Digital Commons Network^™

Safe Control Design For Quadruped Locomotion In Unstructured Environments Using Linear Transfer Operators, Sriram Sundar Krishnamoorthy Shankara Narayanan

All Dissertations

Deploying quadruped robots in unstructured, obstacle-rich environments requires control and planning methods that remain safe and reliable despite complex terrain geometry, limited sensing, and inevitable modeling errors. This thesis develops operator-theoretic tools for safe control design of robotic systems using linear transfer operators, with a focus on quadruped locomotion in unstructured environments. The central goal is to develop a unified operator-theoretic framework for safe control design based on the Perron–Frobenius (P–F) and Koopman operators. In particular, the thesis leverages \emph{density functions} to develop safe navigation frameworks in the dual space of densities. In the operator-theoretic perspective, the P–F operator governs …

Interplay Between Phase Instability And Deformation Mechanisms In Beta Titanium Alloys In Aggressive Environments, Benjamin Elbrecht

All Dissertations

Modern designs, such as commercial jet turbines, are reliant on the high temperature performance of their constituent materials. Improvements to the strength-at-temperature of materials are critical to the continued advancement of efficiency and payload capacity in these advanced applications. This dissertation presents studies that progress towards this goal through the construction of a new experimental setup for complex temperature and force profiles that also accurately captures deformation behavior through non-contact measurements. Using this setup, studies into two specialty titanium alloys were executed: discovering the microscopic mechanisms responsible for the macroscale behavior and testing in conditions closely replicating aircraft turbine operating …

Decomposition And Spectral Characterization Of Unsteady Loads In Pulse-Jet Propulsion Testing, Cesar Benitez

Theses and Dissertations

Pulsed jet propulsion systems produce inherently unsteady forces whose time-resolved characterization is essential for performance assessment, yet the measured load signal conflates aerodynamic forcing with the dynamic response of the measurement balance itself. This thesis develops a load centered framework for the dynamic characterization of a pulsed jet system, treating the measured load fluctuation as the primary physical observable rather than attempting full true-thrust reconstruction. A single-degree-of-freedom balance model identified through ringdown testing provides the structural reference scale, yielding a natural frequency of 8.5 Hz and damping ratio of 18%. Power spectral density, phase-averaging, and synchronous–residual decomposition is applied uniformly …

Examining The Effects Of Lateral Loading On Railroad Tapered Roller Bearings, Abel David Sanchez Trinidad

Theses and Dissertations

The loading conditions experienced by freight railcar bearings vary as a function of vehicle operating conditions. Under static conditions, bearings are primarily subjected to radial loads transmitted through the wheelset. During operation, however, track irregularities, braking events, railcar load imbalances, and curving introduce complex impact, longitudinal, and lateral forces in addition to the normal radial loading. These lateral forces increase friction within the bearing raceways, which could accelerate wear and potentially lead to premature spall initiation and propagation. While prior research at the University Transportation Center for Railway Safety (UTCRS) has demonstrated that vibration signatures can be used to detect …

Manufacturing Systems: Characteristics And Dynamics, Alan J. Fitzmorris

Graduate Theses and Dissertations (2019 - present)

This research answers three basic questions. First, what are the behaviors (dynamics) of a manufacturing system in the context of system performance? Are these dynamics best described as linear deterministic, periodic, nonlinear deterministic, or stochastic? Second, what are the complexity (chaotic) characteristics of a manufacturing system, namely the maximal Lyapunov exponent, correlation dimension, and Kolmogorov-Sinai entropy? Third, is there a relationship between complexity characteristics and manufacturing system performance? This research involves four high level steps: data analysis, system dynamics analysis, system complexity analysis, and correlation analysis. The data analyzed consists of concrete plant and shipbuilding shop time series performance data. …

Porous Hydrophobic Adsorbent Coatings For Carbon Dioxide Capture, Samuel Babatunde Olushola

Theses and Dissertations

This work presents the development of a porous, hydrophobic zeolite 13X coating for the separation of carbon dioxide (CO₂) from flue gas or natural gas. Zeolite 13X was combined with yeast, glucose, and sodium alginate as pore-forming agents, and with polytetrafluoroethylene (PTFE) and Polydimethylsiloxane (PDMS) as hydrophobicity-inducing agents to enhance water resistance while maintaining CO₂ access to the adsorbent. The study explored PTFE/13X mass ratios ranging from 0 to 2.33 to investigate the interplay between hydrophobicity and CO₂ uptake. The wettability of the coating was characterized by using a temporal water contact angle (WCA) measurement. Increasing …

Moon Adaptive Technology For Extraterrestrial Architectural Robotics (Matear), Candela Noemi Solis Zampini

Theses and Dissertations

The Moon Adaptive Technology for Extraterrestrial Architectural Robotics (MATEAR) focuses on the development of an autonomous robotic system capable of providing structural building blocks directly from lunar regolith. As a sustained human presence on the Moon becomes a necessity, the costly and limited payload capacity associated with transporting construction goods from Earth creates a critical challenge. MATEAR addresses this problem through in-situ resource utilization (ISRU), integrating a regolith processing system onto a remote operated vehicle. The proposed system is designed to collect lunar dust, mechanically compact the material, and apply thermal treatment to enhance cohesion through sintering. These regolith-made bricks …

Design And Development Of A Passive Dust Protection System For Lunar Docking Operations, Simon Thengvall

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

Lunar docking systems face a unique set of environmental conditions that can create significant challenges for mechanical design. Among these, the abrasive nature of lunar regolith can impair the kinematic function of traditional terrestrial mechanisms as well as contaminate critical spacecraft components such as environmental seals, causing them to fail. For crew-rated docking systems, failure of these systems not only threatens mission success, but also crew safety, so dust protection is crucial for docking components. To address the concerns of regolith intrusion, the Simple External Attachment for Lunar Openings (SEALO) is developed as a key architecture for mechanism evaluation when …

Experimental And Computational Investigation Of The Effects Of Neck Musculature During Head Impacts In American Football, Anthony P. Marino

All Dissertations

Anthropometric test devices (ATDs) are human surrogate models used to represent the human body response in the context of compliance and safety testing. These devices are used in multiple industries, including automotive and aerospace, and have recently been incorporated into impact testing for the evaluation of helmet performance in American football. The Hybrid III 50^th percentile male ATD head and neck assembly is the most commonly used surrogate for these tests, although it was developed for automotive frontal crash scenarios that induce an inertial force on the body, leading to head and neck motion primarily in the sagittal plane. …

Versatile Exoskeleton Control Paradigms For Agile Human Locomotion: Task-Agnostic And Stability-Augmented Assistance, Miao Yu

All Dissertations

Lower-limb exoskeletons have shown great potential for assisting human locomotion, but designing controllers that provide assistance across diverse locomotor tasks and under external perturbations remains a major challenge. Many existing controllers for steady-state walking rely on pre-defined reference trajectories, which constrain voluntary human motion and limit adaptability across tasks. Moreover, they usually assume stable walking, while their performance under unstable conditions remains largely unexplored. In addition, existing gait stability augmentation controllers are often reactive rather than proactive to unstable conditions. In this dissertation, we propose control frameworks that preserve voluntary human motion while addressing two major challenges: providing task-agnostic assistance …

Modernizing Plastics And Composites Manufacturing Using Hybrid Modeling Techniques, Luke Shannon

All Dissertations

Plastics and composites manufacturing encompasses a broad family of processes, including injection molding, resin transfer molding, compression molding, and extrusion, that together account for the vast majority of polymer and composite component production worldwide. These processes are inherently challenging due to the multi-physics nature of polymer processing, the vast possible combinations of resins, reinforcements, and additives, and the strong dependence of final part properties on process history. Among these processes, injection molding is one of the most widely deployed, producing high-volume components across automotive, medical, consumer electronics, and packaging industries. However, accurately monitoring and predicting process behavior in injection molding …

Development Of A Mixing-Controlled Combustion Model For 0d Engine Modeling: Using High-Order Models To Guide The Formulation Of Reduced-Order Models, James Gohn

All Dissertations

Vehicles are becoming increasingly complex to comply with the increasingly stringent regulations placed on all market sectors while still maintaining performance requirements. This increased complexity leads to increases in the cost and time it takes to develop and produce these next generation vehicles. To meet demand therefore, it becomes necessary to evaluate numerous design iterations using computer models. There are multiple levels of models that may be necessary for different purposes or use cases. All levels of modeling for virtual prototyping, however, require a level of validation and predictive ability to be useful. To this end, the following thesis presents …

Multiscale Architecture Governs Stability In Suction-Actuated Variable Stiffness Catheters, Sheridan Lee

McKelvey School of Engineering Graduate Student Theses & Dissertations

Endovascular procedures require devices with widely varying mechanical properties: flexibility for navigating tortuous vessels and rigidity for stable therapeutic delivery. Suction-actuated variable stiffness sheaths address this challenge by incorporating axial wire string arrays that mechanically couple under suction to increase flexural rigidity. However, prototype devices achieve stiffening ratios below theoretical predictions, suggesting that interlayer mechanics and string positioning play a critical role. This study investigates whether interweaving polytetrafluoroethylene (PTFE) tape within the string array enhances flexural rigidity modulation and curvature stability. Prototype devices with varying wrap configurations were fabricated and evaluated using flexural testing, curvature stability testing, and mathematical modeling. …

Experimental Investigation Of A Shrouded Dual-Rotor Wind Turbine For Small-Scale Applications, Ahmed Elbaz, Mahmoud Alghrieb Mr

Mechanical Engineering

Small-scale wind power faces significant challenges in areas characterized by low wind speeds and turbulent wind patterns, limiting its contribution to the global energy demand. To spread the use of wind energy even at regions of low wind speeds, the turbine with wind lens concept was introduced in the literature. This device increases the free stream wind speed at the turbine section which enhances power output of the turbine. Other methods involved using dual rotors to augment power output of the turbine too. In the current study, the performance of single and dual rotors was investigated using wind lens to …

Development Of Low-Cost Triaxial Force Sensor For Measurement Of Human-Exoskeleton Interaction Forces, Hamdan Khan Sarvathullah

All Theses

Contemporary research suggests that shear force is a major contributor to discomfort and pressure injury. However, the variation of shear forces during human-exoskeleton interaction dynamics is a highly unexplored field. The high cost of commercial triaxial force sensors may be a major factor in the notable lack of research in this field. Therefore, in this paper, we present a low-cost, 3D-printed triaxial force sensor designed specifically to measure the triaxial interaction forces between an exoskeleton and its user. The triaxial force sensor uses Carbon-Black/Silicone Rubber (CB/SR) strings to measure shear forces, whereas the normal force is measured with a Force …

An Experimental Study On Turbine-Based Energy Harvesters For Thermal Underwater Gliders, Stephen Edward Coster

Theses and Dissertations

Buoyancy-driven underwater gliders have been optimized for long-duration missions primarily for continual monitoring of the ocean’s water column. However, longer missions and higher-powered sensors have increased the energy requirements of gliders. While current solutions aim to increase battery capacity, the development of energy-harvesting systems (EHMs) could greatly improve mission capabilities in both ability and duration. This thesis discusses the experimental testing of an underwater glider with an EHM as detailed in the theoretical study, “Development of a Turbine-Based Ocean Thermal Energy Harvesting Mechanism Applied to the Underwater Glider” by Hongbo Hou, PhD. The rear-mounted turbine captures energy using the kinetic …

Machine Vision For In Situ Measurement And Control Of Wire Stickout In Lwded Process, Braden Mclain, Remy Mathenia, Todd Sparks, Frank Liou

Mechanical and Aerospace Engineering Faculty Research & Creative Works

This work presents a machine-vision–based measurement and control framework for laser wire directed energy deposition (LWDED) processes. A visible-light camera system is used to capture meltpool images, from which a novel vision algorithm extracts the wire–meltpool interface location. By utilizing a camera that is rigidly mounted to the deposition head, the vision algorithm provides a relative measurement of the distance between the nozzle tip and the workpiece, also referred to as wire stickout. A proportional-derivative (PD) control strategy is implemented using the measured stickout as feedback to adjust deposition feedrate. Results show that the control system successfully compensates for improper …

Deep Learning For Predicting Impact Energy And Compression After Impact Strength Of Composite Materials Using C-Scan Images, K. T. Tan, Jason P. Mack, Faizan Mirza, Zhong-Hui Duan

University Research

Traditional assessment of post-impact performance in carbon fiber reinforced polymer (CFRP) composites often relies on simplified scalar metrics that fail to capture the complex spatial interactions driving failure. This study addresses this limitation by developing an automated, end-to-end deep learning framework that shifts from manual feature extraction to the direct interpretation of raw damage morphology from ultrasonic C-scans. Using a ResNet18-based convolutional neural network (CNN) trained on 1,428 augmented images, the model achieved coefficients of determination (R2) of 0.7948 ± 0.0847 for compression after impact (CAI) strength and 0.9436 ± 0.0098 for impact energy. Beyond prediction, this dual-purpose methodology serves …

Technology Based Assessment Of Workplace Biomechanical Risk: A Roadmap For Process Improvement, Tamer Adel Mohamed, Noha Mostafa, Ahmed Elsayed

Mechanical Engineering

The main objective of this paper is to develop a methodology for assessing the biomechanical risk in the workplace and design and apply improvements to reduce this risk by redesigning the working process. The risks are measured using Ergonomics tools to assess body posture and lifting index. Kinect sensor and video recordings are utilized to evaluate the joints' positions as an input for body posture data. Then, the specialized CATIA V5 software [26] is used to simulate the workers' bodies in the form of 3D models. Risk factors were assessed, and a new design was developed to be implemented in …

Comparative Experimental Analysis Of Vertical And Inclined Bifacial Pv Panels Under Varying Azimuthal Angles In Egypt For Agrivoltaics Systems, Ahmed Elbaz, Yahia Hassanein Nr, Iman Elmahallawi Dr, Tarek Abdelsalam Dr

Mechanical Engineering

The growing deployment of photovoltaic (PV) technologies across a wide range of applications, from residential rooftops to agrivoltaic systems, has created new opportunities, such as harnessing albedo from bright surroundings, as well as challenges, including limited space availability and adverse shading effects, which urge the need for optimising space along with energy use. While vertical bifacial photovoltaic (VBPV) systems may offer a potential solution, their effectiveness against their conventional inclined counterparts remains largely unexplored in different locations. This paper presents an experimental evaluation of the energy performance of vertical and inclined Bifacial PV configurations under the different climatic conditions of …

Development Of A Simulation-Driven Evaluation System For Foreign Objects In Aircraft Structures, Daniela Garcia

Open Access Theses & Dissertations

This thesis investigates the use of simulation-driven methods to evaluate the behavior and potential impact of foreign objects within aircraft structures. Foreign Object Damage (FOD) remains a major concern in aerospace safety, as small components unintentionally left inside aircraft compartments can create uncertainty regarding their effect during flight. Although current inspection methods can detect the presence of foreign objects (FOs), they often cannot determine whether these objects pose a significant structural risk, leading to conservative maintenance decisions. To address this limitation, this work develops a simulation-based framework that integrates Computational Fluid Dynamics (CFD) and Finite Element Analysis (FEA) to evaluate …

Cylindrical Versus Spherical Self-Similar Capillary Cavity Collapse, Karl Cardin, Christophe Josserand, Raul Bayoan Cal

Mechanical and Materials Engineering Faculty Publications and Presentations

Drop tower experiments have been performed to study the capillary collapse of large high-aspect-ratio cavities. Cavities are formed by momentarily impinging the free surface of a liquid bath with a jet of air in the microgravity environment of a drop tower. The collapse may give rise to a jet and three distinct jetting regimes are identified. Simulations are performed to further investigate the phenomena. The abrupt emergence of a thin high velocity jet is observed experimentally and numerically at a specific initial cavity aspect ratio. Different power laws are identified in different regions of the cavity during the collapse providing …

The Pid-Based Three Quadcopter Uavs Formation Control Under External Disturbance, Vo Van An, Trinh Luong Mien

Makara Journal of Technology

This paper presents the design and evaluation of a formation control strategy for three quadcopter UAVs, based on a PID controller in a leader–follower structure, under the influence of external disturbances. Each UAV employs a six-degree of-freedom dynamic model and utilises a cascade PID control architecture, in which the inner control loop stabilises the attitude. In contrast, the outer control loop regulates position and maintains the formation. The PID parameters are tuned using the Ziegler–Nichols method to ensure simple implementation and low computational cost. The performance of the control system is evaluated through simulations in the MATLAB environment for two …

Optimization Of A Point Absorber Wave Energy Converter (Wec), Rutwa Dilipkumar Nagar

Electronic Theses and Dissertations 2020 - Present

This study examines the performance and optimization of a point absorber wave energy converter with a partially submerged spherical float. A comprehensive open-source computational framework integrates frequency-domain hydrodynamic analysis with time-domain simulation using Capytaine, BEMIO, and WEC-Sim. Hydrodynamic coefficients such as added mass, radiation damping, and excitation forces are calculated and integrated into the governing equation of motion using the Cummins formulation. A parametric analysis varies the float diameter and geometric configurations across several cases. Hydrodynamic coefficients and response amplitude operators are assessed to analyze system behavior and resonance characteristics. Results indicate consistent trends in normalized added mass, with radiation …

Evaluation Of Quantification Methods Applied To Overlapping Ftir Features, Benjamin P. Diehl

Reviews, Analyses, and Instructional Studies in Electrochemistry (RAISE)

Quantifying overlapping FTIR spectral features is critical for electrochemical analysis but often requires complex deconvolution. This work systematically evaluates several area ratio and proxy-based quantification methods using a controlled synthetic spectral model with varying signal-to-noise ratio, peak spacing, width, background, and data resolution. Constrained peak fitting and fixed-window integration consistently exhibit near-perfect monotonicity (Spearman ≈ 1.000) and linearity (Pearson ≈ 0.999–1.000) across all conditions. In contrast, derivative and moment-based metrics show sensitivity to peak overlap, width, and background. These results demonstrate that physically grounded area-based methods provide the most robust and reliable quantification of overlapping FTIR features.

External Force Control Of Transitional And Turbulent Flows, Cesar Alberto Leos

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Turbulence in wall-bounded flows governs momentum transport, drag, and energy efficiency in a wide range of engineering systems, yet its response to external forcing remains incompletely understood across transitional and high Reynolds number regimes. This dissertation investigates an active flow control strategy based on spanwise external forcing and demonstrates how it modifies the dynamics of transitional and turbulent channel flows with the objective of identifying the mechanisms through which forcing alters transition, flow physics, and turbulent drag reduction.

Firstly, direct numerical simulations are performed to examine the subcritical transition under external forcing. The onset and sustenance of turbulence are shown …

Vacuum Modification Of The Surface Properties Of T15k6 Hard Alloy By Plasma–Chemical Synthesis Of Tin-Cu Coatings, Aleksandr Semenov, Dmitriy Tsyrenov, Nikolay Ulakhanov, Irina Semenova, Undrakh Mishigdorzhiyn, Wen Ma, Simon C. Tung, George E. Totten

Mechanical and Materials Engineering Faculty Publications and Presentations

The design and main parameters of a plasma–chemical reactor containing two compartments are presented. One compartment houses a vacuum-arc evaporator, while the other houses a planar magnetron. The compartments are separated by a diaphragm with a dosing slot for injecting copper vapor into the TiN synthesis compartment. The conditions for the synthesis of superhard TiN-Cu composite coatings are experimentally determined. Based on established process parameters for TiN synthesis in a nitrogen-containing plasma by Ti evaporation using a vacuum-arc discharge, it is proposed to apply TiN-Cu coatings by injecting Cu vapor into the TiN synthesis area and sputtering Cu using a …

Lockheed Martin & U.S. Navy Air Pallet For Materials Handling, Samantha Ryan, Ryan Zerneke, Joshua Bible, Justin Conner, Brycen Haner, Nevan Juteram, Alexander Lacy, Gavin Lanka, Henry Lewis

Mechanical and Civil Engineering Student Publications

The purpose of this project is to design, manufacture, and deliver an Air Pallet capable of lifting heavy loads and positively engaging with the Drive Tractor for movement. This project was developed to address current maintenance hazards and difficulty, structural integrity concerns, and increase system reliability for our customers Lockheed Martin and the United States Navy.

3d Filament Recycler, Connor Easley, Stephan Jean-Baptiste, Armando Loynaz, Brody Paulk, Meagan Prouty, Tai Roberts, Jack Salcedo, Vanessa Tohorton, Alex Tremblay, Ruhaan Zaveri

Mechanical and Civil Engineering Student Publications

The purpose of the project is to design and manufacture an integrated system for the L3HSDC that can recycle 3D filament waste by shredding, heating, extruding, and spooling it.

The Matear System, Kylie Strong, Adel Siraeva, Julianna Bartus, Lilly Davies, Cameron Deen, Rayna Doty, Amiana Mata, Jack Minners, Matthew Skwiot

Mechanical and Civil Engineering Student Publications

The MATEAR attachment collects regolith simulant and uses compression and heat to form brick-like building blocks for sustainable infrastructure. It mounts to the Clearpath Robotics Husky A200 rover provided by the team’s faculty advisor.