated Ceramics, Rahul Kumar Jujjavarapu

Mechanical & Aerospace Engineering Theses & Dissertations

The off-axis compressive behavior of ice-templated ceramic was analyzed using experimental results and micro-mechanical model simulation. Ice-templated ceramics is a versatile processing technique used to manufacture anisotropic ceramic foam by exploiting the anisotropic growth characteristics and lamellar morphology. The ice-templating process results in processing-structure-property relationships determined by the microstructure. The processed alumina samples which were later manufactured by water jet machine from the freeze casting were tested under quasi-static off-axis loading conditions and were used to determine the mechanical properties of the material. Digital image correlation (DIC) was used to measure the strain response of ice-templated ceramic under off-axis loading ...


Comparison Of Support Methods For Static Aerodynamic Testing And Validation Of A Magnetic Suspension And Balance System, Cameron K. Neill Apr 2019

Comparison Of Support Methods For Static Aerodynamic Testing And Validation Of A Magnetic Suspension And Balance System, Cameron K. Neill

Mechanical & Aerospace Engineering Theses & Dissertations

Magnetic suspension wind tunnels offer an alternative to traditional physical support methods. They allow for the collection of support interference free data and broader dynamic test capabilities than existing methods. Determination of dynamic aerodynamic characteristics is a crucial portion of the design of new re-entry capsules. A NASA initiative restored the 6-inch Magnetic Suspension and Balance System to support the design of a new MSBS for a supersonic wind tunnel. Before a new MSBS can be constructed, the characteristics of the current MSBS must be examined.

This thesis discusses the calibration and validation of the 6-inch MSBS. After calibration, three ...


Interface Model Of Pem Fuel Cell Membrane Steady-Dtate Behavior, Russell L. Edwards, Ayodeji Demuren Oct 2018

Interface Model Of Pem Fuel Cell Membrane Steady-Dtate Behavior, Russell L. Edwards, Ayodeji Demuren

Mechanical & Aerospace Engineering Faculty Publications

Modeling works which simulate the proton-exchange membrane fuel cell with the computational fluid dynamics approach involve the simultaneous solution of multiple, interconnected physics equations for fluid flows, heat transport, electrochemical reactions, and both protonic and electronic conduction. Modeling efforts vary by how they treat the physics within and adjacent to the membrane-electrode assembly (MEA). Certain approaches treat the MEA not as part of the computational domain, but rather an interface connecting the anode and cathode computational domains. These approaches may lack the ability to consistently model catalyst layer losses and MEA ohmic resistance. This work presents an upgraded interface formulation ...


Electrochemical Hydrogenation Of Acetone To Produce Isopropanol Using A Polymer Electrolyte Membrane Reactor, Chen Li, Ashanti M. Sallee, Xiaoyu Zhang, Sandeep Kumar Oct 2018

Electrochemical Hydrogenation Of Acetone To Produce Isopropanol Using A Polymer Electrolyte Membrane Reactor, Chen Li, Ashanti M. Sallee, Xiaoyu Zhang, Sandeep Kumar

Civil & Environmental Engineering Faculty Publications

Electrochemical hydrogenation (ECH) of acetone is a relatively new method to produce isopropanol. It provides an alternative way of upgrading bio-fuels with less energy consumption and chemical waste as compared to conventional methods. In this paper, Polymer Electrolyte Membrane Fuel Cell (PEMFC) hardware was used as an electrochemical reactor to hydrogenate acetone to produce isopropanol and diisopropyl ether as a byproduct. High current efficiency (59.7%) and selectivity (>90%) were achieved, while ECH was carried out in mild conditions (65 degrees C and atmospheric pressure). Various operating parameters were evaluated to determine their effects on the yield of acetone and ...


Accurate Flexible Refinement Of Atomic Models Against Medium-Resolution Cryo-Em Maps Using Damped Dynamics, Julio A. Kovacs, Vitold E. Galkin, Willy Wriggers Sep 2018

Accurate Flexible Refinement Of Atomic Models Against Medium-Resolution Cryo-Em Maps Using Damped Dynamics, Julio A. Kovacs, Vitold E. Galkin, Willy Wriggers

Mechanical & Aerospace Engineering Faculty Publications

Background: Dramatic progress has recently been made in cryo-electron microscopy technologies, which now make possible the reconstruction of a growing number of biomolecular structures to near-atomic resolution. However, the need persists for fitting and refinement approaches that address those cases that require modeling assistance.

Methods: In this paper, we describe algorithms to optimize the performance of such medium-resolution refinement methods. These algorithms aim to automatically optimize the parameters that define the density shape of the flexibly fitted model, as well as the time-dependent damper cutoff distance. Atomic distance constraints can be prescribed for cases where extra containment of parts of ...


A Stepwise Compression-Relaxation Testing Method For Tissue Characterization And Tumor Detection Via A Two-Dimensional Tactile Sensor, Yichao Yang Jul 2018

A Stepwise Compression-Relaxation Testing Method For Tissue Characterization And Tumor Detection Via A Two-Dimensional Tactile Sensor, Yichao Yang

Mechanical & Aerospace Engineering Theses & Dissertations

This dissertation presents a stepwise compression-relaxation (SCR) testing method built upon a two-dimensional (2D) tactile sensor for mechanical characterization of soft tissues and tumor detection. The core of the 2D sensor entails one whole polydimethylsiloxane (PDMS) microstructure embedded with a 3×3 sensing-plate/transducer array. A soft sample was compressed by the 2D sensor with a step incremental depth at a ramp speed, and then relaxed for certain hold time. When a soft sample was compressed by the 2D sensor, the sensing-plates translated the sample response at different tissue sites to the sensor deflections, which were registered as resistance changes ...


Epithelial Sheet Response To External Stimuli, Yashar Bashirzadeh Jul 2018

Epithelial Sheet Response To External Stimuli, Yashar Bashirzadeh

Mechanical & Aerospace Engineering Theses & Dissertations

Mechanical communication of adherent cells with their micro-environment is mediated by cytoskeletal and adhesion proteins. These mechanical links aid tissues in maintaining their coherence in the context of the surrounding extra cellular matrix (ECM). Epithelial tissues exert force on the ECM through integrin-based junctions and maintain their coherency through E-cadherin-based cell-cell junctions while dynamically undergoing collective migration. Such a complex network of communication involving the cell cytoskeleton and adhesion proteins modulates the tissue's response to external cues. Two distinct forms of such external stimuli are those of electrical and mechanical origin.

Epithelial tissues quickly respond to physiologically relevant electric ...


Effects Of Automated Fiber Placement On High Strain Rate Compressive Response Of Advanced Composites, Alexander Trochez Jul 2018

Effects Of Automated Fiber Placement On High Strain Rate Compressive Response Of Advanced Composites, Alexander Trochez

Mechanical & Aerospace Engineering Theses & Dissertations

Automated Fiber Placement (AFP) technology shows great promise in manufacturing carbon fiber composite structures. However, intermittent defects occur in the process that can affect the overall mechanical performance of the structure. The aim of this work is to investigate the effects of deliberately placed principal defects (Gap, Overlap, and Fold) on the compressive response under quasistatic (strain rate ~10-3 s-1) and dynamic (strain rate ~103 s-1) loading conditions. The controlled defects were placed at the laminate level in different orientations and depths. High strain rate compression experiments were conducted using a split Hopkinson pressure bar (SHPB) set ...


Identification And Optimal Linear Tracking Control Of Odu Autonomous Surface Vehicle, Nadeem Khan Jul 2018

Identification And Optimal Linear Tracking Control Of Odu Autonomous Surface Vehicle, Nadeem Khan

Mechanical & Aerospace Engineering Theses & Dissertations

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system ...


Simplified, Alternative Formulation Of Numerical Simulation Of Proton Exchange Membrane Fuel Cell, Russell L. Edwards Apr 2018

Simplified, Alternative Formulation Of Numerical Simulation Of Proton Exchange Membrane Fuel Cell, Russell L. Edwards

Mechanical & Aerospace Engineering Theses & Dissertations

Three-Dimensional proton exchange fuel cell (PEMFC) operation in steady-state is simulated with computational fluid dynamics / multiphysics software that is based upon the finite-element method. PEMFC operation involves the simultaneous simulation of multiple, interconnected physics involving fluid flows, heat transport, electrochemical reactions, and both protonic and electronic conduction. Modeling efforts have varied by how they treat the physics occurring within and adjacent to the membrane-electrode assembly (MEA). Several approaches treat the MEA as part of the computational domain, solving multiple, and coupled conservation equations via the CFD approach within the 3 regions of the MEA. The thickness dimensions of the 3 ...


Understanding The Mechanical Behavior Of Costal Cartilage At Their Curved Exterior Surface Via A Tactile Sensor With A Built-In Probe For Distributed-Deflection Detection, Jiayue Shen Apr 2018

Understanding The Mechanical Behavior Of Costal Cartilage At Their Curved Exterior Surface Via A Tactile Sensor With A Built-In Probe For Distributed-Deflection Detection, Jiayue Shen

Mechanical & Aerospace Engineering Theses & Dissertations

This dissertation is aimed to determine the mechanical properties at the exterior surface of costal cartilages (CC) and examine how they vary with the cartilage length and the anatomical sites of CC in the ribcage via conformal indentation testing which is built upon a tactile sensor for distributed-deflection detection. The sensor entails a rectangular Polydimethylsiloxane (PDMS) microstructure sensing-plate integrated with a 5 ×1 transducer array with 0.75mm spatial resolution underneath and a built-in probe of 0.5mm×5mm×3mm above. By pressing the sensor against the exterior surface of a CC tissue with a pre-defined indentation pattern, the sensor ...


Investigation Of Microfluidic Kelvin Water Dropper And Its Applications In Contact And Contactless Electrowetting, Elias Yazdanshenas Apr 2018

Investigation Of Microfluidic Kelvin Water Dropper And Its Applications In Contact And Contactless Electrowetting, Elias Yazdanshenas

Mechanical & Aerospace Engineering Theses & Dissertations

A typical Kelvin water dropper is a device that can convert gravitational potential energy to a high voltage electrostatic. This device consists of two inductors, two collectors, tubes, and electrical connections. A Kelvin water dropper is able to generate extremely high voltage by separating ions using two positive feedback loops. A Kelvin water dropper provides a low cost solution for the applications in which high voltage is needed. In the present research, low cost Microfluidic Kelvin Water Droppers (MKWDs) were developed and built in house for electrowetting applications. Two MKWDs with different tube inner diameters (254 and 508 μm) were ...


Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale Apr 2018

Anthropomorphically Inspired Design Of A Tendon-Driven Robotic Prosthesis For Hand Impairments, Manali Bapurao Bhadugale

Mechanical & Aerospace Engineering Theses & Dissertations

This thesis presents the design of a robotic prosthesis, which mimics the morphology of a human hand. The primary goal of this work is to develop a systematic methodology that allows a custom-build of the prosthesis to match the specific requirements of a person with hand impairments. Two principal research questions are addressed toward this goal: 1) How do we cater to the large variation in the distribution of overall hand-sizes in the human population? 2) How closely do we mimic the complex morphological aspects of a biological hand in order to maximize the anthropomorphism (human-like appearance) of the robotic ...


A Cost Effective Design For A Propeller Thrust/Torque Balance, Nicholas Barrett Sadowski Apr 2018

A Cost Effective Design For A Propeller Thrust/Torque Balance, Nicholas Barrett Sadowski

Mechanical & Aerospace Engineering Theses & Dissertations

Wind tunnel balances are used with aircraft models, propellers, and components to measure applied forces and moments. The design and manufacture of a balance is often for a specific test, test article and conditions. This paper discusses the theory, design, calibration, and testing of a new small propeller balance for use in a low-speed wind tunnel. The new balance is named the ODU15X15.

Theory discussed herein covers how the two measurement components, thrust and torque, affect the balance design. These loads generate strains which are in turn read by strain gages arranged in Wheatstone bridges. The design follows well known ...


Distributed Sensing And System Identification Of Cantilever Beams And Plates In The Presence Of Weak Nonlinearities, Patrick Sean Heaney Apr 2018

Distributed Sensing And System Identification Of Cantilever Beams And Plates In The Presence Of Weak Nonlinearities, Patrick Sean Heaney

Mechanical & Aerospace Engineering Theses & Dissertations

While the mathematical foundation for modal analysis of continuous systems has long been established, flexible structures have become increasingly widespread and developing tools for understanding their mechanics has become increasingly important. Cantilever beams and plates, in particular, have been extensively studied due to their practical importance as approximations of more complex structures. The focus of this thesis is on understanding the dynamics of vibrating cantilever beams and plates through analytical and experimental investigation. Various models for the mechanics of these structures, of varying physical fidelity, are described and compared. A fiber optic sensing system is utilized to experimentally acquire distributed ...


Electroosmotic Flow Of Viscoelastic Fluid In A Nanoslit, Lanju Mei, Hongna Zhang, Hongxia Meng, Shizhi Qian Mar 2018

Electroosmotic Flow Of Viscoelastic Fluid In A Nanoslit, Lanju Mei, Hongna Zhang, Hongxia Meng, Shizhi Qian

Mechanical & Aerospace Engineering Faculty Publications

The electroosmotic flow (EOF) of viscoelastic fluid in a long nanoslit is numerically studied to investigate the rheological property effect of Linear Phan-Thien-Tanner (LPTT) fluid on the fully developed EOF. The non-linear Poisson-Nernst-Planck equations governing the electric potential and the ionic concentration distribution within the channel are adopted to take into account the effect of the electrical double layer (EDL), including the EDL overlap. When the EDL is not overlapped, the velocity profiles for both Newtonian and viscoelastic fluids are plug-like and increase sharply near the charged wall. The velocity profile resembles that of pressure-driven flow when the EDL is ...


Fpga-Based On-Board Geometric Calibration For Linear Ccd Array Sensors, Guoqing Zhou, Linjun Jiang, Jingjin Huang, Rongting Zhang, Dequan Liu, Xiang Zhou, Oktay Baysal Jan 2018

Fpga-Based On-Board Geometric Calibration For Linear Ccd Array Sensors, Guoqing Zhou, Linjun Jiang, Jingjin Huang, Rongting Zhang, Dequan Liu, Xiang Zhou, Oktay Baysal

Mechanical & Aerospace Engineering Faculty Publications

With increasing demands in real-time or near real-time remotely sensed imagery applications in such as military deployments, quick response to terrorist attacks and disaster rescue, the on-board geometric calibration problem has attracted the attention of many scientists in recent years. This paper presents an on-board geometric calibration method for linear CCD sensor arrays using FPGA chips. The proposed method mainly consists of four modules—Input Data, Coefficient Calculation, Adjustment Computation and Comparison—in which the parallel computations for building the observation equations and least squares adjustment, are implemented using FPGA chips, for which a decomposed matrix inversion method is presented ...


Electrowetting Using A Microfluidic Kelvin Water Dropper, Elias Yazdanshenas, Qiang Tang, Xiaoyu Zhang Jan 2018

Electrowetting Using A Microfluidic Kelvin Water Dropper, Elias Yazdanshenas, Qiang Tang, Xiaoyu Zhang

Mechanical & Aerospace Engineering Faculty Publications

The Kelvin water dropper is an electrostatic generator that can generate high voltage electricity through water dripping. A conventional Kelvin water dropper converts the gravitational potential energy of water into electricity. Due to its low current output, Kelvin water droppers can only be used in limited cases that demand high voltage. In the present study, microfluidic Kelvin water droppers (MKWDs) were built in house to demonstrate a low-cost but accurately controlled miniature device for high voltage generation. The performance of the MKWDs was characterized using different channel diameters and flow rates. The best performed MKWD was then used to conduct ...


Erosion Degradation Characteristics Of A Linear Electro-Hydrostatic Actuator Under A High-Frequency Turbulent Flow Field, Yuan Li, Shaoping Wang, Mileta M. Tomovic, Chao Zhang Jan 2018

Erosion Degradation Characteristics Of A Linear Electro-Hydrostatic Actuator Under A High-Frequency Turbulent Flow Field, Yuan Li, Shaoping Wang, Mileta M. Tomovic, Chao Zhang

Engineering Technology Faculty Publications

The paper proposes a performance degradation analysis model based on dynamic erosion wear for a novel Linear Electro-Hydrostatic Actuator (LEHA). Rather than the traditional statistical methods based on degradation data, the method proposed in this paper firstly analyzes the dominant progressive failure mode of the LEHA based on the working principle and working conditions of the LEHA. The Computational Fluid Dynamics (CFD) method, combining the turbulent theory and the micro erosion principle, is used to establish an erosion model of the rectification mechanism. The erosion rates for different port openings, under a time-varying flow field, are obtained. The piecewise linearization ...


Mechanical Wear Debris Feature, Detection, And Diagnosis: A Review, Wei Hong, Wenjian Cai, Shaoping Wang, Mileta M. Tomovic Jan 2018

Mechanical Wear Debris Feature, Detection, And Diagnosis: A Review, Wei Hong, Wenjian Cai, Shaoping Wang, Mileta M. Tomovic

Engineering Technology Faculty Publications

Mechanical debris is an important product of friction wear, which is also a crucial approach to know the running status of a machine. Many studies have been conducted on mechanical debris in related fields such as tribology, instrument, and diagnosis. This paper presents a comprehensive review of these studies, which summarizes wear mechanisms (e.g., abrasive wear, fatigue wear, and adhesive wear) and debris features (e.g., concentration (number), size, morphology, and composition), analyzes detection methods principles (e.g., offline: spectrograph and ferrograph, and online: optical method, inductive method, resistive-capacitive method, and acoustic method), reviews developments of online inductive methods ...


Radial And Longitudinal Motion Of The Arterial Wall: Their Relation To Pulsatile Pressure And Flow In The Artery, Dan Wang, Linda Vahala, Zhili Hao Jan 2018

Radial And Longitudinal Motion Of The Arterial Wall: Their Relation To Pulsatile Pressure And Flow In The Artery, Dan Wang, Linda Vahala, Zhili Hao

Mechanical & Aerospace Engineering Faculty Publications

The aim of this paper is to analyze the radial and longitudinal motion of the arterial wall in the context of pulsatile pressure and flow, and to understand their physiological implications for the cardiovascular system. A reexamination of the well-established one-dimensional governing equations for axial blood flow in the artery and the constitutive equation for the radial dilation of the arterial wall shows that two waves—a pulsatile pressure wave in the artery and a radial displacement wave in the arterial wall—propagate simultaneously along the arterial tree with the same propagation velocity, explaining why this velocity combines the physical ...


Offshore Wind Energy: Simulating Local Offshore Wind Turbine, Ian P. Aquino Jan 2018

Offshore Wind Energy: Simulating Local Offshore Wind Turbine, Ian P. Aquino

Mechanical & Aerospace Engineering Theses & Dissertations

Dominion Virginia Energy is looking at the possible creation of an offshore wind plant as a renewable source of electricity to be located off the coast of Virginia Beach. This thesis reports on a computer simulation based on local wind conditions and possible single wind turbine installation.

The National Buoy Data Center keeps records of the local wind conditions gathered in real time and available to the public. These data give a general overview of the wind conditions in Virginia Beach which is used to simulate atmospheric boundary layer (ABL) flow conditions and is subsequently used as input data for ...


A Monolithic Internal Strain-Gage Balance Design Based On Design For Manufacturability, Thomas Ladson Webb Iii Jan 2018

A Monolithic Internal Strain-Gage Balance Design Based On Design For Manufacturability, Thomas Ladson Webb Iii

Mechanical & Aerospace Engineering Theses & Dissertations

This paper proposes an alternative approach to internal strain-gage balance design driven by Design for Manufacturability (DFM) principles. The objective of this research was a reduction in fabrication time and, subsequently, cost of a balance by simplifying its design while maintaining basic stiffness and sensitivity. Traditionally, the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) balance designs have relied on Electro-Discharge Machining (EDM), which is a precise but slow and, therefore, expensive process. EDM is chosen due to several factors, including material hardness, surface finish, and complex geometry, including blind cuts. The new balance design objectives require no ...


Robocatch: Design And Making Of A Hand-Held Spillage-Free Specimen Retrieval Robot For Laparoscopic Surgery, Farid Tavakkolmoghaddam Jan 2018

Robocatch: Design And Making Of A Hand-Held Spillage-Free Specimen Retrieval Robot For Laparoscopic Surgery, Farid Tavakkolmoghaddam

Mechanical & Aerospace Engineering Theses & Dissertations

Specimen retrieval is an important step in laparoscopy, a minimally invasive surgical procedure performed to diagnose and treat a myriad of medical pathologies in fields ranging from gynecology to oncology. Specimen retrieval bags (SRBs) are used to facilitate this task, while minimizing contamination of neighboring tissues and port-sites in the abdominal cavity. This manual surgical procedure requires usage of multiple ports, creating a traffic of simultaneous operations of multiple instruments in a limited shared workspace. The skill-demanding nature of this procedure makes it time-consuming, leading to surgeons’ fatigue and operational inefficiency. This thesis presents the design and making of RoboCatch ...


Human-Robot Collaborative Force-Controlled Micro-Drilling For Advanced Manufacturing And Medical Applications, Parimal Mahesh Prajapati Jan 2018

Human-Robot Collaborative Force-Controlled Micro-Drilling For Advanced Manufacturing And Medical Applications, Parimal Mahesh Prajapati

Mechanical & Aerospace Engineering Theses & Dissertations

Robotic drilling finds applications in diverse fields ranging from advanced manufacturing to the medical industry. Recent advances in low-cost, and human-safe, collaborative robots (e.g., Sawyer) are enabling us to rethink the possibilities in which robots can be deployed for such tedious and time-consuming tasks. This thesis presents a robotic drilling methodology with features of force-control enabled micro-drilling and human-robot collaboration to reduce programming efforts and enhance drilling performance. A Sawyer robot from Rethink Robotics, which offers safe physical interactions with a human co-worker, kinesthetic teaching, and force control, is used as the test bed. The robot’s end-effector was ...