Engineering Commons^™

Real-Time Motion Controller For Human-Robot Teams Utilizing Artificial Potential Fields, Gabriella Graziani

Theses and Dissertations

This thesis presents a real-time robotic motion control system for human-robot teams. The framework utilizes artificial potential fields (APFs) to guide robotic agents towards a “goal” agent while navigating around “obstacle” agents; these goals and obstacles are also dynamic agents with their own set of tasks. This system is also developed for a live-programming environment, where a controlling agent updates the tasks of all agents within the system at any time during the system’s runtime. This motion controller was created and tested for a human-robot choreographic team. After the controller was fully integrated on a Trossen Robotic LoCobot Wx200 robotic …

Numerical Study Of Sediment Suspension Affected By Rigid Cylinders Under Unidirectional And Combined Wave-Current Flows, Sha Lou, Xiaolan Chen, Shengyu Zhou, Gangfeng Ma, Shuguang Liu, Larisa Dorzhievna Radnaeva, Elena Nikitina, Irina Viktorovna Fedorova

Civil & Environmental Engineering Faculty Publications

Sediment transport modeling for flows with cylinders is very challenging owing to the complicated flow–cylinder–sediment interactions, especially under the combined wave-current flows. In this paper, an improved formulation for incipient sediment suspension considering the effect of cylinder density (i.e., solid volume fraction) is employed to simulate the bottom sediment flux in the flow with cylinders. The proposed model is calibrated and validated using laboratory measurements under unidirectional and combined wave-current flows in previous studies. It is proved that the effects of cylinders on sediment suspension can be accounted for through a modified critical Shields number, and the proposed model is …

Are Ride-Hailing Services Safer Than Taxis? A Multivariate Spatial Approach With Accomodation Of Exposure Uncertainty, Guocong Zhai, Kun Xie, Hong Yang, Di Yang

Civil & Environmental Engineering Faculty Publications

Despite many research efforts on ride-hailing services and taxis, limited studies have compared the safety performance of the two modes. A major challenge is the need for reliable mode-specific exposure data to model their safety outcomes. Moreover, crash frequencies of the two modes by injury severities tend to be spatially and inherently correlated. To fully address these issues, this study proposes a novel multivariate conditional autoregressive model considering measurement errors in mode-specific exposures (MVCARME). More specially, a classical measurement error structure is used to accommodate the uncertainty of mode-specific exposures estimated, and a multivariate spatial specification is adopted to capture …

Experimental Evaluation Of Micro-Epidermal Actuators On Flexible Substrates, Courtney D. Bradley

Graduate Research Theses & Dissertations

Does embedding actuators in a flexible substrate increase their performance in hearing aids? What are the differences in damping experienced by actuators of different diameters and at different locations? At what frequency is peak acceleration achieved and what role does the size of the actuator and embedding it in a flexible substrate play? These questions will form the basis of this thesis. This work was done to develop a small non-invasive Band-Aid-©-like hearing aid. The novelty of this device requires a detailed analysis of piezoelectric actuators. This is a continuation of past students’ work on the topic. The main parameters …

Coulomb Blockade-Mediated Field Emission Sources Using Ultra-Nanocrystalline Diamond, Jevin Jensen

Graduate Research Theses & Dissertations

Coulomb Blockade effects in field emission provide interesting means of achieving brighter electron sources for numerous applications, ranging from vacuum electronics to the next generation of electron beam technology. Microelectronics cleanroom methods are presented in this thesis for production of field emission sources moderated by the Coulomb Blockade. The use of common processes is an essential step toward widespread experimentation with Coulomb Blockade-mediated field emission apparatuses. The main feature to be explored is the use of nano-diamond films for their potential applicability for this desired outcome. Ultra-Nanocrystalline Diamond is used in two different ways to achieve this, both as a …

Surface Modified Titanium And Doxycycline Loaded Pcl/Plga Nanofibers For Improved Cellular Interaction And Biocompatability, Dexter D. Kling

Graduate Research Theses & Dissertations

Biomaterials play an important role in modern medicine through their complexfunctionalities, as implants, grafts, and drug delivery systems. The addition of dopants and biomolecules in biomaterials offers unique solutions to common issues and provides new methods of improving overall health. In our work, we examined osteoblast cell interactions with titanium (Ti) after alkali treatment and deposition of magnesium (Mg) and iron (Fe). We also studied the antibacterial properties of doxycycline loaded polymeric nanofibers produced via electrospinning. To study the biological properties of surface-modified Ti, we first prepared commercially pure titanium samples by grinding and polishing, then performed alkali treatment in …

Part Design Geometry-Driven Toolpath Optimization For Additive Manufacturing Energy Sustainability Improvement, David Kolawole Somade

Graduate Research Theses & Dissertations

One of the most promising new manufacturing technologies in the past three decades isadditive manufacturing (AM), also commonly known as three-dimensional (3D) printing or rapid prototyping. The energy consumption problem in AM can be significant when it is adopted at the industrial scale or used under resource-restricted conditions. The energy consumption of an AM process is influenced by several factors including bed heating, filament extrusion, material infill, component cooling, etc. All these factors are further determined by the equipment and the toolpath for a specific printing task. Build orientation and tool-path direction are frequently used to optimize part and process …

Diffuse Scattering And 3d-∆Pdf Analyses: Order-Disorder Phase Transitions In (Sr1−Xcax)3rh4sn13 And Nano2, Puspa Upreti

Graduate Research Theses & Dissertations

Classification of structural phase transitions as being of the displacive or order-disorder types is usually done based on spectroscopic measurements performed above the transition. Transitions of the displacive type typically occur when soft phonon modes condense upon approaching the phase transition, whereas those of the order-disorder type are characterized by structures in which the atoms are located randomly above the phase transition at T* at the minima of a multiwell potential. In the ordered state, i.e., when T

We have performed single crystal x-ray scattering experiments and three-dimensional pair distribution functions (3D-∆PDF) analyses to understand the nature of phase transitions …

Mechanical Behavior Of Metallic Core-Shell Nanoparticles Under Compressive Loading, Phillip Tomich

Graduate Research Theses & Dissertations

Core/shell metallic nanoparticles have been shown to be a promising material type for additive manufacturing in the aerospace and automotive fields. Within additive manufacturing they will be used to accurately make an array of nanoparticles within the grains of metal matrix composites. This in turn will help to strengthen the material while remaining ductility and light weight. In this study, copper/aluminum core/shell nanoparticles are compressed under [100], [110], [111], and [112] directions to showcase their anisotropic material properties. Models of their individual counterparts were also investigated. There are no previous works showing the deformation mechanisms of copper/aluminum core/shell nanoparticles. Molecular …

Thermal Analysis Of Thermal Shield For Pip-Ii Ssr1 Cryomodule, Victor Aguado Rodriguez

Graduate Research Theses & Dissertations

Fermilab's PIP-II project plans to enhance the onsite accelerator into the world's most intense neutrino beam, bringing Fermilab into the next generation of particle accelerators. The five different types of cryomodules are vital parts of the PIP-II project and each requires numerous engineering analyses to prove operation. For example, the thermal shield of the Single Spoke Resonator-1 (SSR1) cryomodule required a thermal analysis to ensure the design was operating as intended before fabrication commenced. The thermal shield is cooled by the supercritical helium inside of the extrusion and must remain between 45 and 80 Kelvin. The main purpose of the …

Prioritized Object Detection Integrating Fuzzy Logic Risk Assessment And Planned Path., Khatereh Mohammadi

Graduate Research Theses & Dissertations

Nowadays, Autonomous Vehicles are in the spotlight as a response to the challenges stemming from population growth, worsening traffic congestion, and rising road accidents. Researchers and companies are concentrating on developing Automated Driving Systems (ADS) to tackle these issues.Of the various components that constitute an autonomous vehicle, perception plays a pivotal role, akin to the function of human eyes and the human brain. Therefore, ensuring precise and reliable perception within Autonomous Vehicles is paramount. This thesis is inspired by the principles of human perception, particularly on the road, and endeavors to replicate this process. Just as a human driver does …

A High-Precision Electron Emission Model: Computational Methods For Nanoscale Structures, Alister J. Tencate

Graduate Research Theses & Dissertations

The high-intensity, high-brightness and precision frontiers for charged particle beams are an increasingly important focus for study. Electron microscopy has demonstrated high quality beams from a single nanotip emitter, and cathodes of structured nanoscale arrays show promise as ultracold electron sources. Optimization of the cathode design for precision applications necessitates a detailed treatment of the interplay between the structure geometry, quantum mechanical emission mechanism, and electromagnetic interactions between the emitted electrons and the boundary interface. This dissertation details the numerical tools developed to simulate these processes efficiently with enough fidelity to be accurate even in the ultracold regime.

Conventional simulation …

Reconfigurable Microfluidic Circuits Through Modular Surface Driven Microfluidic Diode Valves, Selina Cervantes

Graduate Research Theses & Dissertations

In this thesis, we explore the rapidly evolving landscape of healthcare and diagnostics, shaped by the transformative impact of the COVID-19 pandemic. The focus of Point-of-care showcases innovative breakthroughs in microfluidics, capillary action, and lateral flow technology that are revolutionizing medical diagnostics. We delve into the mechanics of current assays, particularly in resource-limited settings. We then unveiled the introduction of a novel fluidic diode valve, designed to enhance lateral flow assays (LFAs) for point-of-care diagnostics. This diode design boasts a unidirectional flow mechanism, and our proof-of-concept experiments validate its potential for scalability, precise flow control, and applications in complex lateral …

Assessing A Byproduct Of The Cbd Ethanol Extraction Process For Potential As A Wood Finishing Product, Avani M. Flanagan

Masters Theses

Developments in regulations concerning the use of CBD products as therapeutic remedies have allowed the global cannabidiol (CBD) market to take off within the past five years. Despite producers of CBD oil wanting to optimize their methods and increase product yields, several waste streams still exist. During the winterization phase of the ethanol extraction process, CBD oil is cooled and filtered so the fats, waxes, and lipids from the Cannabis sativa plant can coagulate and be removed, creating a purer oil with higher potency but contributing to the 58% (crude weight) total loss that occurs throughout the process. The removed …

Physics Infused Lstm Network For Track Association Based On Marine Vessel Automatic Identification System Data, Tasmiah Haque

Graduate Theses, Dissertations, and Problem Reports (ETD)

In marine surveillance, a crucial task is distinguishing between normal and abnormal vessel movements to timely identify potential threats. Subsequently, the vessels need to be monitored and tracked until necessary action can be taken. To achieve this, a track association problem is formulated where multiple vessels' unlabeled geographic and motion parameters are associated with their true labels. These parameters are typically obtained from the Automatic Identification System (AIS) database, which enables real-time tracking of marine vessels equipped with AIS. The parameters are time-stamped and collected over a long period, and therefore, modeling the inherent temporal patterns in the data is …

An Artificial Neural Network Approach To Predicting Formation Stress In Multi-Stage Fractured Marcellus Shale Horizontal Wells Based On Drilling Operations Data, Moudhi Alawadh

Graduate Theses, Dissertations, and Problem Reports (ETD)

The distribution of the anisotropic minimum horizontal stress, both in horizontal and vertical directions, is necessary for effective hydraulic fracture treatment design in Marcellus Shale horizontal wells. Typically, the minimum horizontal stress can be estimated sonic logs. However, sonic log data is not commonly available for the horizontal Marcellus shale wells due to the complexity and cost. The objective of this research is to predict the anisotropic minimum horizontal stress by utilizing drilling parameters including depth, weight-on-bit (WOB), revolution per minute (RPM), standpipe pressure, torque, pump flow rate, and the rate of penetration (ROP). More specifically, artificial neural network (ANN) …

Leveraging Artificial Intelligence And Geomechanical Data For Accurate Shear Stress Prediction In Co2 Sequestration Within Saline Aquifers (Smart Proxy Modeling), Munirah Alawadh

Graduate Theses, Dissertations, and Problem Reports (ETD)

This research builds upon the success of a previous project that used a Smart Proxy Model (SPM) to predict pressure and saturation in Carbon Capture and Storage (CCS) operations into saline aquifers. The Smart Proxy Model is a data-driven machine learning model that can replicate the output of a sophisticated numerical simulation model for each time step in a short amount of time, using Artificial Intelligence (AI) and large volumes of subsurface data. This study aims to develop the Smart Proxy Model further by incorporating geomechanical datadriven techniques to predict shear stress by using a neural network, specifically through supervised …

Artificial Intelligence And Multi-Physics Approach For Electrocoagulation Parameter Selection, Adam Cotton

Graduate Research Theses & Dissertations

Proper treatment of wastewater is crucial to maintain the health of the public and avoid pollution of the environment. Methods like filtering and chemical coagulation have been utilized to treat wastewater, but they have significant limitations such as inefficient treatment of micro-size pollutants, generation of secondary contaminants, and high operation and maintenance costs. The electro-coagulation system which generates coagulants from low-cost aluminum electrodes under the application of a current has received strong attention as a promising water treatment system. However, the EC system has not been fully utilized yet due to lack of understanding and operation guidelines.

In this study, …

Analysis Of Localization Algorithms For Wireless Sensor Networks Using Binary Data, Alexander Joseph Hart

Graduate Research Theses & Dissertations

The detection, localization, and tracking of environmental and physical conditions can be accomplished using wireless sensor networks (WSNs). Recent advancements in sensors, processors, and wireless communications have improved the quality and acquisition speed of data in WSNs. However, the data gathered by a WSN is inherently random due to component and environmental variations. Thus, statistical signal processing algorithms are needed to analyze the random data in a robust way. Though many algorithms for the analysis of random data are established and available, they are problem-specific and must be adapted to the application. This thesis provides an analysis of established localization …

Strongly Correlated Electron Systems: Rare- And Alkaline-Earth Manganese- And Nickel-Based Perovskite Oxides, Elena Krivyakina

Graduate Research Theses & Dissertations

This work is an academic exploration of the capacity to manipulate the characteristics of strongly correlated electron systems, specifically transition metal perovskite oxides, through chemical substitutions and structural modifications. The high flexibility of the perovskites offers prospects for customizing materials with specific functionalities, thereby holding promise for the advancement of innovative technologies in diverse industries, ranging from electronics and energy to information storage and spintronics. My research focuses on a comprehensive overview of investigations I conducted on three specific compositions, namely alkalineand rare-earth manganese-based and nickel-based oxides, denoted as (Sr, Ba)(Mn, T i)O3−δ, (Y, T b)MnO3+δ, and (Sr, La)N iO3−δ. …

Analysis Of The Effect Of Surface Roughness In Additive Manufacturing On Thermo-Hydraulic Performance By Ml Models Supported By Physics-Based Modeling, Kaylen A. Platt

Graduate Research Theses & Dissertations

Heat exchangers (HX) are crucial components of thermal control systems which facilitate proper transfer of heat in systems such as nuclear reactors. This research focuses on the heat transfer-enhancing effect associated with turbulence in fluid flowing conduits. Turbulence can be induced at low flow rates when surface roughness is present on channel walls. Rough surfaces are typically regarded as a flawed product of the Additive Manufacturing (AM) process during the construction of Heat Exchangers. Machining surface finishes onto AM parts is a typical post-processing method used to remove the roughness. Thorough investigations have not yet been published on the effects …

Sampling Methods And Transportation Analysis Of Shipping Containers, Omar Roman-Sanchez

Graduate Research Theses & Dissertations

Biomass is a perpetually burgeoning commodity as a sustainable energy resource, but some of the consistent drawbacks are transportation and sampling. The efficiency of pick-up and delivery to conversion facilities needs to be sufficient to allow for longer transport distances. Concurrent work explores the viability of using 20 ft intermodal shipping containers by using a screw auger to pack biomass feedstocks (miscanthus and corn stover) in ¼-scaled containers, which resulted in dry matter packing densities exceeding 8 lb/ft3. Full analysis of compaction energy plus transportation needs was found to understand net positive energy return on investment. To enhance the sampling …

The Application Of Photoelectron Spectroscopies In Analyzing The Impact Of Interfacial Energetics On Perovskite Solar Cells, Tuo Liu

Theses and Dissertations--Chemistry

In recent years, organic-inorganic metal halide perovskites (HP) have garnered tremendous attention in photovoltaic research. This attention is attributed to their low cost and excellent optoelectronic properties, including large absorption coefficients, tunable bandgaps, long charge-carrier diffusion lengths, and low densities of deep trap states. Inverted p-i-n architecture perovskite solar cells (PSCs) are of intense interest and are generally regarded as more amenable to low-temperature solution processing. Nevertheless, the development of inverted PSCs is lagging the conventional architecture devices. Imperfect energy level alignments and charge carrier recombination, especially at the interface between perovskite and electron transport layers (ETLs), are two main …

Design And Development Of A Smartphone App For Health Monitoring And Alerts For Farm Workers, Omer Oztoprak

Graduate Research Theses & Dissertations

This thesis presents the design and development of a novel smartphone applicationfor simultaneous health monitoring and alerts for agricultural workers using multiple wearable sensor devices via Bluetooth Low Energy (BLE). The application combines health data from a range of sensors such as an IMU that detects body movement, a pulse oximeter that captures oxygen saturation and heart rate, and a thermometer that measures body temperature. The software framework is built using Jetpack Compose in Android Studio, and it incorporates the MVVM (Model- View-ViewModel) model to provide optimized data flow and robust efficiency. By integrating the Dagger Hilt Dependency Injection framework, …

Study Protocol To Analyze The Effects Of Occupational Exoskeleton Use On Balance Control, Vishnu Sai Prabhakarababu

Graduate Research Theses & Dissertations

Work-related musculoskeletal disorders (MSDs) represent a prevalent concern affecting a wide range of industries. Occupational exoskeletons have garnered attention as a potential solution to alleviate the risk of MSDs by reducing mechanical loads on susceptible body regions. A critical knowledge gap exists regarding the complex interactions between exoskeleton use and the human body, particularly in work environments prone to slips, trips and falls. This thesis work was part of a funded research aiming to determine the effects of exoskeleton use on balance control. The primary purpose of this thesis work was to determine a reliable maker placement protocol that will …

Using The Best - Worst Scale To Assess The Relative Impact Of These Behaviors On Other Passengers On The Same Flight: The Disruptive Passenger Behavior, Quynh Thi Nhu Phan, Vi Tran, Nhan Huu Huynh, Thao Phuong Huynh, Duc Nhan Ho

International Journal of Aviation, Aeronautics, and Aerospace

A method called the best-worst scaling method is proposed to overcome these problems by asking respondents to make tradeoffs among the variables being assessed. This paper raises issues in respect of supplementing and developing a block of disruptive behaviors exhibited by passengers during flights and assesses the impact of these behaviors on other passengers. To illustrate the proposed method and evaluate its performance, we surveyed 240 passengers, and data from 203 survey samples were analyzed. The data analysis results revealed three behaviors that were considered the most disruptive, including (1) Threatening and causing distress, (2) Harassment and disrupting public order, …

Second Victim Syndrome And Organizational Support For Healthcare Providers: A Scoping Review, K R. Petryszyn, J P. Young, E R. Neil, J E. Benedict, L E. Eberman

Clinical Practice in Athletic Training

Introduction: Healthcare providers may experience critical incident, medical error, or other adverse patient events in their clinical practice. Those that do encounter such events, may experience second victim syndrome (SVS), a condition in which providers feel psychological, cognitive, or physical reactions rendering care in these instances. Those with SVS may experience symptoms such as anxiety, depression, or burnout. Organizational support may mediate the impacts of SVS after an adverse patient event. We conducted a scoping review to explore and synthesize the literature on the support strategies implemented by healthcare organizations in the United States, for healthcare providers, after adverse patient …

Ocean Vector Wind Measurement Potential From The Global Precipitation Measurement Mission Using A Combined Active And Passive Algorithm, Alamgir Hossan

Electronic Theses and Dissertations, 2020-2023

Ocean surface vector wind (OVW) is an essential parameter for understanding the physics and dynamics of the ocean-atmosphere system, thereby improving weather forecasting and climate studies. Satellite scatterometers, synthetic aperture radars, and polarimetric microwave radiometers have provided almost global coverage of ocean surface vector wind for the last four decades. Nonetheless, a consistent and uninterrupted long-time data record with the capability of resolving sub-diurnal variability has remained a critical challenge over the years. The Global Precipitation Measurement Mission (GPM) is a satellite mission designed to provide space-based precipitation information on a global scale with complete diurnal sampling. This dissertation presents …

Studying And Troubleshooting Lubricity Test On Pressure Wire X Proximal And Distal Coatings, Usama A. Khan

All Graduate Theses, Dissertations, and Other Capstone Projects

Coatings of guidewires used in medical device manufacturing industry are one of the most important element aspects. It defines its efficiency to penetrate through tightest of canals and curves. Guidewires are put through controlled environment to accelerate its age and tested for its mechanical features. Pressure Wire X failed the lubricity testing after being tested by multiple operators and at alternate sites. A cause-and-effect diagram shows all potential causes of test failure. The human factor involved in the test failure was investigated through multiple Gage R&R and training records. Calibration error with the lubricity tester DL1000 was identified and solved …

Design And Development Of Smart Wardrobe Technology, Mikhail Filatov

All Graduate Theses, Dissertations, and Other Capstone Projects

The increasing demand for online shopping in the 21st century is causing rapid growth in technology and methods in marketing and sales fields. Present thesis work scrutinizes the process of design and development of the device that simplifies the process of trying on and buying clothes in online retail stores, the development of which is based on the known basics of operational, mechanical, and electrical designs for computational systems, with account for ergonomics and manufacturing sustainability. The following research represents the market analysis for competition identification, description of all operational modes of the system, list of mechanical and electrical components …