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Articles 151 - 180 of 4850

Full-Text Articles in Engineering

Small-Scale Production Of Bespoke Accelerated Aging Plutonium Alloy, K. S. Holliday, A. M. Parkes, Devin Rappleye, D. J. Roberts, K. J. Kondrat, S. A. Simpson, A. J. Swift, U. Mehta, R. M. Kissinger, D. L. Rosas, L. S. Ripplinger, E. R. Tardiff, S. L. Harris, S. Perkins, C. Hawkins, N. J. Gibbs, R. J. P. Driscoll, A. T. Sidambe, R. A. Cole, T. T. Roehling, J R. Jeffries Apr 2025

Small-Scale Production Of Bespoke Accelerated Aging Plutonium Alloy, K. S. Holliday, A. M. Parkes, Devin Rappleye, D. J. Roberts, K. J. Kondrat, S. A. Simpson, A. J. Swift, U. Mehta, R. M. Kissinger, D. L. Rosas, L. S. Ripplinger, E. R. Tardiff, S. L. Harris, S. Perkins, C. Hawkins, N. J. Gibbs, R. J. P. Driscoll, A. T. Sidambe, R. A. Cole, T. T. Roehling, J R. Jeffries

Faculty Publications

This study demonstrates the 100 g scale manufacture of a plutonium alloy that ages at an accelerated rate. The resulting alloy ages six times faster than typical weapons-grade plutonium due to the addition of 238Pu. As a major innovation, the process involved using a partial direct oxide reduction technique. This method was achieved by developing a new, complex geometry stirrer using additive manufacturing to reduce the 238Pu oxide and efficiently incorporate it into weapons-grade plutonium metal. The material was then purified by molten salt extraction and electrorefining before being alloyed with gallium. The alloy was then cold-rolled and …


Assessing The Impact Of Internal Flow Dynamics On Detection Region Concentrations Of Low-Cost Optical Particle Counters, Livingstone Quarshie Apr 2025

Assessing The Impact Of Internal Flow Dynamics On Detection Region Concentrations Of Low-Cost Optical Particle Counters, Livingstone Quarshie

Theses and Dissertations

Particulate matter (PM) poses significant risks to human health and the environment, making accurate measurement essential for exposure assessment and regulatory decisions. While traditional reference methods provide reliable data, they are often bulky, expensive, and difficult to maintain. Optical Particle Counters (OPCs) offer a cost-effective alternative, commonly used in clean rooms, residential spaces, and personal exposure monitoring. These devices rely on light scattering to measure PM concentrations. However, low cost OPCs face challenges related to calibration and measurement accuracy, requiring careful performance evaluation. This study used computational fluid dynamics (CFD) tools, CONVERGE Studio and ANSYS Fluent, to simulate a simplified …


In-Situ Void Formation During Liquid Composite Molding For Preformed Warp, Weft, And Alternating Orientation Rtm Samples, Tanner Cal Garrett Apr 2025

In-Situ Void Formation During Liquid Composite Molding For Preformed Warp, Weft, And Alternating Orientation Rtm Samples, Tanner Cal Garrett

Theses and Dissertations

Carbon fiber reinforced parts are utilized by the transportation industry due to being strong yet lightweight. The highest quality parts are made using carbon fiber (CF) pre-impregnated with resin processed in an autoclave to reduce void content. The autoclave process is expensive and takes up a large amount of space, so liquid composite molding (LCM) is a less expensive alternative. The parts produced using LCM can be manufactured to rival the mechanical performance of parts made with pre-preg in an autoclave, but concerns remain over voids. Most research pertaining to void formation has been done ex-situ by either micro-CT or …


Surface-Texture Fabrication Of Zirconia-Toughened Alumina Using Focused Ion-Beam Machining, Kameron M. Woodruff Apr 2025

Surface-Texture Fabrication Of Zirconia-Toughened Alumina Using Focused Ion-Beam Machining, Kameron M. Woodruff

Theses and Dissertations

Focused ion-beam machining (FIBM), a precise form of micro-machining, was tested for feasibility in the manufacturing of microscopic dimples in zirconia-toughened alumina (ZTA), a wear resistant ceramic used in artificial joint replacements. The interaction between the ion-beam and the ceramic was characterized in terms of material removal rate (MRR), surface roughness, and notable irregularities (e.g. pitting, steps at vertical faces). These characteristics were used to design and machine patterns of microscopic dimples for tribological testing. The dimple size and pattern area were limited due to a slow MRR and high cost of milling. No significant difference in the coefficient of …


Investigation Of Temperature Control's Effects In Additive Friction Stir Deposition Of Al 7050-T7451, Jason Noah Glenn Apr 2025

Investigation Of Temperature Control's Effects In Additive Friction Stir Deposition Of Al 7050-T7451, Jason Noah Glenn

Theses and Dissertations

Additive Friction Stir Deposition (AFSD) is a friction stir based process that includes the addition of material extruding through a bore in the center of the rotating tool. The deformation of the material from the tool rotation and high pressures result in fully dense depositions printed at very high rates with forged like mechanical properties. While deposition properties of varying alloys have been increasingly published, little work has been done investigating control of the process and as with all additive processes, consistency and predictability are of significant concern before implementation can occur. One common control method implemented in Friction Stir …


Isolation Structure Simulation And Measurement To Reduce Transmit-Receive Coupling In Compact X-Band Fmcw Radar, Bruce E. Averill Apr 2025

Isolation Structure Simulation And Measurement To Reduce Transmit-Receive Coupling In Compact X-Band Fmcw Radar, Bruce E. Averill

Theses and Dissertations

Transmit-receive isolation in a compact X-band FMCW radar antenna system is critical for system performance. A set of candidate isolation structures are explored. In the process, performance of a commercial FDTD EM simulation software package is evaluated for antenna array modelling. Noise parameters of receiver electronics on a prototype radar processing front-end are tested. Improvements to the BYU Microwave Lab RF anechoic chamber are also reported, with a focus on measurement repeatability and antenna pattern angular resolution.


In-Situ Rtm Videos, Tanner Garrett Apr 2025

In-Situ Rtm Videos, Tanner Garrett

ScholarsArchive Data

This data set contains videos of resin infusion experiments.


Improved Soil Parameters For Lateral Pile Analysis From Full-Scale Load Tests In Cohesionless Soil, Dallin Bruce Widmer Apr 2025

Improved Soil Parameters For Lateral Pile Analysis From Full-Scale Load Tests In Cohesionless Soil, Dallin Bruce Widmer

Theses and Dissertations

One common software program developed for analyzing single laterally loaded piles is called LPILE. Soil properties are required as input into LPILE. For sands, the soil properties required are effective soil unit weight, γ’; modulus of subgrade reaction, k; and the internal friction angle,ϕ’. There are two commonly used methods to obtain ϕ’ and subsequently k: the API method and Bolton method. Using the Bolton method to determine the soil strength properties gives more accurate load deflection values with respect to measured values from field tests. The Bolton method led to a 46% reduction in the predicted deflection error compared …


Methods For Rotating Electrodes In High-Temperature Molten Salts, Ranon Fuller, Eloise Cluff, Edward Mercado, Carlos Mejia, Devin Rappleye Apr 2025

Methods For Rotating Electrodes In High-Temperature Molten Salts, Ranon Fuller, Eloise Cluff, Edward Mercado, Carlos Mejia, Devin Rappleye

Faculty Publications

In this paper, we describe and validate a custom apparatus for performing high-speed (250-3,500 rpm) rotating electrode and dilatometer density experiments in molten salts. The reported details can aid in decreasing the difficulty and increasing the quality of such experiments. We discuss the design challenges and the solutions identified. We investigate methods for accurately measuring the solution resistance using electrochemical impedance spectroscopy (EIS), calculating the working electrode area using cyclic voltammetry (CV), and measuring the mass transfer-limited current of rotating electrodes using a series of chronoamperometry (CA) pulses. We further demonstrate the efficacy of our methods in producing accurate results.


Porous Hierarchically Ordered Hydrogels Demonstrating Structurally Dependent Mechanical Properties, Elisabeth C. Lloyd, Sujata Dhakal, Shahrouz Amini, Rami Alhasan, Peter Fratzl, Douglas R. Tree, Svetlana Morozova, Robert J. Hickey Apr 2025

Porous Hierarchically Ordered Hydrogels Demonstrating Structurally Dependent Mechanical Properties, Elisabeth C. Lloyd, Sujata Dhakal, Shahrouz Amini, Rami Alhasan, Peter Fratzl, Douglas R. Tree, Svetlana Morozova, Robert J. Hickey

Faculty Publications

While hierarchical ordering is a distinctive feature of natural tissues and is directly responsible for their diverse and unique properties, efforts to synthesize biomaterials have primarily focused on using molecular-based approaches with little emphasis on multiscale structure. Here, we report a bottom-up self-assembly process to produce highly porous hydrogel fibers that resemble extracellular matrices both structurally and mechanically. Physically crosslinked nanostructured micelles form the walls of micrometer-sized water-rich pores with preferred orientation along the fiber direction. Low elastic moduli (< 1 kPa), high elasticity (extending by more than 12 times the initial length), non-linear elasticity (e.g., hyperelasticity), and completely reversible extension are derived from unevenly distributed strain between the micrometer-sized pores and the polymer chains, which is reminiscent of cellular solids. Control of the material microstructure and orientation over many orders of magnitude (e.g., nm–μm), while holding the nanostructure constant, reveals how the multiscale structure directly impacts mechanical properties.


Reconnaissance Investigation Of Soil-Structure Harmonics And Building Collapse Patterns In The 2024 Noto And 2016 Kumamoto Japan Earthquakes, Nathan Cole Chesnut Apr 2025

Reconnaissance Investigation Of Soil-Structure Harmonics And Building Collapse Patterns In The 2024 Noto And 2016 Kumamoto Japan Earthquakes, Nathan Cole Chesnut

Theses and Dissertations

This study used ambient vibration data collected during a reconnaissance mission to assess whether harmonics between structures and the underlying soil played a significant role in the pattern of buildings that collapsed in the magnitude 7.5 Noto Japan earthquake on January 1, 2024, and the magnitude 6.2 to 7.0 Kumamoto Japan earthquake series that occurred between April 14 and 16, 2016. Portable seismometers were used to measure the natural soil and structural frequencies of vibration under ambient loading at sites in Wajima, a city located on the Noto Peninsula, and in four locations in and around Kumamoto City. Soil frequency …


Assessing The Effectiveness Of Aging Techniques On Cloning Fpga-Based Configurable Ring Oscillator Pufs, Jonathan Thompson Apr 2025

Assessing The Effectiveness Of Aging Techniques On Cloning Fpga-Based Configurable Ring Oscillator Pufs, Jonathan Thompson

Theses and Dissertations

Field Programmable Gate Arrays (FPGAs) are reconfigurable devices that are used in industries that often require increased security. Physically unclonable functions (PUFs) are a security primitive used on FPGAs for device authentication and key generation. However, the output of a PUF can be susceptible to changes in the environment, such as voltage and temperature, as well as changes in device performance that occur due to transistor aging. Previous work has shown that it is possible to induce targeted accelerated aging in order to intentionally change a PUF response, even to the point of cloning one PUF to behave like another. …


Durability Of Lightweight Concrete Bridge Decks In Utah, Lorenzo Eusebi-Diehr Apr 2025

Durability Of Lightweight Concrete Bridge Decks In Utah, Lorenzo Eusebi-Diehr

Theses and Dissertations

The objectives of this research were to document and compare properties of lightweight concrete and normal-weight concrete used for construction of bridge decks and approach slabs in northern Utah. The scope of work included field and laboratory testing to characterize concrete specimens obtained from three lightweight concrete bridge deck sites and the normal-weight concrete approach slabs at one of these sites, which were recommended by the Utah Department of Transportation for evaluation, as well as laboratory testing to characterize concrete specimens obtained through previous research on lightweight and normal-weight concrete bridge decks. For field testing, a distress survey was performed …


Advancing Global Flood Inundation Mapping From Srtm To Fabdem, Taylor James Miskin Apr 2025

Advancing Global Flood Inundation Mapping From Srtm To Fabdem, Taylor James Miskin

Theses and Dissertations

This study evaluates how elevation and hydrography inputs influence flood extent accuracy using ARC (Automated Rating Curve), a raster-based flood inundation model. It focuses on how spatial resolution and vertical accuracy, reflecting the satellite mission from which each dataset was derived, and bare-earth processing of the DEM affect the accuracy of predicted flood extents. The assessment compares four dataset combinations--FABDEM with GEOGLOWS River Forecasting System Version 1(RFS1), FABDEM with GEOGLOWS River Forecasting System Version 2(RFS2), SRTM with RFS1, and SRTM with RFS2--across five study locations: the Suncook River in New Hampshire, North Fork Kentucky River in Kentucky, Nimishillen Creek in …


Durability Of Rapid-Setting Concrete Repairs On Pavement Panels And Bridge Decks In Utah, Steven Benjamin Burdette Apr 2025

Durability Of Rapid-Setting Concrete Repairs On Pavement Panels And Bridge Decks In Utah, Steven Benjamin Burdette

Theses and Dissertations

The objective of this research was to evaluate the durability of rapid-setting concrete batched using volumetric concrete mixers and placed in a cold region. The scope of work included field and laboratory evaluations of rapid-setting concrete repairs on both pavement panels and bridge decks in Utah. Six sites in northern Utah were selected by Utah Department of Transportation (UDOT) personnel for evaluation. At the time of inspection, the repairs had been in service for 4 to 5 years. Field research included visual inspection, Schmidt rebound hammer testing, resistivity testing, and concrete sampling. Laboratory research included stiffness testing, compressive strength testing, …


Reconstruction Of Cad Models Into Single Trimmed Surfaces, Rebecca Rasmussen Apr 2025

Reconstruction Of Cad Models Into Single Trimmed Surfaces, Rebecca Rasmussen

Theses and Dissertations

Classical methods by which computer-aided design (CAD) geometries are represented for both design and analysis involve meshing. However, the current process of converting a CAD model into an analysis-suitable surface mesh for the automotive industry takes a significant amount of time and labor, results in a faceted representation of the original smooth geometry, and generates representations that are prohibitively expensive for use in high-order explicit dynamics computations. This research focuses on accurately and efficiently rebuilding given CAD surfaces or meshes, such as shell-like components of automotive vehicles, into smooth, single trimmed spline surface approximations (rather than typical piecewise-linear approximations), making …


The Influence Of Leaders And Managers In Commercial Construction, Samuel F. Merrill Apr 2025

The Influence Of Leaders And Managers In Commercial Construction, Samuel F. Merrill

Theses and Dissertations

This research explores how the distinct traits of leadership and management influence supervisory effectiveness and employee experiences in Utah's commercial construction sector. While leadership and management are often conflated, this study draws on foundational literature that defines leadership as people-centered, visionary, and empowering. In contrast, management is characterized as results-driven, process-oriented, and focused on control. Using survey data from 95 individuals working in commercial construction, the study evaluates how supervisors with leadership or managerial characteristics are perceived by their teams. Supervisors were categorized based on observable behaviors selected by respondents, distinguishing leadership traits from managerial traits. Supervisors identified as leaders …


Longitudinal Analysis Of Evergreen Forest Cover Dynamics In The Great Salt Lake Basin: A Landsat-Based Stochastic Classification Approach And Comparative Assessment With The National Land Cover Dataset, Kaleb Markert Apr 2025

Longitudinal Analysis Of Evergreen Forest Cover Dynamics In The Great Salt Lake Basin: A Landsat-Based Stochastic Classification Approach And Comparative Assessment With The National Land Cover Dataset, Kaleb Markert

Theses and Dissertations

This dissertation presents an investigation into the changes of evergreen forest cover within the Great Salt Lake Basin and its implications for regional water resources. Utilizing a Random Forest Classifier (RFC) model trained on Landsat imagery, this research developed a methodology to map and track changes in evergreen forest coverage over the period from 1984 to 2019. The initial phase of this study focused on the development of model trained within the Bear Lake sub-basin, demonstrating the feasibility of the method for analysis of coniferous coverage. The model incorporated summer and winter Normalized Difference Vegetation Index (NDVI) to enhance the …


Frost Heave Of Clayey Soils Treated With Cement Or Lime, Ammon K. Hymas Apr 2025

Frost Heave Of Clayey Soils Treated With Cement Or Lime, Ammon K. Hymas

Theses and Dissertations

The objective of this research was to measure and compare the effects of portland cement and lime at low, medium, and high concentrations on the frost-heave susceptibility of multiple clayey soils with varying plasticity indices. The scope of work included laboratory frost-heave testing of three clayey soils sampled from Monticello, Utah; Bloomington, Indiana; and San Antonio, Texas. Each soil was tested with two stabilizers, cement or lime, at three concentrations, as well as with no treatment. Two replicate samples were prepared for each combination, for a total of 42 specimens. The frost-heave testing procedures for this research involved preparing specimen …


Hydrologic Decision Support In The Nile Basin: Creating Status And Outlook Products From The Geoglows Hydrologic Model, Rachel Huber Apr 2025

Hydrologic Decision Support In The Nile Basin: Creating Status And Outlook Products From The Geoglows Hydrologic Model, Rachel Huber

Theses and Dissertations

Decision makers and stakeholders need information about current and future streamflow to make informed decisions and we show how the GEOGLOWS Hydrologic Model, known as River Forecast System (RFS), can be used to provide hydrologic status and outlook products to inform these decisions. We examine a specific use case of RFS in the Nile River Basin and how RFS is used to provide users with hydrologic status products. We work with stakeholders at the Nile Basin Initiative to assess their needs for this information. We use basic low flow calculations to compute the Standardized Streamflow Index (SSI) and the 95th …


Systematic Analysis On The Applications Of Infrastructure Asset Management In Utah, Kelvin Kozakevitch Apr 2025

Systematic Analysis On The Applications Of Infrastructure Asset Management In Utah, Kelvin Kozakevitch

Theses and Dissertations

Public infrastructure is essential to a region’s economic stability and quality of life, especially its rural infrastructure where most consumable and essential goods derive from. Given the high capital investment required for infrastructure development and maintenance, asset management plans (IAM) are critical. Even though academic research exists on the problems rural infrastructure management face, little is known about the actual state, barriers and causes for the challenges IAM faces in rural Utah. This study examines the current challenges and barriers in IAM among rural communities in Utah. Employing a grounded theory approach, data was collected through a two-phase methodology: phase …


Enabling Next-Generation Microfluidics Through Advances In High-Resolution 3d Printing, Matthew S. Viglione Apr 2025

Enabling Next-Generation Microfluidics Through Advances In High-Resolution 3d Printing, Matthew S. Viglione

Theses and Dissertations

This dissertation advances the field of microfluidic device fabrication through the development and application of high-resolution 3D printing technologies. The convergence of stereolithography (SLA) with digital light processing (DLP) has created unprecedented opportunities for microfluidic device fabrication, enabling truly three-dimensional structures with feature sizes approaching the single-micron scale. Building upon foundational work in custom 3D printer development, this research addresses critical limitations in 3D printing that have historically constrained microfluidic innovation, spanning multiple generations of custom 3D printers and technical innovations that have enabled the fabrication of increasingly complex microfluidic devices while enhancing resolution, repeatability, speed, and accessibility. A comprehensive …


A Low-Cost Micro Actuator Driven By Electrowetting-On-Dielectric, Behzad Parsi Apr 2025

A Low-Cost Micro Actuator Driven By Electrowetting-On-Dielectric, Behzad Parsi

Theses and Dissertations

Microfluidic techniques have been shown to address limitations of reconfigurable radio frequency (RF) antennas and filters in efficiency, power handling capability, cost, and frequency tuning. However, the current devices suffer from significant integration challenges associated with packaging, actuation, and control. Recent advances in reconfigurable microfluidics that utilize the motion of a selectively metalized plate (SMP) for RF tuning have demonstrated promising RF capabilities but have exposed a need for an accurate fluid actuation model. This research presents models for the dynamics of plate actuation under multiple scenarios. In the first phase, the mechanical motion of a moving plate (e.g. SMP) …


Heavy Ion Testing Of Versal Acap Ai Engines, Caleb S. Price Apr 2025

Heavy Ion Testing Of Versal Acap Ai Engines, Caleb S. Price

Theses and Dissertations

With recent developments in artificial intelligence (AI), there has been an ever increasing need for computation power in space. These AI models are traditionally implemented on GPUs. However, these units come at a high cost in terms of weight and power usage. Due to these limitations, many organizations are turning to the Versal ACAP device, a system on chip (SOC) with hundreds of AI engines. This option delivers more computation per watt than a traditional GPU. The desire to use Versal ACAP in space has created a need to perform radiation testing on the device. Extensive testing has been performed …


Gnss-Denied Navigation Using Lte Signals Of Opportunity On Low-Cost, Low-Swap Hardware, Tyler Sweat Apr 2025

Gnss-Denied Navigation Using Lte Signals Of Opportunity On Low-Cost, Low-Swap Hardware, Tyler Sweat

Theses and Dissertations

Global navigation satellite system (GNSS) navigation is crucial in the operation of unmanned aerial vehicles (UAV). GNSS signals are susceptible to jamming, spoofing, multipath, and urban canyons and may provide incorrect position information or may not be available at all. For autonomous missions, a backup for GNSS is desirable in the event that it is unavailable. Terrestrial cellular signals are a promising option for navigation because they are continuously transmitted at higher power levels. Optimizing hardware size, weight, and power (SWaP) is critical for UAVs to maximize endurance, payload capacity, and operational efficiency. We present a system that uses long-term …


Measuring The Effects Of The Leaves On Stalk Strength And Dynamic Response In Maize, Grant C. Ogilvie Apr 2025

Measuring The Effects Of The Leaves On Stalk Strength And Dynamic Response In Maize, Grant C. Ogilvie

Theses and Dissertations

Maize is one of the most widely cultivated grains in the world, making it crucial to world food security and important economically. One major problem in maize production is stalk lodging (greensnap), which results in billions of dollars in lost harvests annually for maize farmers in the US alone. Understanding the mechanical properties of maize plants is crucial to addressing this problem. Previous studies have suggested that the leaf blades and leaf sheaths affect maize mechanical properties. The objectives of this thesis are twofold: to present measurement techniques for the stalk bending strength, damping ratio, and natural frequency of maize …


A Novel Wrench Decomposition And Development Of A Large-Scale Soft Robot For Displacement-Based Human-Robot Collaborative Manipulation, Dallin Cordon Apr 2025

A Novel Wrench Decomposition And Development Of A Large-Scale Soft Robot For Displacement-Based Human-Robot Collaborative Manipulation, Dallin Cordon

Theses and Dissertations

This work represents an examination of various facets of physical human-robot collaborative manipulation and the implementation of compliant, soft-robotic manipulators. A survey of physical human-human interaction and haptic communication is presented, alongside an investigation into the decomposition of force and torque components that enable effective human-robot collaboration. To address the inconsistent terminology found in previous literature, a standardized framework for force decomposition is proposed. A new taxonomy is introduced to categorize the force components involved in collaborative manipulation tasks. This taxonomy clarifies the role of each component in an agent's applied force during task execution and provides a structured framework …


Testing And Modeling Of Nonlinearities In Riveted And Bolted Structures, Joshua E. Blackham Apr 2025

Testing And Modeling Of Nonlinearities In Riveted And Bolted Structures, Joshua E. Blackham

Theses and Dissertations

Joints are difficult to model because of various small-scale and nonlinear features, such as local geometry, preload, friction and contact. These features cause a local change in stiffness and energy dissipation which result in changes in the effective natural frequency and damping of the whole structure. Past studies have found good success using nonlinear Iwan elements as whole joint models for bolted joints in a few different structures. In Chapter 3, a similar approach is proposed for modeling riveted joints, which seeks to capture the vibrational response of a test structure including changes in the effective modal frequency and damping …


Wind Collapse Risk And Serviceability Drift Of Steel Concentrically Braced Frame Buildings, Sarah Corrinne Partington Cluff Apr 2025

Wind Collapse Risk And Serviceability Drift Of Steel Concentrically Braced Frame Buildings, Sarah Corrinne Partington Cluff

Theses and Dissertations

Seismic design provisions use the ductility and reserve strength of the lateral structural system to reduce the loads used in design, making the structural design more economical while maintaining life safety. In contrast, current wind design provisions do not. Conventional wind design relies primarily on elastic behavior. The objective of this study is to determine a wind response modification factor for steel concentrically braced frames that could be applied to reduce wind design loads based on ductility and reserve strength, while still meeting drift requirements for serviceability of the structure. To achieve the objective, three types of ductile braced frames …


Steps Towards Effective Human-Robot Co-Manipulation Through Real-Time Modus Detection And Effects Of Stiffness Variation For Human-Soft-Robot Dyads, Shaden Moss Apr 2025

Steps Towards Effective Human-Robot Co-Manipulation Through Real-Time Modus Detection And Effects Of Stiffness Variation For Human-Soft-Robot Dyads, Shaden Moss

Theses and Dissertations

A group of individuals can coordinate very easily to carry a large or heavy object together. This act of collaborative carrying is called co-manipulation. Unlike human teammates, robots cannot easily detect and respond to the intent of human partners during co-manipulation tasks. This shortcoming can be compensated for via the physical design and the software design of robots. This work treats software design with a neural net that detects human modus (or the manner in which a team moves an object together) in real time. This work treats physical design with the use of a soft robot in human-robot co-manipulation, …