Mechanical Engineering Commons^™

Design, Testing And Controls For Air Source Heat Pump System In Cold Climates Using Natural & Conventional Refrigerants, S M Abdur Rob

Dissertations and Theses

Fossil-fuel based heating systems used in the residential buildings in northeastern U.S region are not only inefficient but also largely responsible for the greenhouse gas emissions in U.S. Electrification of the buildings has been proved to be the most efficient way to reduce the greenhouse gas emissions where Heat Pumps can be the best alternative to replace the natural gas based heating system to accelerate the electrification process. Among different types of heat pumps, the Air Source Heat Pump (ASHP) system is widely used due to the easy installation and energy efficiency. Conventional heat pump technologies use various types of …

Modeling Of Laser-Produced Plasma Plumes: Expansion, Chemistry, And Thin-Film Deposition, Edmund Tsiri Semaha, Edmund Tsiri Semaha

Theses and Dissertations

Abstract

Laser-assisted material processing involves coupled plasma expansion, chemical reactions, and particle transport that govern the quality of thin-film deposition. This dissertation presents a comprehensive computational investigation of these processes using the OpenFOAM framework. First, the performance of the twoPhaseEulerFoam (tPEF), rhoCentralFoam (rCF), and sonicFoam (sF) solvers is evaluated for modeling laser-produced plasma plume expansion under atmospheric conditions, demonstrating that tPEF accurately captures shock-wave propagation, hydrodynamic behavior, and multispecies interactions. Building on this validation, the reactingFoam (rF) solver is employed to investigate the chemistry of aluminum plasma expanding into an air environment (Al–N₂–O₂). The model incorporates appropriate thermodynamic, transport, and …

Carbon Nanotube/ Thermoplastic Polyurethane (Cnt/Tpu)-Based Triboelectric Nanogenerator With Self-Charge Pumping For Implantable Knee Load Sensing And Energy Harvesting, Osama Abdalla, Maryam Hosseini, Milad Azami, Amir Ameli, Emre Salman, Milutin Stanacevic, Ryan Willing, Shahrzad Towfighian

Mechanical Engineering Faculty Scholarship

Aseptic loosening and joint instability remain the primary modes of failure in total knee arthroplasty (TKA). To provide real-time biomechanical load monitoring, this study presents a triboelectric nanogenerator (TENG) utilizing a carbon nanotube/foamed thermoplastic polyurethane (CNT/TPU) composite dielectric layer paired with a Kapton tape between dual electrodes. By leveraging the triboelectric effect, the device functions simultaneously as an energy harvester and a self-powered load sensor. To overcome power density limitations, a self-charge pumping mechanism via a multi-stage voltage multiplier circuit (VMC) was integrated and evaluated under physiological cyclic loading (2100 N at 1 Hz). The system’s charge dynamics were further …

Effect Of Inter Electrode Distance On Electrochemical Mineralization Of Calcium Carbonate In Mildly Acidic Environments, Irene Walker, Ivy Wu, Steven Decaluwe, Robert Bell, Kerry Rippy

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

The effect of inter electrode distance (IED) on electrochemical mineralization in a parallel plate cell with a stainless-steel working electrode is presented. Three IEDs were tested, 6.5 mm, 15.5 mm, and 22.0 mm, for their water reduction effectiveness to create a region of local alkalinity that stimulates calcium carbonate precipitation in mildly acidic conditions. Chronoamperometry at -1.6 V for 30 minutes with ex-situ optical microscopy and scanning electron microscopy (SEM) were used. At the smallest IEDs, crystal clusters formed in growth-favored regimes as compared to the largest IED, where nucleation dominated, leading to encasement of the SS mesh. Rapid precipitation …

Cfd-Coupled Multi-Objective Optimization Of A Solid Oxide Electrolysis Cell Stack, Erin Webb

Theses, Dissertations and Capstones

Solid oxide electrolysis cells (SOECs) can convert steam into hydrogen with lower electrical demand than lower-temperature electrolysis technologies. Their performance depends on coupled fluid flow, heat transfer, species transport, and electrochemical behavior, which makes optimization difficult because improving one response can negatively affect another. Detailed computational fluid dynamics (CFD) can capture these interactions, but the computational cost makes trial-and-error design impractical. This thesis develops a three-dimensional model of a two-cell planar SOEC stack in ANSYS Fluent and couples it directly to a customized NSGA-II in MATLAB. Each candidate design is evaluated using the CFD model rather than a surrogate. Eight …

Aura-Visionpose: Creating Datasets For Vision-Based Pose Estimation, Mohanad Alameer

Masters Theses

"Spacecraft rendezvous is an integral part of many orbital missions, including active space debris removal (ADR) and in-orbit servicing, assembly, and manufacturing (ISAM). Traditionally, rendezvous missions rely mainly on manual ground-based control to perform rendezvous and docking. While this can be effective on an individual basis, it becomes less practical at scale. Autonomous vision-based methods can reduce reliance on human control, and may improve scalability, response time, and reduce the possibility of human error for both ADR and ISAM. This work lays the necessary groundwork for developing a machine learning (ML) model for autonomous rendezvous by creating a labeled image …

The Effect Of Scanning Strategy And Build Conditions On The Residual Stress Of A Ded System With Realistic Clad Geometry, Christopher Matthew Roeder

Graduate Research Theses & Dissertations

Direct Energy Deposition (DED) is a leading metal additive manufacturing method for fabricating complex parts. However, the high thermal gradients during the process, along with their effects on thermal expansion and shrinkage during heating and cooling cycles, result in significant residual stress that imposes substantial limitations on the building process. These stresses can lead to warpage, cracking, and a reduction in overall mechanical performance, challenges that must be addressed in most manufacturing industries. While scanning patterns and clad geometry have often been studied independently, their interaction may provide deeper insights into the causes and effects of these operating conditions on …

Development And Characterization Of Flat And Flexible Rebco Cables For High-Field Accelerator Magnets, Emily Romancew

Graduate Research Theses & Dissertations

High-Temperature Superconducting (HTS) materials are at the forefront of innovation for fundamental particle physics. The next generation of particle accelerators aims to explore higher mass particles and is dependent on the ability to achieve higher fields in the 20–30 T range to keep machine size within a practical footprint. Current magnet technology relies on low-temperature superconductors (LTS) such as NbTi and Nb₃Sn, which are limited to fields of approximately 8–16 T, while high-temperature superconductors (HTS), particularly Rare-Earth Barium Copper Oxide (REBCO), offer a promising pathway toward higher-field magnets due to their ability to carry large currents at elevated magnetic fields. …

Lean Service System Optimization In U.S. Automotive Maintenance Centers: A Time Study And Simulation-Based Approach To Reducing Service Cycle Time And Increasing Efficiency, Rakibul Hasan Sarker

All Graduate Theses, Dissertations, and Other Capstone Projects

The primary objective of this study is to measure the current service time at a U.S. automobile service center, with the aim of reducing waste and optimizing service operations through time study and simulation modeling. Inefficiencies in those service centers increase service time and labor costs, reduce service quality, and reduce workshop productivity, thereby increasing customer waiting time. In this study, real-world shop floor data were collected from a single service center, namely Jiffy Lube. Over the course of ten working days, 205 vehicle data points were acquired. Service time, bay time, and overall process time were computed and examined …

Extrusion-Based Additive Manufacturing Of Magnetic Heat Exchange Structures For Caloric Applications, Turab S. Rizvi

UROP Posters

Developing sustainable, high-efficiency cooling technologies is vital to addressing 21st century energy challenges. This research focuses on magnetic refrigeration, an environmentally friendly cooling method utilizing the magnetocaloric effect to regulate temperature using magnetic fields. This approach offers greater energy efficiency than conventional vapor-compression systems by eliminating harmful refrigerants. The critical component is the regenerator, made of magnetocaloric material and transfers heat between the magnetic material and a fluid through parallel channels. Traditional designs such as packed beds of particles are prone to particle segregation, creating an undesirable pressure drop. The main goal of our research was to fix those flaws …

Direct Ink Writing Of Shear Exfoliated Two-Dimensional Nanomaterial- Elastomeric Multifunctional Nanocomposite, Md Abdur Rahman Bin Abdus Salam, Asif Hasan Ridoy, A K M Abirul Haque, Muhammad Shahbaz Rafique, Md Arafat Hossain, Md Shahriar Forhad, Matthew G. Boebinger, Farid Ahmed, Karen Lozano, Ali Ashraf

Manufacturing & Industrial Engineering Faculty Publications

Direct ink writing (DIW) of polymer nanocomposites with high loadings of two-dimensional (2D) nanofillers (graphene and hexagonal boron nitride (hBN)) is challenging because of potential clogging, use of hazardous solvents, and agglomeration. Here, in this work, a shear exfoliation and sieving method to prepare DIW ink with high loading of nanofillers produced from low-cost bulk layered materials such as graphite and bulk hBN powder for successful DIW printing without the use of any solvents, binders, or plasticizers. The single-step exfoliation technique resulted in a composite with substantial layer reduction along the c-axis, as confirmed by SEM, TEM, XRD, and Raman …

Influence Of Surface Features On Heat Transfer During Dropwise Condensation Over Superhydrophobic Surfaces In Shear Flow, Shaur Humayun, R. Daniel Maynes, Julie Crocket, Brian D. Iverson

Faculty Publications

This study investigates heat transfer during dropwise condensation (DWC) on superhydrophobic (SH) surfaces in humid air shear flow, emphasizing the effect of increased drop mobility and the influence of surface micro/nanostructure on heat transfer rates. Experiments were conducted on smooth hydrophobic, microstructured SH, nanostructured carbon-infiltrated carbon nanotube (CICNT) surfaces, and two-tiered SH surfaces with both micro and nanostructures. Heat transfer rates were measured under humid air flow rates in the range of 2–4 CFM. Experimental results demonstrate that surfaces with nanostructure (including two-tiered structures) exhibit increased drop mobility and coalescence-induced drop jumping, enhancing drop removal rates and overall heat transfer …

Towards Supporting Real-Time Estimation Of Vehicle Fuel Consumption And Co2 Emissions In Smart City Applications, Abrar Alali, Stephan Olariu

Computer Science Faculty Publications

This paper evaluates a simplified physics-based energy demand model designed to estimate vehicle fuel consumption and CO₂ emissions—a critical tool for sustainable transportation planning and smart city applications. Unlike data-driven regression models that lack generalizability for user-defined conditions or complex physics-based approaches that rely on extensive, often proprietary data, the simplified model is distinguished by its minimal parameter requirements, depending primarily on a single, overarching powertrain efficiency value. A key contribution is the comprehensive empirical evaluation of the simplified model against official Environmental Protection Agency (EPA) test data across multiple driving cycles and vehicle types, providing a rigorous validation previously …

Reaching The Intrinsic Performance Limits Of Superconducting Nanowire Single-Photon Detectors Up To 0.1 Mm Wide, Kristen M. Parzuchowski, Eli Mueller, Bakhrom G. Oripov, Benedikt Hampel, Ravin A. Chowdhury, Sahil R. Patel, Daniel Kuznesof, Emma K. Batson, Ryan Morgenstern, Robert H. Hadfield, Varun B. Verma, Matthew D. Shaw, Jason P. Allmaras, Martina J. Stevens, Alex Gurevich, Adam N. Mccaughan

Physics Faculty Publications

Superconducting nanowire single-photon detectors combine high detection efficiency, low noise, and excellent timing resolution, making them a leading platform for photon-counting applications. However, despite decades of materials and fabrication research, detector performance has never been shown to match theoretical performance expectations. Here, we demonstrate in situ tuning of a detector from its typical, suboptimal operation, to a regime limited only by material quality, allowing the device to reach its intrinsic performance limit. Our approach is based on current-biased superconducting “rails” placed on either side of the detector that redistribute current across its width to achieve peak performance. This technique reduces …

Investigation Of Dirac‑Like Cones Induced Topologically Protected Wave Propagation (Tpwp) In Solid-Fluid Acoustic Metamaterials: A Combined Numerical And Experimental Study, Humza Khan

College of Graduate Studies: Theses & Dissertations

Topologically protected wave propagation (TPWP) is a unique phenomenon in acoustic metamaterial, where tailored geometries and material properties enable controlled energy absorption and localizations. This study investigates TPWP through the systematic variation of unit cell geometry to capture multiple Dirac-like cone interactions within the Brillouin zone. While prior research had emphasized solid-solid interactions, the present work extends the framework by incorporating a solid-fluid configuration.

The primary objective of this study is to determine the influence of unit cell volume and material selection on  the formation of Dirac-like cones in the Brillouin zone, as well as on the corresponding bandgap characteristics. …

Effect Of Wall Movement On Porosity Formation In Ductile Iron Castings Under Varying Processing Parameters, Shamsul Alam

College of Graduate Studies: Theses & Dissertations

Shrinkage porosity is a major defect that significantly impairs the mechanical properties and overall performance of ductile iron castings. Although graphite formation during solidification induces volumetric expansion, this expansion alone is insufficient to fully compensate for the shrinkage occurring throughout solidification. During the solidification and cooling of ductile iron, multiple phase transformations occur, resulting in dynamic volume changes that exert pressure on mold walls and internal cavities. These pressures can deform mold walls and casting surfaces, leading to defects such as swell and porosity, while also influencing shrinkage formation. This study aims to analyze the mechanisms of porosity formation and …

Assessment Of Advanced Glazing Systems For Building Energy Efficiency In Hot-Arid Climates, Ahmad I. Elshamy, Yousef Elgefly, Yara El-Metwally, Serag Salem

Architectural Engineering

The built environment is considered among the most contributing factors to energy consumption. The building envelope plays a crucial role in determining the building energy consumption, regulating heat transfer and maintaining adequate indoor environmental quality. Hence, optimizing the thermal performance of the building envelope by achieving optimal glazing solutions while fulfilling the Sustainable Development Goal (SDG 7) is the main aim of this research. This study investigates the impact of various facade glazing systems on the building energy performance, focusing on the cooling energy consumption of an office building in a hot arid climate, Cairo, Egypt. The novelty of this …

Vortex-Vortex Interaction Cavitation Inception Using Statistical And Multi-Phase Models, Nicholas Berthiaume

Open Access Master's Theses

This document is not being released in full, as it contains Controlled Unclassified Information (CUI) subject to safeguarding and dissemination controls under the policies of the National Institute for Undersea Vehicle Technology (NIUVT). Only those portions authorized for release are included herein.

Thermal Transformations And Mechanical Properties Of All-D-Metal Mn2fecu Heusler-Type Shape Memory Alloy, Choji J. Daches, Joseph W. Newkirk, Mario Buchely

Materials Science and Engineering Faculty Research & Creative Works

All-d-metal Heusler alloys are emerging functional materials in which magnetic ordering, lattice distortion, and mechanical behavior are strongly coupled through d–d electronic interactions. This study systematically investigates the structural, thermal, magnetic, and mechanical properties of Mn₂FeCu synthesized within a Heusler-type compositional framework. SEM/EDS revealed a dual-phase FCC-based microstructure consisting of Mn–Fe–rich and Mn–Cu–rich domains, while XRD confirmed FCC symmetry with compositional partitioning rather than full L2₁ ordering. Differential scanning calorimetry identified partial melting of the Cu-rich phase near ~ 900 °C. Dilatometry showed a thermoelastic FCC → FCT transformation at ~ 770–780 °C with a recoverable strain of ~ 0.067%. …

Overcoming Resolution Vs. Throughput Trade-Offs In Ceramic Material Extrusion Additive Manufacturing Via Viscoelastic Filament Stretching, Abid H. Rafi, David W. Lipke, Jeremy L. Watts, Gregory E. Hilmas, Ming C. Leu

Materials Science and Engineering Faculty Research & Creative Works

Fabricating large, monolithic ceramic parts using material-extrusion additive manufacturing remains challenging due to difficulty maintaining uniform moisture content during printing, which can lead to drying-induced defects such as warping and cracking, especially as part size and print time increase. Fabricated parts have trade-offs among print resolution, high throughput, and structural fidelity. Our study has shown that increasing the ratio of nozzle traverse speed vs. material extrusion speed increases filament stretching in viscoelastic ceramic paste, helping to overcome the trade-offs between resolution and throughput. Using aqueous ZrB2–SiC (70/30 vol.%) as a representative ultra-high temperature ceramic paste, rheological characterisation revealed viscoelastic yield-stress …

Modeling Of Transformation Temperatures In Cast Martensitic Stainless Steels-Ca6nm: Effects Of Composition, Heating Rate, And Grain Size, Ugochukwu Agbedo, Mario Buchely, Laura Bartlett, Caelan Kennedy

Materials Science and Engineering Faculty Research & Creative Works

Accurate prediction of the critical transformation temperatures Ac1 and Ac3 is one of the essential factors in the heat treatment of CA6NM cast martensitic stainless steel. In this study, the influence of alloy composition, heating rate, and prior austenite grain size on the critical temperatures was quantified using dilatometric measurements and statistical modeling. Six heat treatment conditions produced prior austenite grain sizes ranging from ~75 to 247 µm. Experimental results showed that grain size variations produced only minor changes in Ac1 and Ac3, indicating a weak dependence of transformation temperatures on prior austenite grain size within the investigated range. In …

Multiphysics Simulation And Experimental Validation Of Phase Transformation And Hardness In Jominy End-Quenched Low-Alloy Steels, J. S. Alabi, E. Heidari, M. F. Buchely, K. Chandrashekhara, S. N. Lekakh, R. J. O'Malley, V. A. Athavale, A. Kumar

Materials Science and Engineering Faculty Research & Creative Works

High-volume industrial continuous hot-rolled steel heat treatment processes involve sophisticated multi-phase modeling. The performance of a given process can be optimized by coupling phase transformation kinetics with the cooling conditions of the process. This study develops a multiphysics model to simulate an intensive quenching process for steel, which is inherently transient and highly dependent on numerous parameters. The simulated object was a Jominy end-quenched specimen geometry using two commercial steels, AISI 4130 and AISI 4140, with the goal of transferring a verified methodology to the heat treatment process for industrial heavy-section products (bars, slabs). The simulation employs thermal, mechanical, and …

Effect Of Complex Alloying Elements On Oxide Scale Formation And Water-Jet Descaling Performance On Continuously Cast Low-Carbon Steels, Tochukwu P. Ojiako, Tsvetkov Dmitry, Mario Buchely, Haiming Wen, Simon N. Lekakh, Ronald J. O'Malley

Materials Science and Engineering Faculty Research & Creative Works

The formation and evolution of oxide scale in contact with mold flux during continuous casting, subsequent reheating, and hydraulic descaling are strongly governed by steel chemistry. To elucidate the effect of complex alloying elements (Si, Mn, and Cr), two industrially produced continuously cast low-carbon steel grades for manufacturing stamped parts (a base and alloyed steel grade) were investigated. The objective was to determine how alloying elements influence oxidation behavior, scale morphology, interfacial adhesion, and water-jet descaling efficiency. Continuously cast slab specimens were subjected to controlled thermal and atmospheric oxidation cycles simulating multistage industrial practice. Three initial surface conditions (industrial as-cast, …

Simulated Lunar Gravity Testing Of A Magnetic And Electrostatic System For Beneficiating Lunar Regolith, Blake A. Coffman, Gabriel Porter, Lindsay Manteufel, Mitchell Cottrell, Jeffrey D. Smith, David J. Bayless, William Shonberg, Frank D. Han, Fateme Rezaei, Kirby Runyon

Materials Science and Engineering Faculty Research & Creative Works

We present the design and testing of a lunar regolith beneficiation device that utilizes magnetic and electrostatic separation methods to concentrate desired minerals by removing unwanted material, such as the mineral anorthite, from bulk lunar regolith. The beneficiated materials would have value for downstream in-situ resource utilization (ISRU) processes such as metal extraction, oxygen extraction, and metal oxide additive manufacturing processes. The apparatus uses a dual-strength magnet system with N52 and N42 neodymium magnets to separate particles by magnetic susceptibility. The electrostatic separation system, which acts like a sieve, sorts the regolith simulant by particle size using a single-phase 50% …

The Effects Of Mold Flux Contamination On Oxide Scale Formation And Hydro-Descaling Efficiency During Steel Processing, Tochukwu Princewill Ojiako, Richard Osei, Mario Buchely, Haiming Wen, Simon Lekakh, Ronald O'Malley

Materials Science and Engineering Faculty Research & Creative Works

Oxide scale formation during thin-slab continuous casting has a complex structure, which is influenced by mold flux contamination, that modifies interfacial reactions during solidification, subsequent reheating, and descaling. While individual aspects of the oxidation behavior of carbon steel have been previously examined, the synergetic effects of mold flux contamination during continuous casting and subsequent reheating on scale modification and the efficiency of hydraulic descaling remain inadequately studied. This study quantitatively examines the effect of flux composition on oxide scale evolution, adhesion, and hydraulic removal in low-carbon steel under simulated industrial conditions. Slab samples with as-cast, cleaned, and flux-coated surfaces were …

Viscoelastic Behavior Of Magnetically Filled Pdms Elastomers: Influence Of Filler Loading And Particle Type, Madison Procyk

College of Graduate Studies: Theses & Dissertations

Magnetorheological elastomers (MREs) offer a promising pathway for soft, magnetically actuated drug‑delivery systems, yet material‑selection guidelines remain unclear due to limited comparative data across particle chemistries, size scales, and concentrations. This study systematically evaluates how magnetic filler type (carbonyl iron and magnetite) and particle size (micro vs. nano), at two weight percentages – 40 wt% and 50 wt% – in Sylgard 184 PDMS influence the viscoelastic behavior of MREs intended for compliant biomedical actuation. Eight particle formulations were prepared through sieving, controlled mixing, vacuum degassing, and isotropic curing, producing nineteen total specimens (16 with filler particles and 3 without). Dynamic …

A Real-Time Autonomous Mobile Robotic System For Crack Detection And 3d Laser Profiling In Construction Using Two-Stage Deep Learning, Emmanuella Ogun

College of Graduate Studies: Theses & Dissertations

This thesis presents an autonomous mobile robotic system that integrates real-time visual crack detection with laser-based three-dimensional profiling for building inspection. The system coordinates SLAM-based navigation, deep learning perception, and manipulator-guided measurement within a unified ROS 2 framework, enabling scan-on-demand workflows where laser profiling occurs selectively at visually detected defect locations. The detection pipeline employs a two-stage architecture combining U-Net semantic segmentation with Pix2Pix residual refinement, achieving 73.9% mean intersection-over-union and 76.4% F1-score on the CrackSeg9k benchmark while maintaining 16 frames-per-second real-time throughput. Real-world validation demonstrated 95% detection success on 80 campus images under challenging conditions. The profiling subsystem utilizes …

The Effect Of Chamber Geometry On The Performance Of Oscillating Water Column, Timilehin O. Osunade

College of Graduate Studies: Theses & Dissertations

This thesis investigates the effect of internal chamber geometry on the performance of a piezoelectric oscillating water column (OWC) wave energy harvester. Four acrylic chamber configurations with internal top-surface angles of 0°, 30°, 45°, and 60° were tested under 32 controlled conditions combining synchronous (SYN) and asynchronous (ASC) forcing at input voltages of 4, 6, 8, and 10 V. A 35 mm piezoelectric disc mounted at the chamber roof served as the power take-off element and, subject to the RC-limit caveat disclosed in Section 3.2.1, as a first-order dynamic analogue of the chamber pressure for phase-based compressibility analysis. All test …

Effect Of Graphene Oxide On The Upconversion Photoluminescence Behavior Of Er/Yb Co-Doped Pvdf-Go Composite Nanofibers, Saptasree Bose, Jack Ryan Summers, Bhupendra B. Srivastava, Karen Lozano, Victoria Padilla-Gainza

Mechanical Engineering Faculty Publications

Upconversion photoluminescence (UCPL) materials, particularly rare-earth (RE) doped nanoparticles, have garnered significant attention due to their ability to convert near-infrared (NIR) excitation into visible emission, offering benefits such as high photostability, long lifetimes, low autofluorescence, and deep tissue penetration. Among various platforms, polymer-based one-dimensional (1D) nanofibers with in-situ lanthanide doping remain relatively unexplored, despite their superior mechanical flexibility, processability, and potential for improved luminescence performance. In this study, we report the fabrication and UCPL quenching behavior of Er3+/Yb3+ co-doped polyvinylidene difluoride (PVDF) nanofibers incorporated with graphene oxide (GO), synthesized for the first time using the scalable Forcespinning® technique. PVDF, a …

Teleoperated Robotic Arm With Vision-Based Imitation Learning, Favour E. Emmanuel, Hunter J. Donahue

Williams Honors College, Honors Research Projects

This report presents the design, development, and deployment of a teleoperated robotic arm system capable of vision-based imitation learning. The system uses a leader-follower architecture with myArm C650 and myArm M750 robots manufactured by Elephant Robotics. The leader arm movement is controlled by the operator, whereas the follower performs actions acquired from demonstrations. Data collection included synchronized joint-angle recording and multi- camera video streams capturing human demonstrations.

These demonstrations were processed with a deep learning imitation algorithm called Action Chunking with Transformers (ACT). The main capability of this algorithm is its ability to make future action predictions based solely on …