Mechanical Engineering Commons^™

Optimal Control Of Human Exercise Using An Individualized Physiological Three-Tank Model And Dynamic Programming, Asal Lotfi

All Theses

This thesis develops a physiologically inspired three-tank model of human bioenergetics to describe and optimize fatigue and recovery during exercise. The aerobic, phosphagen, and glycogen systems are modeled as coupled reservoirs whose states constrain instantaneous power output. Building on this representation, dynamic programming is used to compute pacing strategies that respect physiological limits while maximizing task-specific goals such as peak power or total work over a fixed duration, enabling individualized, goal-driven exercise prescriptions. The three-tank dynamics are formulated in continuous time and then discretized under a zero-order-hold assumption for simulation and optimal control. Model parameters are linked to standard field …

Understanding Policy Transfer Under Decomposition And Coordination: Sequential Reinforcement Learning With Relaxation-Based Feasibility Control, Aannand Lal

All Theses

This thesis investigates how decomposition and coordination (D&C) choices influence exploration, learning, and transfer in reinforcement learning (RL) based design frameworks. A unified methodology is developed to evaluate generality under decomposition and to demonstrate sequential coordination on a representative physical task. The generality study holds the underlying physics constant while varying problem presentation - specifically scalarization weights, objective orientations, and feasibility handling. A train-evaluate matrix is constructed in which each trained policy is assessed across all alternative decompositions. Set-based diagnostics quantify generality through exact-match identity, Jaccard similarity of distinct feasible states, total feasible coverage, and Pareto-front quality. Results show that …

Dynamic Modeling And Simulation Of A Power Generation Steam Rankine Cycle For A Fluoride Salt-Cooled High-Temperature Reactor Nuclear Power Plant, William R. Ton

Master's Theses

Nuclear Fluoride Salt-Cooled High-Temperature Reactors (FHRs) have the potential to greatly improve nuclear technology in terms of safety and cost. By combining molten salt coolant technology from the Molten Salt Reactor (MSR) and TRISO fuel technology from the Very High Temperature Gas Reactor (VHTR), FHRs may operate at significantly lower pressures than Light Water Reactors (LWRs) and with a more robust fuel source that is excellent at containing fission products. However, as no FHR has been built, there are still many design questions to address. This thesis uses transient computer modeling and simulation to investigate how an FHR could potentially …

Real Time Markerless 3d Hand Tracking For Intuitive Robotic Arm Control, Dylan G. Featherson

Master's Theses

This thesis presents a real-time, markerless motion-capture system for intuitive control of a multi-degree-of-freedom robotic arm. Using two synchronized RGB cameras and stereo-vision triangulation, the system reconstructs the three-dimensional position of a user’s hand without the need for physical markers or wearable sensors. The reconstructed 3D coordinates are mapped directly to the end-effector position of the Quanser QArm, a four-degree-of-freedom educational manipulator. Developed entirely in Python, the system integrates stereo camera calibration, 3D hand tracking with MediaPipe, coordinate transformation, and inverse kinematics into a unified real-time control pipeline operating at approximately 200 Hz. Calibration is performed through a checkerboard-based stereo …

Origami-Inspired Pneumatic Soft Robotic Gripper, Conor J. Schott

Master's Theses

This thesis presents the design and evaluation of a vacuum-actuated, origami-based soft robotic gripper. A custom Sea Urchin crease pattern forms a lightweight folding skeleton that collapses radially under vacuum. The system emphasizes low cost and accessibility through laser cutting, 3D printing, and silicone molding. The Sea Urchin geometry was selected after digital and physical screening of candidate crease patterns for smooth folding, low strain concentration, and uniform inward motion. The folding skeleton is laser cut from 4 mil drafting film and folded into a compliant core. Four membrane configurations were developed: an origami gripper with a 36-inch balloon (Design …

Porous Triboelectric Nanogenerator For Load Sensing Of Total Knee Replacement, Elham Mahmoudi, Adam Garry Redgrift, Emre Salman, Milutin Stanacevic, Ryan Willing, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

This study addresses the critical need for self-powered, durable pressure sensors in Total Knee Replacement (TKR) implants to enable the collection of post-operative information. The scope of this research encompasses the design, development, and testing of a triboelectric nanogenerator (TENG) integrated into an instrumented knee implant for energy harvesting and pressure sensing. The authors’ unique approach involves utilizing a porous silicone rubber as a dielectric material. This allows the TENG to withstand forces up to 2000 N and generate a maximum power output of 18 μW. Theoretical modeling combined with experimental validation provides deeper insight into the fundamental operating principles. …

Robust Data-Driven Predictive Control Of Nonlinear Systems Under Modeling Uncertainty, Pegah Ghafghanbari

All Dissertations

Data-driven predictive control enables designing controllers directly from data, making it attractive for complex systems with hard-to-model dynamics. However, practical deployment is challenged by modeling inaccuracies and changing operating conditions. This dissertation develops predictive control frameworks that incorporate robustness and adaptability to address these issues in uncertain nonlinear systems.

The first part employs the Linear Parameter-Varying (LPV) framework, which represents nonlinear dynamics through simple linear form representation. To characterize the plant-model-mismatch often caused by limited data and numerical calculations, Bayesian Neural Networks (BNNs) are used, and their uncertainty estimates are integrated into two robust control approaches. The first is a …

Hydrodynamics Of Perforated Heave Plates, Muhammad Usman

All Dissertations

Ocean waves are a clean and renewable energy source that can help reduce dependence on fossil fuels and combat climate change. To capture this energy, researchers have developed devices known as wave energy converters (WECs). One common type, called a two-body point absorber WEC, uses a buoy floating on the ocean surface connected to a submerged reaction plate, known as the heave plate, which lies underwater. The relative up-and-down motion between the buoy and the heave plate, driven by ocean waves, generates usable power via a power take-off (PTO) system. Traditionally, these submerged heave plates are solid structures. However, this …

Opposed-Piston Two Stroke Engine As A High Power Density Solution In Heavy Duty Applications: An Experimental Evaluation With Diesel And Ethanol, Ankur Bhatt

All Dissertations

With an increasing demand to reduce greenhouse gas (GHG) emissions, the conventional powertrain technology is at a saturation point. There is reinvigorated research interest in alternative powertrain designs that offer potentially higher efficiencies and lower engine-out emissions compared to conventional powertrains. The opposed piston two-stroke (OP2S) engine is one such alternative engine architecture that has demonstrated a reduction in engine-out emissions and increased efficiency compared to conventional four-stroke diesel engines. Like any two-stroke engine, the scavenging process and the composition of the internal residuals are predominantly governed by the pressure differential between the intake and the exhaust ports. Without dedicated …

When Textures Trim Drag: Micro-Structures For Adaptive Drag Reduction And Flow Authority, Miguel Angel Olvera

Theses and Dissertations

Turbulent boundary layers are a major source of drag and performance loss. This thesis investigates Triangular Porous Texturing (TPT), apex-forward microstructures with optional bleed channels, as a passive concept for simultaneously reducing skin friction and strengthening boundary layer momentum near separation. Low-speed wind tunnel tests are conducted over tripped turbulent boundary layers on flat plates with three surfaces: a smooth baseline, a solid-crest TPT array isolating the knife-edge “slip-cut” effect, and a porous-bleed TPT array whose paired micro-channels vent a small fraction of the free stream. Time-resolved PIV provides wall-normal velocity fields; skin friction is inferred from near-wall shear, and …

Coupling Material Formulation Strategies To Tailor Piezoelectric Properties Of Ceramic Lattices, Amanda Lauren Borgaro

Open Access Theses & Dissertations

This thesis examines the material formulation and infiltration processes required to create interpenetrating ceramic composites with a particular focus on developing piezoelectric ceramic-epoxy lattice structures (PCELS). Following this, a high–solid loading barium titanite photopolymer resin (BT40) was developed to produce BTO scaffolds with controlled porosity suitable for metal infusion. The resin’s shear-thinning behavior and scattering-dominated curing response enabled the formation of stable, uniform ceramic structures whose pore networks directly influence infiltration behavior. Building on this foundation, a low-temperature Field’s Metal (FM) infiltration method was established using controlled thermal equilibration and the melting of pre-formed alloy rods. By maintaining the ceramic …

Study Of Fatigue Endurance Of Alsi10mg Post Heat Treatments And Subsequently Aged At Service Temperature, Luis Alfredo Barrera

Open Access Theses & Dissertations

Laser Powder Bed Fusion (LBPF) AlSi10Mg is used in the aerospace and automotive industries for its refined microstructure and ductility compared to cast alloys. However, LPBF processes can inherently lead to defects that may act as fatigue crack initiators, such as lack of fusion, balling, and keyhole porosity. This work focuses on the analysis of high-cycle fatigue (HCF) endurance of AlSi10Mg under expected service conditions. For this study, AlSi10Mg specimens were printed on an EOS M290 LPBF system and heat-treated by stress relief (SR1), Hot Isostatic Pressing (HIP), and Hot Isostatic Pressing + T6 (HIP+T6), as per ASTM 3318. Specimens …

Design And Validation Of Model Predictive Controllers For Lateral Vehicle Control, Keren Flores

Open Access Theses & Dissertations

This thesis develops, implements, and evaluates a Model Predictive Control (MPC) framework for lateral vehicle guidance using a linearized bicycle model. The complete control architecture is formulated from first principles, beginning with the derivation of the continuous-time planar dynamics and their conversion into a discrete-time state-space representation suitable for real-time control. The MPC problem is constructed explicitly through the development of prediction models, output selection matrices, and quadratic cost formulations. The controller is evaluated through a Python simulation environment that includes reference trajectory generation, nonlinear vehicle propagation, and constraint handling. Robustness is examined using systematic perturbations to vehicle mass, tire …

Comparison Of Ti-6al-4v Powder And Bulk Specimen Properties Across Manufacturers In Laser Powder-Blown Ded, Alejandro Javier Hernandez

Open Access Theses & Dissertations

The investigation and comparison of 4 different Ti64 powder feedstocks from 3 different manufacturers was done to determine if the quality of the powder had a profound effect on the properties of the bulk specimens despite using the same processing parameters. The characteristics of the powder observed are the atomization process used, particle size distribution, flowability, and its density. The Ti64 printing parameters for directed energy deposition that were kept consistent were the feed rate, scanning speed, and laser power. Coupons with varying build angles (0-30°) were printed to measure the impact of overhangs on bulk specimen properties (ultimate tensile …

Efficient Adaptive Spline-Based Path Planning For In-Space Servicing, Assembly, And Manufacturing Applications, Christian Lozoya

Open Access Theses & Dissertations

Autonomous robotic systems operating in cluttered and partially observed environments require trajectory generation methods that produce smooth and dynamically feasible motion while reacting to locally sensed obstacles. This requirement is especially pronounced for free-flyer and in-space servicing, assembly, and manufacturing (ISAM) platforms, where onboard sensing is sparse, global environmental information is unavailable, and communication or computational resources are constrained. In such settings, motion plans must be updated online using incomplete and rapidly changing local observations, while avoiding excessive replanning that can lead to oscillatory or unstable behavior. Many existing approaches either rely on dense optimization over extended horizons, which is …

Powder Degradation Analysis In Reused Pure Tungsten For Electron Beam Melting (Ebm), Hernan Valenzuela

Open Access Theses & Dissertations

Additive manufacturing (AM) enables unparalleled design freedom and geometric complexity, driving its adoption in aerospace and medical fields. A major advantage of metal powder AM technologies, such as Electron Beam Melting (EBM), is its ability to reuse unused metal powder, reducing material waste and costs. However, reusing powder repeatedly alters its properties, affecting the final product. Despite its significance, research on powder degradation remains limited, primarily focusing on alloys like Ti-6Al-4V. This thesis investigates the degradation of pure tungsten powder reused over multiple Electron Beam Melting (EBM) cycles. A literature review revealed general powder-reuse mechanisms across additive manufacturing (AM) technologies …

Advancing Aerospace Materials: 3d Printing Of Fiber Reinforced Cyanate Ester Ipns And Uhtcmcs, Saqlain Zaman

Open Access Theses & Dissertations

Additive manufacturing (AM) is rapidly reshaping the landscape of advanced materials for aerospace, hypersonic, and extreme-environment systems. However, AM of high-temperature polymer and ceramic composites, especially those reinforced with continuous or aligned fibers, remains limited by challenges in rheological control, in situ fiber impregnation, curing compatibility, densification, and achieving directional multifunctional properties. This dissertation advances a unified Direct Ink Writing (DIW) framework enabling the processing of architected, high-performance composite materials across polymer and ceramic systems. Three research thrusts collectively establish scalable pathways for fabricating fiber-reinforced cyanate ester interpenetrating polymer networks (IPNs) and ultra-high-temperature ceramic matrix composites (UHTCMCs). First, a dual-curable …

Further Evaluation Of Speed Tables On Roadway Curves: Simulation And Expeditionary Deployments, Nathan Reineke

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

The road network leading up to a United States military base is known as an Entry Control Facility, or ECF. Entry control facilities are used to shield military installations by monitoring vehicles and refusing access to unauthorized vehicles. Passive control devices, including speed tables, are used to disrupt or delay threat vehicles attempting to navigate ECFs at high speeds. The purpose of this research was to recommend optimized configurations of speed tables in combination with roadway curves which allow safe, efficient traversal for authorized vehicles and disruption or delay for threat vehicles.

First, an analytical model of a Tesla Model …

Machine Learning-Enabled Safety-Critical Model Predictive Control For Uncertain Dynamical Systems, Hossein Nejatbakhsh Esfahani

All Dissertations

This dissertation explores the interactions between Model Predictive Control (MPC), Safety-critical Control, and Artificial Intelligence (AI)/Machine Learning (ML) methods, with a particular focus on Reinforcement Learning (RL) and Bayesian Optimization (BO). We then leverage AI/ML to address several challenges in the control design and safe operation of uncertain dynamical systems. In many applications, ranging from autonomous vehicles and robotics to energy systems and industrial processes, ensuring safety is as essential as satisfying control objectives. The use of Control Barrier Functions (CBFs) within the MPC framework recently has emerged as a powerful tool to guarantee safety by enforcing constraints in optimal …

Particle Migration In Non-Newtonian Fluid Flows Through Curved Microchannels, Sanskruti Ramesh Raut

All Dissertations

Innovations in microfabrication over the past three decades have enabled the development of microfluidic devices with intricate channel geometry. Microfluidic platforms offer controlled manipulation of fluids and particles by leveraging the internally induced and/or externally imposed force field(s). The demand for compact microchannel geometry has turned the attention toward curved microchannels with significantly reduced footprints. However, most of the previous studies in curved microchannels have been limited to particle migration in Newtonian fluids. The influence of fluid rheology has remained largely unexplored.

In the first part of this dissertation, we present a systematic experimental study on the influences of fluid …