Engineering Commons^™

Cytongrasp: Cyton Alpha Controller Via Graspit! Simulation, Nicholas Wayne Overfield

Masters Theses

This thesis addresses an expansion of the control programs for the Cyton Alpha 7D 1G arm. The original control system made use of configurable software which exploited the arm’s seven degrees of freedom and kinematic redundancy to control the arm based on desired behaviors that were configured off-line. The inclusions of the GraspIt! grasp planning simulator and toolkit enables the Cyton Alpha to be used in more proactive on-line grasping problems, as well as, presenting many additional tools for on-line learning applications. In short, GraspIt! expands what is possible with the Cyton Alpha to include many machine learning tools and …

Comparative Study On Posture And Its Influences On Horizontal Ground Reaction Forces Generated By Muscles: Implications For Crouch Gait, Hoa Xuan Hoang

Masters Theses

Crouch gait decreases walking efficiency due to the increased knee and hip flexion during the stance phase of gait. Crouch gait is generally considered to be disadvantageous for patients with cerebral palsy; however, a crouched posture may afford biomechanical advantages that lead some patients to adopt a crouch gait.

To investigate one possible advantage of crouch gait, a musculoskeletal model created in OpenSim was placed in 15 different postures from upright to severe crouch during initial, middle, and final stance of the gait cycle. A series of optimizations were performed for each posture to maximize ground reaction forces for the …

Automated Visual Monitoring Of Machining Equipment, Timothy Wayne Ragland

Masters Theses

Metalworking equipment is designed to modify a sheet, rod, or block of metal material in order to shape it for a specific application. This equipment can operate on the metal by bending it, drilling through it, or by cutting it. For small-scale operations, many tools require a significant amount of manual input. Unless the operator has extensive training and experience, the manual input may not be precise enough for fine details that may be needed in some applications. For example, with a bending brake, obtaining an accurate angle for the bend may be quite difficult. For a particular application, an …

Transverse Waves In Simulated Liquid Rocket Engines With Arbitrary Headwall Injection, Charles Toufic Haddad

Masters Theses

This work introduces a closed-form analytical solution for the transverse vorticoacoustic wave in a circular cylinder with arbitrary headwall injection. This particular configuration mimics the conditions leading to the onset of traveling radial and tangential waves in a simple liquid rocket engine (LRE). Assuming a short cylindrical chamber with an injecting headwall, regular perturbations are used to linearize the problem’s mass, momentum, energy, ideal gas and isentropic relations. A Helmholtz decomposition is subsequently applied to the first-order disturbance equations, thus giving rise to a compressible, inviscid and acoustic set that is responsible for driving the unsteady motion and to an …

Prognostics-Based Two-Operator Competition For Maintenance And Service Part Logistics, Faranak Fathi Aghdam

Masters Theses

Prognostics and timely maintenance of components are critical to the continuing operation of a system. By implementing prognostics, it is possible for the operator to maintain the system in the right place at the right time. However, the complexity in the real world makes near-zero downtime difficult to achieve partly because of a possible shortage of required service parts. This is realistic and quite important in maintenance practice. To coordinate with a prognostics-based maintenance schedule, the operator must decide when to order service parts and how to compete with other operators who also need the same parts. This research addresses …

Power Management For Gpu-Cpu Heterogeneous Systems, Xue Li

Masters Theses

In recent years, GPU-CPU heterogeneous architectures have been increasingly adopted in high performance computing, because of their capabilities of providing high computational throughput. However, current research focuses mainly on the performance aspects of GPU-CPU architectures, while improving the energy efficiency of such systems receives much less attention. There are few existing efforts that try to lower the energy consumption of GPU-CPU architectures, but they address either GPU or CPU in an isolated manner and thus cannot achieve maximized energy savings. In this paper, we propose GreenGPU, a holistic energy management framework for GPU-CPU heterogeneous architectures. Our solution features a two-tier …

Aeolian Simulations: A Comparison Of Numerical And Experimental Results, With Projections For Titan., Oscar Lee Mathews

Masters Theses

Aeolian processes are major determinants of geomorphology on bodies in the Solar System possessing an atmosphere-surface interface and transportable sediment, including Earth, Mars, Venus, and Titan. Substantial efforts have been made over the last few decades to understand these processes using specialized wind tunnels, field studies, and, more recently, numerical simulations. This thesis describes a model of aeolian sediment transport using computational fluid dynamics (CFD), and compares the results with those obtained in the Martian Surface Wind Tunnel (MARSWIT) testing conducted in the Planetary Aeolian Laboratory at NASA Ames Research Center. The ultimate goal of the thesis was to develop …

Latent Semantic Indexing Of Pubmed Abstracts For Identification Of Transcription Factor Candidates From Microarray Derived Gene Sets, Sujoy Roy, Kevin Heinrich, Vinhthuy Phan, Michael W. Berry, Ramin Homayouni

Faculty Publications and Other Works -- EECS

Background

Identification of transcription factors (TFs) responsible for modulation of differentially expressed genes is a key step in deducing gene regulatory pathways. Most current methods identify TFs by searching for presence of DNA binding motifs in the promoter regions of co-regulated genes. However, this strategy may not always be useful as presence of a motif does not necessarily imply a regulatory role. Conversely, motif presence may not be required for a TF to regulate a set of genes. Therefore, it is imperative to include functional (biochemical and molecular) associations, such as those found in the biomedical literature, into algorithms for …

Comparative Studies Of High-Throughput Biological Graphs, Jonathan Reyles, Charles Phillips

Faculty Publications and Other Works -- EECS

Background

The exponential growth of biological data has given rise to new and difficult challenges. Because large data is often dealt with, it is inefficient to infer from each individual characteristics of a given dataset. Bioinformaticists are developing quantitative techniques to analyze and interpret key data properties. Graph algorithms can provide powerful and intuitive insight on such properties [1]. Using this approach, we collect biological data from transcriptomic and protein-protein interaction (PPI) sources. These data can be represented as a correlation matrix, where the rows are the vertices and the columns are the edges. We will analyze these …

Bioreactor System Designs For Lipase-Catalyzed Synthesis Of Saccharide- Fatty Acid Esters In Solvent-Free Media, Ran Ye

Doctoral Dissertations

As nontoxic biobased surfactants derived from plant oils and cellulose or starch, saccharide-fatty acid esters are widely used in cosmetics, food, and pharmaceutical industries due to their biocompatibility, biodegradability as well as antimicrobial activity. Generally, saccharide-fatty acid esters are synthesized chemically under high pressure, temperature and the presence of alkaline or acid catalysts leading to low-quality products (chemo-degradation of double bonds and oxygenated moieties) and large amounts of byproducts. In contrast, biocatalytic synthesis enhances sustainability: near-ambient pressure and temperature, the absence of toxic, acids and bases catalysts, and improved selectivity of products. For lipase-catalyzed synthesis under nearly anhydrous conditions, the …

Study Of Mechanical Behaviors And Structures Of Bulk Metallic Glasses With High-Energy Synchrotron X-Ray Diffraction, Feng Jiang

Doctoral Dissertations

This dissertation addresses two critical issues in the mechanical behaviors and structures of bulk-metallic glasses (BMGs): (1) the effect of composition, fabrication method, and pretreatment of plastic deformation on mechanical properties and structures of BMGs; (2) the mechanical response and structural evolution of BMGs in the elastic and plastic region.

(Cu₅₀Zr₅₀)₉₄Al₆ and (Cu₅₀Zr₅₀)₉₂Al₈ amorphous alloys were used to study the effect of composition on mechanical properties and structures of BMGs. The (Cu₅₀Zr₅₀)₉₄Al₆ alloy exhibits lower yield stress and Young’s …

Dynamics, Electromyography And Vibroarthrography As Non-Invasive Diagnostic Tools: Investigation Of The Patellofemoral Joint, Filip Leszko

Doctoral Dissertations

The knee joint plays an essential role in the human musculoskeletal system. It has evolved to withstand extreme loading conditions, while providing almost frictionless joint movement. However, its performance may be disrupted by disease, anatomical deformities, soft tissue imbalance or injury. Knee disorders are often puzzling, and accurate diagnosis may be challenging. Current evaluation approach is usually limited to a detailed interview with the patient, careful physical examination and radiographic imaging. The X-ray screening may reveal bone degeneration, but does not carry sufficient information of the soft tissue conditions. More advanced imaging tools such as MRI or CT are available, …

The Impact Of Change On System Of Systems Performance With An Application To Small And Medium Multihospital Systems, Karima Tayeb

Doctoral Dissertations

An entity that functions as a system of systems (SoS) is composed of multiple systems that individually provide various functions which collectively provide a holistic functional capability. It is complex in design and function and tends to become even more complex over time as it evolves and responds to both internal and external changes. These changes might be in the composition or in the interoperability among its system members. Since interoperability affects how well the members work as one system, managing it is critical to the performance of the SoS over its lifespan.

In support of this goal, this dissertation, …

Performance Controlled Power Optimization For Virtualized Internet Datacenters, Yefu Wang

Doctoral Dissertations

Modern data centers must provide performance assurance for complex system software such as web applications. In addition, the power consumption of data centers needs to be minimized to reduce operating costs and avoid system overheating. In recent years, more and more data centers start to adopt server virtualization strategies for resource sharing to reduce hardware and operating costs by consolidating applications previously running on multiple physical servers onto a single physical server. In this dissertation, several power efficient algorithms are proposed to effectively reduce server power consumption while achieving the required application-level performance for virtualized servers.

First, at the server …

Dynamics Of Polymeric Solutions In Complex Kinematics Bulk And Free Surface Flows: Multiscale/Continuum Simulations And Experimental Studies, Arash Abedijaberi

Doctoral Dissertations

While rheological and microstructural complexities have posed tremendous challenges to researchers in developing first principles models and simulation techniques that can accurately and robustly predict the dynamical behaviour of polymeric flows, the past two decades have offered several significant advances towards accomplishing this goal. These accomplishments include: (1). Stable and accurate formulation of continuum-level viscoelastic constitutive models and their efficient implementation using operator splitting methods to explore steady and transient flows in complex geometries, (2). Prediction of rheology of polymer solutions and melts based on micromechanical models as well as highly parallel self-consistent multiscale simulations of non-homogeneous flows. The main …

Spatially-Dependent Reactor Kinetics And Supporting Physics Validation Studies At The High Flux Isotope Reactor, David Chandler

Doctoral Dissertations

The computational ability to accurately predict the dynamic behavior of a nuclear reactor core in response to reactivity-induced perturbations is an important subject in the field of reactor physics. Space-time and point kinetics methodologies were developed for the purpose of studying the transient-induced behavior of the Oak Ridge National Laboratory (ORNL) High Flux Isotope Reactor’s (HFIR) compact core. The space-time simulations employed the three-group neutron diffusion equations, which were solved via the COMSOL partial differential equation coefficient application mode. The point kinetics equations were solved with the PARET code and the COMSOL ordinary differential equation application mode. The basic nuclear …

Strong Spin Orbital Coupling Effect On Magnetic Field Response Generated By Intermolecular Excited States In Organic Semiconductors, Liang Yan

Doctoral Dissertations

It has been found that non-magnetic organic semiconductors can show some magnetic responses in low magnetic field (<100 >mT). When applying magnetic field, the electroluminescence, electrical current, photocurrent, and photoluminescence could change with magnetic field, which are called magnetic field effects.

Magnetic field effects are generated through spin-dependent process affected by the internal magnetic interaction. In nonmagnetic materials, hyperfine interaction has been supposed to dominantly affect the spin-dependent process recently. But the conclusion was made in weak spin-orbital coupling organic semiconductor. The hyperfine interaction might not be the main reason responsible for magnetic field effects in strong spin-orbital coupling materials. …

Behavior Of Externally Fiber-Reinforced Polymer Reinforced Shrinkage-Compensating Concrete Beams, Qi Cao

Doctoral Dissertations

The major cause of cracking in bridge decks, concrete pavements, as well as slabs on grade, is restrained shrinkage of the concrete. The resulting steel corrosion problem causes tremendous increase of maintenance and replacement cost. Shrinkage-compensating concrete (SHCC) and fiber-reinforced polymer (FRP) are explored to develop a hybrid slab system as one possible method of delaying the cracking and eliminating corrosion. To achieve the objective, a hybrid FRP reinforced SHCC structural system was developmed, and short-term and long-term behavior of this hybrid FRP-SHCC beams were investigated in this dissertation.

In the first-stage development, a series of “coffee can” tests were …

Development Of A Safeguards Monitoring System For Special Nuclear Facilities, James Joseph Henkel

Doctoral Dissertations

Two important issues related to nuclear materials safeguards are the continuous monitoring of nuclear processing facilities to verify that undeclared uranium is not processed or enriched and to verify that declared uranium is accounted for. The International Atomic Energy Agency (IAEA) is tasked with ensuring special nuclear facilities are operating as declared and that proper material safeguards have been followed. Traditional safeguards measures have relied on IAEA personnel inspecting each facility and verifying material with authenticated instrumentation.

In newer facilities most plant instrumentation data are collected electronically and stored in a central computer. Facilities collect this information for a variety …

Multi-Scale Modeling Of Polymeric Materials: An Atomistic And Coarse-Grained Molecular Dynamics Study, Qifei Wang

Doctoral Dissertations

Computational study of the structural, thermodynamic and transport properties of polymeric materials at equilibrium requires multi-scale modeling techniques due to processes occurring across a broad spectrum of time and length scales. Classical molecular-level simulation, such as Molecular Dynamics (MD), has proved very useful in the study of polymeric oligomers or short chains. However, there is a strong, nonlinear dependence of relaxation time with respect to chain length that requires the use of less computationally demanding techniques to describe the behavior of longer chains. As one of the mesoscale modeling techniques, Coarse-grained (CG) procedure has been developed recently to extend the …

Acoustic Emission And X-Ray Diffraction Techniques For The In Situ Study Of Electrochemical Energy Storage Materials, Kevin James Rhodes

Doctoral Dissertations

Current demands on lithium ion battery (LIB) technology include high capacity retention over a life time of many charge and discharge cycles. Maximizing battery longevity is still a major challenge partly due to electrode degradation as a function of repeated cycling. The intercalation of lithium ions into an active material causes the development of stress and strain in active electrode materials which can result in fracture and shifting that can in turn lead to capacity fade and eventual cell failure. The processes leading to active material degradation in cycling LIBs has been studied using a combination of acoustic emission (AE) …

Characterization And Modeling Of Toxic Fly Ash Constituents In The Environment, Zhenwei Zhu

Doctoral Dissertations

Coal fly ash is a by-product of coal combustion that has drawn renewed public scrutiny due to the negative environmental impacts from accidental release of this waste material from storage facilities. Historically, the leaching of toxic elements from coal fly ash into the environment has always been a major environmental concern. Despite extensive efforts into the characterization of coal fly ash, effective models for the fate and transport of toxic fly ash constituents have remained lacking, making it difficult to perform accurate environmental impact assessment for coal fly ash. To close this critical knowledge gap, the overall objective of this …

Modeling And Development Of A Mems Device For Pyroelectric Energy Scavenging, Salwa Mostafa

Doctoral Dissertations

As the world faces an energy crisis with depleting fossil fuel reserves, alternate energy sources are being researched ever more seriously. In addition to renewable energy sources, energy recycling and energy scavenging technologies are also gaining importance. Technologies are being developed to scavenge energy from ambient sources such as vibration, radio frequency and low grade waste heat, etc. Waste heat is the most common form of wasted energy and is the greatest potential source of energy scavenging.

Pyroelectricity is the property of some materials to change the surface charge distribution with the change in temperature. These materials produce current as …

Magnetic Field Dependent Electroluminescence And Charge Transport In Organic Semiconductors, Ming Shao

Doctoral Dissertations

It has been found that a small magnetic field (<300 mT) can substantial change the electroluminescence, photoluminescence, photocurrent, electrical injection current in nonmagnetic organic semiconductors. It is generally believed that these magnetic field effects (MFE) are related to the spin dependent processes in organic semiconductor. However, the origin of MFE is still not well understood. In this dissertation, we investigate the underlying mechanism for magnetic field effects on electroluminescence (MFE_EL) and magnetoresistance (MR) and demonstrate the complete tuning of MFE_EL and MR based on our theoretical understanding.

We consider MFE arising from magnetic field sensitive intersystem crossing (ISC) and triplet charge reaction. Magnetic field can increase the singlet ratios through ISC, accounting for positive MFE_EL. Magnetic field modulated ISC strongly depends on the electron-hole pair separation distance. MFE can be enhanced by increasing the electron hole pair distance through material mixing and interplaying the electric dipole-dipole interaction. Meanwhile, two possible mechanisms corresponding for negative MFE_{EL …}

A Low Communication Condensation-Based Linear System Solver Utilizing Cramer's Rule, Kenneth C Habgood

Doctoral Dissertations

Systems of linear equations are central to many science and engineering application domains. Given the abundance of low-cost parallel processing fabrics, the study of fast and accurate parallel algorithms for solving such systems is receiving attention. Fast linear solvers generally use a form of LU factorization. These methods face challenges with workload distribution and communication overhead that hinder their application in a true broadcast communication environment.

Presented is an efficient framework for solving large-scale linear systems by means of a novel utilization of Cramer's rule. While the latter is often perceived to be impractical when considered for large systems, it …

Turbo Bayesian Compressed Sensing, Depeng Yang

Doctoral Dissertations

Compressed sensing (CS) theory specifies a new signal acquisition approach, potentially allowing the acquisition of signals at a much lower data rate than the Nyquist sampling rate. In CS, the signal is not directly acquired but reconstructed from a few measurements. One of the key problems in CS is how to recover the original signal from measurements in the presence of noise. This dissertation addresses signal reconstruction problems in CS. First, a feedback structure and signal recovery algorithm, orthogonal pruning pursuit (OPP), is proposed to exploit the prior knowledge to reconstruct the signal in the noise-free situation. To handle the …

Development Of A Prognostic Method For The Production Of Undeclared Enriched Uranium, David Alan Hooper

Doctoral Dissertations

As global demand for nuclear energy and threats to nuclear security increase, the need for verification of the peaceful application of nuclear materials and technology also rises. In accordance with the Nuclear Nonproliferation Treaty, the International Atomic Energy Agency is tasked with verification of the declared enrichment activities of member states. Due to the increased cost of inspection and verification of a globally growing nuclear energy industry, remote process monitoring has been proposed as part of a next-generation, information-driven safeguards program. To further enhance this safeguards approach, it is proposed that process monitoring data may be used to not only …

Roles Of Polymer Crosslinking Density And Crystallinity In Regulating Surface Characteristics And Pre-Osteoblastic Mc3t3 Cell Behavior, Kan Wang

Doctoral Dissertations

This dissertation presents material design strategies to investigate cell-biomaterial interactions on specific biocompatible polymers and polymer blends by using mouse pre-osteoblastic MC3T3 cells aiming for potential applications in bone tissue engineering. Chapter 1 reviews some related background knowledge including polymeric biomaterials for tissue engineering, cell-biomaterial interaction, synthetic photo-crosslinkable and degradable polymers, and the effect of surface features on osteoblast cell responses. Chapter 2 presents photo-crosslinkable composites of poly(propylene fumarate) (PPF), an injectable and biodegradable polyester, and methacryl-polyhedral oligomeric silsesquioxane (mPOSS), which has eight methacryl groups tethered with a cage-like hybrid inorganic-organic nanostructure, for bone tissue engineering applications. Blending mPOSS with …

Challenges For The Accurate Determination Of The Surface Thermal Condition Via In-Depth Sensor Data, Bryan Scott Elkins

Doctoral Dissertations

The overall goal of this work is to provide a systematic methodology by which the difficulties associated with the inverse heat conduction problem (IHCP) can be resolved. To this end, two inverse heat conduction methods are presented. First, a space-marching IHCP method (discrete space, discrete time) utilizing a Gaussian low-pass filter for regularization is studied. The stability and accuracy of this inverse prediction is demonstrated to be more sensitive to the temporal mesh than the spatial mesh. The second inverse heat conduction method presented aims to eliminate this feature by employing a global time, discrete space inverse solution methodology. The …

Oceanic-Atmospheric And Hydrologic Variability In Long Lead-Time Forecasting, Abdoul Aziz Oubeidillah

Doctoral Dissertations

Water managers throughout the world are challenged with managing scarce resources and therefore rely heavily on forecasts to allocate and meet various water demands. The need for improved streamflow and snowpack forecast models is of the utmost importance. In this research, the use of oceanic and atmospheric variables as predictors was investigated to improve the long lead-time (three to nine months) forecast of streamflow and snowpack. Singular Value Decomposition (SVD) analysis was used to identify a region of Pacific and Atlantic Ocean SSTs and a region of 500 mbar geopotential height (Z500mb) that were teleconnected with streamflow and snowpack. The …