Mechanical Engineering Commons^™

Design And Data-Driven Identification Of A Quadruped Robot, Dakota Rufino

All Theses

The existence of nonlinearities and the lack of sufficient equations are fundamental challenges in modeling, analyzing, and controlling complex systems. However, recent developments revolutionizing the study of dynamical systems. An emerging method in nonlinear dynamical systems is the Koopman operator theory, which provides us with key advantages in performing the modeling, prediction, and control of nonlinear systems. The linear system representation allows us to leverage linear stability analysis. The first section of this thesis briefly covers the construction of a quadrupedal robot, a sufficiently complex nonlinear dynamical system, for the use of analyzing data-driven modeling techniques. The second section details …

Using Immersive Technology To Improve Mechanical Design: Use Cases, A Review Of Current Technology, And An Experiment In Requirement Elicitation In Virtual Reality, William Hawthorne

All Theses

There has been a growing trend in the use of immersive technologies within engineering design. This research is focused on understanding how Virtual Reality (VR) technologies support design reviews. Modern tools including virtual reality hardware and software were tested for current capabilities and challenges. In a review of literature, two key gaps are identified: the rapid advancements of VR and AR technology and limited formal studies to determine the costs and benefits of immersive technology within engineering design reviews. This research has resulted in three key outcomes. First, use cases of immersive reality technologies are identified, through the lens of …

Laser Stabilization Through Optical Turbulence, Liam Vanderschaaf

All Theses

Laser jitter presents a significant issue in the fields of laser communication and sensing. There are two main categories of positional noise in regards to the instantaneous centroid of a laser propagating over long distances: jitter resulting from optical turbulence and jitter resulting from mechanical vibrations. Optical turbulence was generated using Clemson University’s Variable Turbulence Generator (VTG). The VTG is capable of creating a desired level of optical turbulence that is comparable to atmospheric conditions with fried parameters greater than 0.3 cm. A gaussian laser was transmitted through the VTG and a system of Fast Steering Mirrors and Position Sensing …

Classification Of Electrical Current Used In Electroplastic Forming, Tyler Grimm

All Dissertations

Electrically assisted manufacturing (EAM) is the direct application of an electric current to a workpiece during manufacturing. This advanced manufacturing process has been shown to produce anomalous effects which extend beyond the current state of modeling of thermal influences. These purported non-thermal effects have collectively been termed electroplastic effects (EPEs).

While there is a distinct difference in results between steady-state (ideal DC) testing and pulsed current testing, the very definition of these two EAM methods has not been well established. A "long" pulse may be considered DC current; a "short" pulse may produce electroplastic effects; and even "steady-state" current shapes …

Machine Learning-Based Data And Model Driven Bayesian Uncertanity Quantification Of Inverse Problems For Suspended Non-Structural System, Zhiyuan Qin

All Dissertations

Inverse problems involve extracting the internal structure of a physical system from noisy measurement data. In many fields, the Bayesian inference is used to address the ill-conditioned nature of the inverse problem by incorporating prior information through an initial distribution. In the nonparametric Bayesian framework, surrogate models such as Gaussian Processes or Deep Neural Networks are used as flexible and effective probabilistic modeling tools to overcome the high-dimensional curse and reduce computational costs. In practical systems and computer models, uncertainties can be addressed through parameter calibration, sensitivity analysis, and uncertainty quantification, leading to improved reliability and robustness of decision and …

A Value-Based Sequential Optimization Framework For Efficient Materials Design Considering Uncertainty And Variability, Maher Alghalayini

All Dissertations

Many problems in engineering and science can be framed as decision problems in which we choose values for decision variables that lead to desired outcomes. Notable examples include maximizing lift in airplane wing design, improving the efficiency of a power plant, or identifying processing protocols resulting in structural materials with desired mechanical properties. These problems typically involve a significant degree of uncertainty about the often-complex underlying relationships between the decision variables and the outcomes. Solving such decision problems involves the use of computational models or physical experimentation to generate data to make predictions and test hypotheses. As a result, both …

Multiscale Topology Optimization With A Strong Dependence On Complementary Energy, Dustin Dean Bielecki

All Dissertations

A discrete approach introduces a novel deep learning approach for generating fine resolution structures that preserve all the information from the topology optimization (TO). The proposed approach utilizes neural networks (NNs) that map the desired engineering properties to seed for determining optimized structure. This framework relies on utilizing parameters such as density and nodal deflections to predict optimized topologies. A three-stage NN framework is employed for the discrete approach to reduce computational runtime while maintaining physics constraints.

A continuous representation that uses complementary energy (CE) methods to solve a representative element's homogenized properties consists of an embedded structure that is …

Supporting Us Army Next-Generation Ground Vehicle Simulation Modeling Using An Integrated Ontology Suite, Edward Louis

All Theses

The development of the US Army’s next-generation of ground vehicle systems is supported by simulations that predict vehicle performance and inform engineering design choices in the design and acquisition process. In this paper, we describe the development of an Integrated Ontology Suite to support modeling and simulation of next generation military ground vehicles. The ontology suite is intended to address model reuse challenges and increase the shared understanding of ground vehicle system simulations. It is intended to function in a Model Library structure that stores, documents, assembles, and executes vehicle simulations. The ontology suite consists of four domain ontologies: Vehicle …

Multiple Objective Function Optimization And Trade Space Analysis, Yifan Xu

All Theses

Optimization can assist in obtaining the best possible solution to a design problem by varying related variables under given constraints. It can be applied in many practical applications, including engineering, during the design process. The design time can be further reduced by the application of automated optimization methods. Since the required resource and desired benefit can be translated to a function of variables, optimization can be viewed as the process of finding the variable values to reach the function maxima or minima. A Multiple Objective Optimization (MOO) problem is when there is more than one desired function that needs to …

Effects Of Polymer Side-Group Size On Interfacial Mechanics Of Graphene-Polymer Nanocomposites, Grace Brokaw

All Theses

Graphene-reinforced polymer nanocomposites possess excellent mechanical, thermal, and electrical properties, which make them promising candidates for various applications. Favorable interfacial interactions and mechanics between graphene sheets and polymer matrices are often essential to achieve superior mechanical properties. Nevertheless, it remains largely elusive how molecular features of polymer systems, particularly the side-group size of polymer chains, affect the interfacial mechanics between graphene sheets and polymer matrices, primarily due to challenges in well controlling these features in experiments. On the other hand, exploring their roles in the mechanical properties of graphene-polymer nanocomposites is very expensive to study with all-atomistic molecular dynamics (MD) …

Utilizing Systematic Design And Shape Memory Alloys To Enhance Actuation Of Modular High-Frequency Origami Robots, Jessica M. Den Haese

All Theses

Shape memory alloys (SMAs) describe a group of smart metallic materials that can be deformed by external magnetic, thermal, or mechanical influence and then returned to a predetermined shape through the cycling of temperature or stress. They have several advantages, such as having excellent mechanical properties, being low cost, and being easily manufactured, while also providing a compact size, completely silent operation, high work density, and requiring less maintenance over time. SMAs can undergo sold-to-solid phase transformations, and it is because of these phase transformations that they can experience shape memory effect (SME); or the ability to recover from a …

Koopman Operator Theory And The Applied Perspective Of Modern Data-Driven Systems, Alex Krolicki

All Theses

Recent theoretical developments in dynamical systems and machine learning have allowed researchers to re-evaluate how dynamical systems are modeled and controlled. In this thesis, Koopman operator theory is used to model dynamical systems and obtain optimal control solutions for nonlinear systems using sampled system data. The Koopman operator is obtained using data generated from a real physical system or from an analytical model which describes the physical system under nominal conditions. One of the critical advantages of the Koopman operator is that the response of the nonlinear system can be obtained from an equivalent infinite dimensional linear system. This is …

An Application Of Optimized Bistable Laminates As A Low Velocity, Low Impact Mechanical Deterrent, Graham Lancaster

All Theses

This research considers the problem of using bistable laminates as a mechanical deterrent to the impending impact of a particle. The structure will be controlled through an algorithm that will utilize piezoelectric devices to activate them in unison with the bistable laminate to successfully deter. A novel experimental setup will be constructed to ensure that the bistable laminate stays fixed when acting as a mechanical deterrent. Piezoelectricity is the main driving force of the bistable laminate to morph and this study will use a Macro Fiber Composite (MFC) actuator that contains piezoelectric ceramic rods in a patch to transfer electrical …

Mechanics Modeling Of Non-Rigid Origami: From Qualitative To Quantitative Accuracy, Jiayue Tao

All Dissertations

Origami, the ancient art of paper folding, has recently evolved into a design and fabrication framework for various engineering systems at vastly different scales: from large-scale deployable airframes to mesoscale biomedical devices to small-scale DNA machines. The increasingly diverse applications of origami require a better understanding of the fundamental mechanics and dynamics induced by folding. Therefore, formulating a high-fidelity simulation model for origami is crucial, especially when large amplitude deformation/rotation exists during folding.

The currently available origami simulation models can be categorized into three branches: rigid-facet models, bar-hinge models, and finite element models. The first branch of models assumes that …

Infusing Kirigami Principles Into Design Of Mechanical Properties, Hesameddin Khosravi

All Dissertations

The emergence of mechanical metamaterials — which derive their properties primarily from the underlying architecture rather than the constituent material — has unleashed a new era of material design and functionalities. To fully materialize the promising potentials of metamaterials, it is crucial to develop versatile, scalable, and easy-to-fabricate methods that can both generate and tailor the underlying periodic architecture. To this end, we propose the use of kirigami — a popular recreational art of cutting and manipulating paper — as a platform to create periodicity and super-stretchability. Kirigami has become a design and fabrication framework for constructing metamaterials, robotic tools, …

Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri

All Dissertations

The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.

This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …

Multiple Heat Exchanger Cooling System For Automotive Applications – Design, Mathematical Modeling, And Experimental Observations, Zaker Syed

All Dissertations

The design of the automotive cooling systems has slowly evolved from engine-driven mechanical to computer-controlled electro-mechanical components. With the addition of computer-controlled variable speed actuators, cooling system architectures have been updated to maximize performance and efficiency. By switching from one large radiator to multiple smaller radiators with individual flow control valves, the heat rejection requirements may be precisely adjusted. The combination of computer regulated thermal management system should reduce power consumption while satisfying temperature control objectives. This research focuses on developing and analyzing a multi-radiator system architecture for implementation in ground transportation applications. The premise is to use a single …

Dynamic Analysis, Characterization, And Design Of Rigid-Flex Pcb Robotics, John Bell

All Dissertations

The era of space exploration is driven by and fuels large advances in technological progress.
Over the last decade, engineering practices for spacecraft, space structures, robotics, software and
hardware, manufacturing techniques, and the implementation of new and novel materials has been
revolutionized. Space exploration pushes the envelope in terms of technological capabilities and
robotic systems (rovers) become lighter, smaller, and more capable of sustaining damage. This
dissertation aids in the advancement of design knowledge for a class of rovers characterized by
their chassis architecture: rigid-flex printed circuit board (PCB) robotics. These rovers leverage
the printed circuit cards as the structural …

A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong

All Theses

Automation and robotics have become a staple in the biological manufacturing sector due to their ability to efficiently work without operator inputs, with a high degree of accuracy and repeatability. Industrial robotic arms, in particular, present themselves as valuable tools for biological manufacturing scenarios that require customized solutions due to their ease of programming and flexibility. The traditional hospital-focused healthcare system was organically developed to address acute conditions, however, in recent years, due to the unprecedented occurrence of emergencies happening more frequently, fast and efficient drug production becomes important [17]. This thesis represents the use of a benchtop robot and …

Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng

All Dissertations

Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …

Design And Development Of A Multi-Material, Cost-Competitive, Lightweight Mid-Size Sports Utility Vehicle’S Body-In-White, Amit M. Deshpande, Rushabh Rajesh Sadiwala, Nathan Brown, Sai Aditya Pradeep, Leon M. Headings, Ningxiner Zhao, Brad Losey, Ryan Hahnlen, Marcelo J. Dapino, Gang Li, Srikanth Pilla

Publications

Vehicle light-weighting has allowed automotive original equipment manufacturers (OEMs) to improve fuel efficiency, incorporate value-adding features without a weight penalty, and extract better performance. The typical body-in-white (BiW) accounts for up to 40% of the total vehicle mass, making it the focus of light-weighting efforts through a) conceptual redesign b) design optimization using state-of-the-art computer-aided engineering (CAE) tools, and c) use of advanced high strength steels (AHSS), aluminum, magnesium, and/or fiber-reinforced plastic (FRP) composites. However, most of these light-weighting efforts have been focused on luxury/sports vehicles, with a relatively high price range and an average production of 100,000 units/year or …

Tunable Filtration Of Particles During Dip-Coating, Connor Copeland

All Theses

When a solid substrate is withdrawn from a liquid bath a thin coating is deposited whose thickness is given by the Landau-Levich-Derjaguin (LLD) law. We perform an experimental study of dip coating of particle suspensions showing that particles of a given size can become entrained in the meniscus by the competition between viscous and surface tension forces. This is called capillary filtration and can be used as a tunable dynamic filter. For single particle suspensions, filtration can be in terms of either clumps or single particles, with the relevant entrainment points depending upon the rheology of the working fluid, either …

Soft Robotic Arms For Fall Mitigation: Design, Control And Evaluation, Param Malhotra

All Theses

Most fall mitigation devices present a heavy system that avoid injuries to the user by preventing the impact of a fall. They are dependent on the user capability or on the probability that the user falls in the assumed manner the system was designed for. Often that is not the case, hence this project initiates a novel concept of using soft robotic arms to prevent falls from happening in the first place itself and save the user from any injuries. This thesis describes the prototype and development of a soft continuum robotic backpack system. The system can validate its use …

Creep Behavior Of A Ti-Based Multi-Principal Element Alloy, Benjamin Elbrecht

All Theses

Abstract

The understanding of microstructural damage mechanisms is the foundation of better understanding existing materials and future material development. There are significant challenges to measuring these damage mechanisms in-situ as continuous observation of the state of the microstructure is difficult or impossible for many experimental setups. This thesis presents a method for measuring grain boundary sliding (GBS) and local strain concentrations in-situ via a Heaviside function based algorithm. GBS is the shearing of two grains along their shared grain boundary and is a common damage mechanism in creep which presents as a discontinuity that can be measured with a Heaviside …

Computational Tradespace Exploration, Analysis, And Decision-Making: A Proposed Framework For Organizational Self-Assessment, Julia Daniels

All Theses

The ability to assess technical feasibility, project risk, technical readiness, and realistic performance expectations in early-phase conceptual design is a challenging mission-critical task for large procurement projects. At present, there is not a well-defined framework for evaluating current practices of organizations performing computational trade studies. One such organization is the US Army Ground Vehicle Systems Center (GVSC). When defining requirements and priorities for the next-generation autonomy-enabled ground vehicle system, GVSC is faced with the challenge of an increasingly complex programmatic tradespace due to emerging complexities of ground vehicle systems. This thesis aims to document and evaluate tradespace processes, methods, and …

Direct Numerical Simulation Of Supercritical Co2 Mixing And Combustion, Syed Mohammad Ovais

All Dissertations

The supercritical CO₂ power cycle (sCO₂ ) is a relatively new technology, which promises to reduce CO₂ emissions with potentially higher efficiencies. However due to challenging conditions posed by supercritical pressures, the mixing and ignition phenomena in sCO₂ combustion is relatively less understood and studied. The primary objective of the current study is to investigate these fundamental processes using homogeneous ignition calculations (HMI) and direct numerical simulations (DNS). Broadly, the study is divided into two major parts. In the first part supercritical mixing in sCO₂ relevant conditions is investigated. To achieve this, DNS of temporally …

Development Of A Reverse Engineered, Parameterized, And Structurally Validated Computational Model To Identify Design Parameters That Influence American Football Faceguard Performance, William Ferriell

All Dissertations

Traumatic brain injury (TBI) continues to have the greatest incidence among athletes participating in American football. The headgear design research community has focused on developing accurate computational and experimental analysis techniques to better assess the ability of headgear technology to attenuate impacts and protect athletes from TBI. Despite efforts to innovate the headgear system, minimal progress has been made to innovate the faceguard. Although the faceguard is not the primary component of the headgear system that contributes to impact attenuation, faceguard performance metrics, such as weight, structural stiffness, and visual field occlusions, have been linked to athlete safety. To improve …

Mechanizing The Removal Of Soil Between Peach Trees Planted On Berms, Coleman Scroggs

All Theses

Armillaria root rot (ARR), primarily caused by the soilborne fungus Desarmillaria tabescens, has become the number one cause for peach tree decline in the Southeastern United States. Research has shown that planting peach trees on shallow berms and excavating the soil around the root collar two years after planting lessens the effects of ARR. However, berms make orchard operations such as pruning, thinning, and harvesting more cumbersome and cause cultural concerns as channels of water at their base can lead to erosion and the slope of the berms leads to herbicide and fertilizer runoff. The objective of this research was …

Quantifying Shear Stresses In Tissue Engineered Aortic Heart Valves, Raj Nitin Dave

All Theses

Present heart valve prosthesis have limitations such as capability to grow, repair and remodel post implantation. Tissue engineering offers to be a promising alternative to overcome these limitations. Maturation of seeded human cells on the valve subjected to favorable growth conditions in the bioreactor is critical to the success of tissue engineered heart valves. Mechanical stress and strain which results from the pressure and flow conditions in the bioreactor plays a critical role on the developing valve tissue and are currently unknown. The goal of this research is to relate the magnitude of wall shear stress (WSS) within the heart …

Investigating The Effects Of Sic Abrasive Particles On Friction Element Welding, Gaurav Awate

All Theses

The growing demands on reducing the harmful emissions from automobiles have forced automakers to reduce the weight of the vehicle. The increasing demands on improving the fuel economy also has challenged automotive manufacturers to make the vehicle as lightweight as possible. However, the challenge is also to ensure that the vehicle meets safety standards. For the vehicle to meet these standards, it needs to be of adequate strength as well. Automotive manufacturers have adopted a strategy of using multi-material construction to achieve the target. But with multi-material construction comes the requirement of advanced joining techniques that are capable of joining …