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Title: ACOUSTICALLY FORCED EXTERNAL PULSED COMBUSTION
Creator: Karuppiah, Manikandan
Date: 2011-04-25, 2011-05
Description: Pulsed combustion is one of the most energy-efficient and less polluting ways to produce a hot gas stream for heating purposes. It is usually...
Show morePulsed combustion is one of the most energy-efficient and less polluting ways to produce a hot gas stream for heating purposes. It is usually limited, however, by the need to confine the combustion within a resonant tube. In the experiments presented here, pulsed combustion was achieved in the open air by means of upstream acoustic forcing of a porous matrix burner. Using metal matrices at least 20 mm thick, with pore densities of 60 pores per inch, a stoichiometric mixture of air and natural gas at a constant rate of 217.5 standard cubic feet per hour was forced by a speaker mounted on the plenum upstream of the matrix by means of sinusoidal waves of variable amplitude, at 10 to 150 Hz. Instantaneous surface temperature, as well as pressures upstream and downstream of the matrix were acquired. Phase-locked photographs of the combustion zone were acquired by means of a mechanical stroboscope synchronized to the forcing signal. It was found that, as the forcing amplitude increases, the mode of combustion switches from continuous to oscillating flame, to pulsed combustion consisting of a series of ignitions and extinctions. The change of combustion mode was accompanied by substantial changes in matrix surface temperature, with the pulsed mode reaching temperatures 170°C higher than steady-state combustion and 70% increase in radiant heat flux emitted. This was usually accompanied by a contraction in the size of the hot part of the matrix, resulting in an overall increase in radiant heat output of 5%, for our experiments. Maximum surface temperature was reached for a 35 mm thick matrix, which is hereby recommended for practical radiant heaters using this process. The mechanism hypothesized earlier was nearly proved with pending confirmation from reverse velocity measurements.
M.S. in Mechanical and Aerospace Engineering, May 2011
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Title: ELECTROSTATIC SPRAY DEPOSITION OF SOLID OXIDE FUEL CELL ELECTROLYTE
Creator: He, Quanzhi
Date: 2013-04-30, 2013-05
Description: 8mol% yttria-stabilized zirconia (YSZ) is the most currently used electrolyte material for solid oxide fuel cell (SOFC) due to is chemical and...
Show more8mol% yttria-stabilized zirconia (YSZ) is the most currently used electrolyte material for solid oxide fuel cell (SOFC) due to is chemical and thermal stability and its high oxygen ion conductivity at high temperature. However, SOFC based on YSZ electrolyte operate generally at very high temperatures (900-1000℃) for adequate oxygen conductivity, therefore the selection of materials for other cell components has a lot of problems, such as high materials costs and degradation of performance. To avoid the problem associated with high temperatures, it would be desirable to reduce the operating temperature from 900℃ to intermediate temperatures, typically 600-800℃. But, at these temperature, the ohmic losses due to the low ionic conductivity of the electrolyte become too high for thick (100μm) YSZ electrolyte. Therefore, a thin (less than 10μm) but dense and tight electrolyte is needed. Because the thin film YSZ electrolyte makes the oxygen ions have a shorter conducting path, unit cells have less ohmic resistance at a reduced temperature. To make SOFC working at intermediate temperature, a thin (less than 10μm) but dense and tight electrolyte is needed. This work takes a closer look at electrostatic spraying of ceramic suspensions and the ability of sprayed layer to sinter into dense layer under the 10μm thickness range. In this study, a new ESD deposition system was designed and produced, the relationship between ESD parameters and the deposition results was established, most of all, pore free and complete dense ultra-thin YSZ electrolyte thin film (less than 1μm) was successfully made with ESD technique.
M.S. in MaterialsS ciencea ndE ngineering, May 2013
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Title: Modeling and Control of Boundary Constrained Granular Swarm Robots
Creator: Mulroy, Declan Augustine
Date: 2023
Description: Soft robots offer many advantages that traditional robotic systems do not. Soft robotic systems are able to safely interact with their...
Show moreSoft robots offer many advantages that traditional robotic systems do not. Soft robotic systems are able to safely interact with their environment and tolerate large deformations. This is due to being composed of soft materials, which allows them to be subjected to and experience large deformations. However, they still have limitations in their maneuverability, locomotion, and force exertion. Moreover, they usually require external tethering or other specialized systems, such as pneumatic devices, to function. To address some of these limitations, a novel class of robotic systems has emerged called a boundary-constrained granular swarm robot.A boundary-constrained granular swarm robot is composed of a closed-loop series of active sub-robots, each with the ability to locomote. Each sub-robot is connected to its neighbors with an elastic membrane, which forms a single robot. The membrane encloses a passive granular interior, which provides structure and allows the robot to switch between rigid and soft states via granular jamming phase transitions. This allows for the robotic system to exploit the desirable characteristics of both soft and rigid robots. However, there is limited research with regards to modeling and controlling this system due to its novelty. This thesis addresses this gap by presenting several simulation frameworks, which incorporates multi-body dynamics and non-smooth contact dynamics to model the forward dynamics of the system. These models are able to account for the frictional effects, and the contact forces experienced by the system. The developed models are verified through experimental prototypes to ensure the models are able to capture the general behaviors of the system. Additionally, gradient-based control algorithms are presented and applied to simulated and experimental systems to have each of them form arbitrary shapes, morph between shapes, grasp arbitrarily shaped objects, and navigate narrow corridors. All of these objectives have been accomplished in previous systems, however, this thesis will demonstrate this system is one of the first to be able to accomplish all four. Moreover, it is able to by using a single control framework. In addition, this thesis will present the application distance functions, R-functions, and space-time transfinite interpolation for control purposes. These techniques are commonly utilized in graphics and animation theory, and will be applied to gradient-based controllers. These controllers will be used for boundary constrained granular swarms to form desired shapes and morph between shapes in both 2D and 3D simulated systems and experimental systems. Moreover, this thesis will explore the use of grasping metrics for boundary-constrained granular swarms. The Ferrari Canny metric, a well-established tool for assessing grasp quality in robotic manipulators, is utilized to evaluate the system’s grasp performance. This thesis will also demonstrate the application of this metric for boundary-constrained swarms to find the optimal angle of approach for the system to grasp a target object.
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Title: Effects of Microstructure Engineering on Laser Powder Bed Fusion Processed Superalloy IN718 through Inoculant Addition
Creator: Ho, I-Ting
Date: 2023
Description: Additive manufacturing (AM) techniques can now be utilized as innovative tools that provide unlimited design flexibility for the fabrication...
Show moreAdditive manufacturing (AM) techniques can now be utilized as innovative tools that provide unlimited design flexibility for the fabrication of geometrically complex metallic structures. For production of Ni-base superalloy components used in advanced gas turbine engines, laser powder bed fusion (L-PBF), which is one of the AM techniques, is frequently used as it allows good metallurgical bonding of powder feedstock and simultaneously enables development of ultra-efficient power systems for aerospace propulsion, space exploration and power generation. One of the major challenges associated with additively manufactured Ni-base superalloy components is that the extreme temperature gradients encountered during processing negatively impact the underlying microstructure and mechanical properties of the material. Although the macroscopic shape and chemistry of the additively fabricated part may be identical to the conventionally manufactured part, the resulting properties are usually compromised. In an effort to make Ni-base superalloys more amenable for processing via additive manufacturing, varying levels of benign inoculants that promote may heterogeneously grain nucleation were blended into Inconel 718 (IN718) powder feedstock and used for processing via L-PBF to characterize the microstructural evolution. In the first study, 0.2 wt. % of micron-sized CoAl2O4 flakes was found to effectively change the grain morphology during the L-PBF process leading to significant reduction in crystallographic texture and thus resulting elastic anisotropy. Dispersion of nano-oxides resulting from the reduction of CoAl2O4 particles also contributed to improved tensile strength and steady creep strain rate. It should be noted, however, that, the multiple iterations of remelting as the result of deposition of new layers dissolved the Co-rich particles reduced from CoAl2O4 inoculants. Instead of having nucleation events contributed by elemental Co, the oxide agglomerates as a result of Marangoni convection seemed to be the major contribution to facilitating grain refinement by inhibiting the heat transfer in the surroundings. On the other hand, addition CoAl2O4 particles appeared to generally reduce the melt pool width while increase the melt pool depth by inhibiting the degree of heat transfer and Marangoni flow. The changes in melt pool dimension aided in improving the relative density and surface roughness of the bulk samples by generating better metallurgical bonding to the subsequent layers. As the trade-off, however, the changes in melt pool physics also enhanced the tendency for epitaxial growth and hence retarded the columnar-to-equiaxed transition unless oxide agglomerates are present. In addition to CoAl2O4, candidates including Co, TaCr2, TiB2, and CeO2 particles were also considered to be blended with the powder feedstock of IN718. After the L-PBF process, different degree of microstructural evolution was characterized with the addition of Co, TaCr2, TiB2, or CeO2 particles. It was found that the physical presence of inoculants may change the melt pool geometries that accounted for a comparatively more columnar-grained structure with <101> texture in samples containing Co and TaCr2 particles while a relatively equiaxed-grained structure with <001> texture in samples containing TiB2. The comparison between samples containing TiB2 and CeO2 further indicates that the phase transformation induced agglomeration will also reduce the effectiveness of inoculants due to decreasing nuclei density. Findings from this investigation demonstrate the resulting grain structure upon L-PBF can be profoundly impacted by both chemistry and physical properties of the inoculants. These effects may potentially be harnessed to effectively engineer the microstructure and optimize the properties of L-PBF processed Ni-base superalloys.
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Title: Growth Kinetics of Listeria monocytogenes and Salmonella enterica on Rehydrated Enoki and Wood Ear Mushrooms during Storage
Creator: George, Josephina
Date: 2023
Description: Plant foods, such as fruits and vegetables, that have been dehydrated do not support the growth of pathogenic microorganisms. Recent...
Show morePlant foods, such as fruits and vegetables, that have been dehydrated do not support the growth of pathogenic microorganisms. Recent listeriosis and salmonellosis outbreaks in the U.S. have been associated with imported specialty mushrooms. These mushrooms are commonly sold fresh or dehydrated. This study evaluated the survival and growth of two foodborne pathogens Listeria. monocytogenes and Salmonella. enterica on dehydrated mushrooms during both rehydration at 25 or 5℃ and storage at 5, 10, or 25℃. Fresh enoki and wood ear mushrooms were dehydrated for 24 h at 60°C. Dehydrated mushrooms were inoculated with a four-strain cocktail of S. enterica or L. monocytogenes at 4 log CFU/g. Mushrooms were dried for 1 h, followed by rehydration for 2 h with 5 or 25°C (water and air temperature). Rehydrated mushrooms were stored at 5, 10, or 25°C for up to 14 d. The pathogens were enumerated at 0, 1, 3, 6, 9 and 14 d. Three independent trials with triplicate samples at each time point were completed. Population differences were evaluated via Student’s t-test; p<0.05 was considered significant. The growth rates were determined by DMFit in Excel. Overall, the growth rates of L. monocytogenes and S. enterica on enoki mushrooms were significantly higher when the mushrooms were rehydrated at 25℃ and stored at 25℃ (P<0.05). The growth rates were 2.69 log CFU/g per day and 3.56 log CFU/g per day, for L. monocytogenes and S. enterica respectively. Since the growth of pathogens on wood ear mushrooms during rehydration and storage was considerably less and below the level of enumeration, enrichment of the pathogens was conducted. The pathogens could be suppressed during rehydration due to less nutrient contents and antimicrobial properties of wood ear. The result of this study outlines the importance of refrigerated storage temperature and time combination for safety during rehydration and subsequent storage of the mushrooms.
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Title: MACHINE VISION NAVIGATION SYSTEM FOR VISUALLY IMPAIRED PEOPLE
Creator: Yang, Guojun
Date: 2021
Description: Visually impaired people are often challenged in the efficient navigation of complex environments. Moreover, helping them navigate intuitively...
Show moreVisually impaired people are often challenged in the efficient navigation of complex environments. Moreover, helping them navigate intuitively is not a trivial task. Cognitive maps derived from visual cues play a pivotal role in navigation. In this dissertation, we present a sight-to-sound human–machine interface (STS-HMI), a novel machine vision guidance system that enables visually impaired people to navigate with instantaneous and intuitive responses. This proposed system extracts visual context from scenes and converts them into binaural acoustic cues for users to establish cognitive maps. The development of the proposed STS-HMI system encompasses four major components: (i) a machine vision–based indoor localization system that uses augmented reality (AR) markers to locate the user in GPS-denied environments (e.g., indoor); (ii) a feature-based object detection and localization system called the simultaneous localization and mapping (SLAM) algorithm, which tracks the mobility of users when AR markers are not visible; (iii) a path-planning system that creates a course towards a destination while avoiding obstacles; and (iv) an acoustic human–machine interface to navigate users in complex navigation courses. Throughout the research and development of this dissertation, each component is analyzed for optimal performance. The navigation algorithms are used to evaluate the performance of the STS-HMI system in a complicated environment with difficult navigation paths. The experimental results confirm that the STS-HMI system advances the mobility of visually impaired people with minimal effort and high accuracy.
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Title: Fate of Listeria Monocytogenes on Hard-cooked Eggs Treated With Citric Acid
Creator: Zeng, Hui
Date: 2021
Description: Commercially-prepared hard-cooked eggs are available for foodservice and to the public in retail grocers. Potential contamination with...
Show moreCommercially-prepared hard-cooked eggs are available for foodservice and to the public in retail grocers. Potential contamination with Listeria monocytogenes during or after the cooking and peeling steps is of concern since this pathogen can proliferate at refrigeration temperatures. Citric acid is a common preservative used in the food industry to treat hard-boiled eggs (HBEs). The purpose of this project was to evaluate the efficacy of citric acid treatment of HBEs to reduce the population levels of L. monocytogenes during 24 h (treatment trials) and 28 d storage (storage trials) at 5 or 25°C. Fresh eggs were boiled for 12 min, cooled to 4°C, peeled, and stored at 5°C for 24 h prior to experiments. In treatment trials, HBEs were dip inoculated with a 4-strain cocktail of rifampicin-resistant L. monocytogenes resulting in either 4 (low) or 7 (high) log CFU/egg. Eggs were air-dried 10 min, followed by treatment with pH 2.5 citric acid (PHCA) or 0.2 M citric acid (calculated as the molarity resulting in pH 2.5: MCA) at 5 or 25°C for 24 h. In treatment-storage trials, citric acid treatment of HBEs occurred before or after inoculation, followed by 28-d storage at 5 or 25°C. L. monocytogenes populations were enumerated by homogenization of eggs with BLEB and cultivation on BHI/rifampicin agar. Enrichment in BLEB was conducted if the pathogen was below the level of enumeration. Significant differences in the populations of L. monocytogenes due to temperature of the acid treatment (5 or 25°C) or the two citric acids (MCA and PHCA) were determined using Student’s T-test and ANOVA with Tukey’s post-test, p ≤ 0.05. Overall, the largest L. monocytogenes reduction occurred after 6 h treatment of HBEs with PHCA at 25°C (1.59 ± 0.00 log CFU/egg) and after 24 h with MCA at 5°C (1.23 ± 0.54 log CFU/egg) when the pathogen was inoculated at the low and high levels, respectively. In treatment-storage trials, citric acid treatment after HBE contamination resulted in a fewer number of samples where the pathogen was detected compared to when treatment occurred before contamination. Citric acid treatment for 24 h also resulted in a greater number of samples where L. monocytogenes was not detected than the 1 h treatment. The results of this study determined that L. monocytogenes could survive on HBEs treated with citric acid, regardless of treatment or storage temperature and acid concentration (PHCA or MCA).
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Title: ANALYTIC STUDY OF THE CELLULAR FUNCTIONS OF UBL4A
Creator: Zhang, Huaiyuan
Date: 2021
Description: Ubiquitin-like protein 4A (Ubl4A) is a small protein encoded by a “housekeeping” gene that locates on the X chromosome. As a multi-functional...
Show moreUbiquitin-like protein 4A (Ubl4A) is a small protein encoded by a “housekeeping” gene that locates on the X chromosome. As a multi-functional protein, it has roles in a variety of cellular events including anti-tumorigenesis, response to DNA damage, inhibiting the fusion between autophagosome and lysosome, and docking of the tail-anchored proteins to the endoplasmic reticulum. We have previously reported that the newborns from Ubl4A-deficient mice had a high rate of mortality due to defect of AKT-dependent glucose metabolism. At the molecular level, Ubl4A directly binds with the actin related protein (Arp) 2/3 complex to accelerate the building up of the actin branching network, which further promotes the translocation and activation of the Akt, a key kinase for multiple cellular processes, from the cytosol to the plasma membrane.In further exploration of the molecular basis of Ubl4A in cell survival, here, we demonstrated that Ubl4A is critical for mitochondrial fusion and cell survival under nutrient depletion. In WT (wild-type) cells, the association of Ubl4A and the Arp2/3 complex serves as a primed “pool” of the actin branching network near mitochondria and enables mitochondria to fuse quickly for energy conservation upon starvation insult. However, such a “ready-to-go pool” of mitochondria was significantly decreased in the Ubl4A-deficient cells. As the result, the mitochondria became fragmentated, exhibited decreased trans-membrane potential, and accumulated ROS (reactive oxygen species), consequently, initiated mitochondria-mediated apoptosis. In this study, we also observed that Ubl4A-deficient mice displayed type II diabetic phenotype under a high-fat diet feeding. The preliminary results showed that these Ubl4A-deficient mice were more sensitive to glucose intolerance than their WT littermates, most likely owing to a delay in glucose uptake, and/or insulin secretion, both of which require the Arp2/3-actin branching network. We speculated that Ubl4A might be involved in cellular vesicle formation and/or secretion, but further investigation is needed to approve this hypothesis. Taken together, these findings provide a novel function of Ubl4A and further insight into the multi-functional roles of Ubl4A in mammalian cells, as well as the molecular basis for understanding the clinical relevance of Ubl4A in related human diseases.
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Title: Modeling and Control Methods for Boundary Constrained Soft Robots
Creator: Zhou, Qiyuan
Date: 2021
Description: Soft and deformable robots have been an active field of research in the past few years. However, they are limited in that they cannot apply...
Show moreSoft and deformable robots have been an active field of research in the past few years. However, they are limited in that they cannot apply much force to an environment due to the limitations of the flexible materials from which they are made of. To help overcome this limitation, a new architecture named the Jamming and Morphing Enabled Bot Array (JAMoEBA) system was conceived. This system consists of a flexible outer membrane which encloses an interior composed of a granular medium. Active sub-units along the flexible outer membrane allow for actuation and locomotion of the system. The granular material coupled with the flexible outer membrane allows the robot to maintain the characteristics typically associated with soft robots (continuum, compliant, configurable). At the same time, the granular material is also able to undergo a solid phase transition with the application of pressure to the flexible outer membrane and allow the system to behave more like a rigid robot if needed. This allows for the robot system to exploit the desirable characteristics of both soft and rigid robots in its tasks.The purpose of this thesis is to offer a discussion and demonstration of various simulation methods for the physically accurate modeling of the JAMoEBA constrained boundary robotic system and to show some of the control methods which have been investigated within the selected modeling framework. Simulation methods based on Lennard-Jones (L-J) potentials, non-smooth contact dynamics (NSCD), as well as the discrete element methods based on complementarity (DEM-C) and penalty (DEM-P) conditions as implemented in the open source physics library Project Chrono are considered. Comparisons are made in the areas of physical accuracy, computational efficiency, and feature availability in the consideration of the best simulation method for the JAMoEBA system. Investigations of control strategies such as leader-follower and heuristics based approaches are carried out using the selected simulation method. Finally, a framework for self contained localization which relies on measurements from onboard sensors and linear Kalman filtering is tested within the simulation framework, and the effectiveness of approximating the shape of the JAMoEBA system using elliptical Fourier descriptors is shown.The main contributions made in this thesis are in the areas of suitable modeling methods, controls strategies, and localization techniques for the novel boundary constrained JAMoEBA soft robot architecture. The work done serves as a solid foundation for the future study of this novel soft robotic architecture due to the demonstration of successful methods for modeling, control, and localization of the system. The work presented is not meant to be a comprehensive or deep dive into any one specific area, but rather a jumping off point for future areas of research.
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Title: BLOCKCHAIN FOR TRANSACTIVE ENERGY MARKET WITH NETWORKED MICROGRIDS
Creator: Yan, Mingyu
Date: 2021
Description: Transactive energy, which allows and incentivizes microgrids (MGs) to trade energy with each other, is regarded as the next-generation energy...
Show moreTransactive energy, which allows and incentivizes microgrids (MGs) to trade energy with each other, is regarded as the next-generation energy management scheme to accommodate the penetration of distributed energy resources (DERs). Blockchain provides an effective and decentralized strategy, which can address the operational challenges introduced by the transactive energy market. This thesis is aimed at providing effective transactive energy markets for incentivizing MGs to trade energy and utilizing blockchain technologies to provide a secure and efficient energy trading environment for all participants.First, this thesis offers a centralized transactive market for networked MGs to transact energy through the centralized distribution system operator (DSO) while ensuring the power network limits. All MGs cooperate in this market and the cooperative behaviors are captured using the cooperative game with externalities. A two-level problem is studied to allocate the total payoff to all participating MGs. Numerical results for a 4-MG system and the IEEE 33-bus show the validity of the centralized transactive energy model. Second, this thesis proposes a two-level network-constrained peer-to-peer (P2P) transactive energy for multi-MGs, which guarantees the distribution power network security and allows MGs to trade energy with each other flexibly. At the lower level, a P2P transactive energy is employed for multi-MGs to trade energy with each other. A multi-leader multi-follower (MLMF) Stackelberg game approach is utilized to model the energy trading process among MGs. At the upper level, the DSO reconfigures the distribution network based on the P2P transactive energy trading results by applying the AC optimal power flow considering the distribution network reconfiguration. If there are any network violations, the DSO requests energy trading adjustments at the lower level for network security. Numerical results for a 4-MG system, the modified IEEE 33-bus, and the 123-bus distribution power systems show the effectiveness of the proposed transactive energy model and its solution technique. Third, this thesis adopts the blockchain for the peer-to-peer transactive energy market among MGs. A two-level integrated blockchain-power system is provided, in which all MGs and the DSO are equipped with blockchain. At the lower level, MGs trade energy with each other through the lower-level MG blockchain, while the DSO manages the network security through the upper level DSO blockchain. We illustrate how to utilize blockchain technologies, i.e., public and private keys and smart contracts, to provide an efficient and secure energy trading environment for all MGs. Last, this thesis applies the blockchain for transacting energy and carbon right for networked MGs. MGs transact energy and carbon right through the centralized DSO while ensuring the power network limits. The introduction of blockchain achieves secure and decentralized market settlements in this centralized market. Numerical results for a 4-MG system and modified IEEE 33-bus systems show the effectiveness of the proposed transactive energy and carbon market.
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Title: Quantifying Localization Safety for State-of-the-Art Mobile Robot Estimation Algorithms
Creator: Abdul Hafez, Osama Mutie Fahad
Date: 2023
Description: In mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for...
Show moreIn mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for mission or life-critical applications, like Autonomous Vehicles (AVs), because they only reflect nominal sensor noise without considering sensor measurement faults. Sensor faults are unknown deterministic errors that cannot be modeled using a zero mean Gaussian distribution. Ignoring sensor faults, in such applications, might result in large localization errors, which in turn deceives other reliant systems, like the controller, leading to catastrophic consequences, such as traffic accidents for AVs. Thus, other techniques need to be used to conservatively quantify pose safety.This thesis builds upon previous research in aviation safety, or what is referred to as \textit{integrity monitoring}, to quantify localization safety for mobile robots that use state-of-the-art state estimators (as localizers).Specifically, this thesis utilizes the localization \textit{integrity risk} metric, as a measure of localization safety, which is defined as the probability of the robot's pose estimate error to lie outside pre-determined acceptable limits while an alarm is not triggered. Unlike open-sky aviation applications, where Global Navigation Satellite Systems (GNSS) signals are available, mobile robots operate in GNSS-denied, or in the best case GNSS-degraded, environments, which demands utilizing more complex set of sensors to guarantee an acceptable level of localization safety. This thesis provides a conservative measure of localization safety by rigorously upper-bounding the integrity risk while accounting for both nominal lidar noise and unmodeled lidar measurement faults.The contributions of this thesis include the design and analysis of practical integrity monitoring and failure detection procedures for mobile robots utilizing map-based particle filtering, a recursive integrity monitoring method for mobile robots utilizing map-based fixed lag smoothing for both solution-separation and chi-squared as failure detectors, the synthesis of an integrity monitoring procedure for mobile robots utilizing Extended Kalman Filter-based Simultaneous Localization And Mapping (EKF-based SLAM), and a Model Predictive Control (MPC) framework that is capable of planning mobile robot's trajectory to follow a predefined robot path while maintaining a predefined minimum level of mobile robot localization safety. The proposed methodologies are validated using both simulation and experimental results conducted in real-world urban university campus environments.
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Title: Efficacy of Power Ultrasound Technology on the Reduction of Listeria monocytogenes and Salmonella enterica on Produce Matrices
Creator: Biswas, Priya
Date: 2023
Description: Fresh produces are considered as ready-to-eat (RTE) and are minimally processed before the distribution to retailers and consumers. Fresh...
Show moreFresh produces are considered as ready-to-eat (RTE) and are minimally processed before the distribution to retailers and consumers. Fresh produce recalls are frequently linked with pathogenic bacteria like Salmonella enterica and Listeria monocytogenes because of minimal processing. This study evaluated the use of power ultrasound coupled with organic acids like citric, acetic, and lactic acid which are generally recognized as safe and often helps to maintain the quality and prolong the shelf life of fresh RTE fruits and vegetables.All the produce matrices which include cucumbers, romaine lettuce, tomatoes, and strawberry were inoculated with four-strain cocktails of rifampicin-resistant S. enterica or L. monocytogenes at approximately 8 log CFU/ matrix. The produce matrices were dried for 1 h and treated for 2 minutes using 2 % or 5 % citric, lactic, or malic acid. This treatment was conducted with or without power ultrasound treatment at 40 kHz. Samples were taken in sets of three and placed into a stomacher bags. The bag contained 225 ml of water or acid. Following a 2 min treatment period, the samples were placed in separate stomacher bags, each containing 225ml of BPB or BLEB, for S. enterica or L. monocytogenes respectively. Followed serial dilutions, samples were then plated on BHIARif plates. For each condition, triplicate samples were taken, and three separate trials were conducted. The use of Student's t-test allowed for the evaluation of population differences, with a significance level of p<0.05 being deemed significant. Cucumber, romaine lettuce, tomatoes, and strawberries treated with 5 % concentration of citric, lactic, and malic acids, with addition of ultrasound showed a greater result in reductions of S. enterica to populations of 5.54 ± 0.47, 4.54 ± 0.83, and 4.69 ± x 0.36, log CFU/cucumber, 6.66 ± 0.51, 4.12 ± 0.32, and 5.51 ± 0.68, log CFU/ lettuce, 4.38 ± 0. 47, 3.12, and 5.04 ± 0.37 log CFU/ tomato, 4.66 ± 0.49, 4.69 ± 0.06, and 6.22 ± 0.39, log CFU/ strawberries, respectively. For L. monocytogenes, 5 % concentration of acids with the addition of ultrasound resulted in populations of 7.69 ± 0.35, 6.04 ± 0.24, and 6.96 ± 0.41, log CFU/ cucumbers, 7.57 ± 0.12, 5.49 ± 0.55, and 5.78 ± 0.73 log CFU/ lettuce, 6.44 ± 0.13, 5.08 ± 0.12, and 6.04 ± 0.22 log CFU/ tomato, 6.16 ± 0.37, 5.18 ± 0.22, and 5.64 ± 0.50, log CFU/ strawberries, respectively. The most effective acid was lactic when compared with citric and malic acids. The objective of this study is to investigate the effectiveness of power ultrasound as a novel non-thermal processing technology, in order to contribute to the existing knowledge base on this topic.
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Title: Structural Condition Assessment for Wind Turbine Towers
Creator: Zahraee, Afshin
Date: 2019
Description: Wind-based energy generation has special priority in efforts related to global sustainability. Based on this priority and the desire for...
Show moreWind-based energy generation has special priority in efforts related to global sustainability. Based on this priority and the desire for increase in electricity generation, the size of wind turbines has been tremendously increased in recent years. Moreover, larger wind turbines have access to more stable wind speeds which assists in electricity generation consistency. However, larger wind turbines are more prone to exhibit structural failure due to the increase of size as well as presence of complexities in the structure and wind load interaction. As such, condition monitoring and fault diagnosis of wind turbines are crucial in their sustainable operation. In this work, a new framework for condition assessment of wind turbine towers is developed. This framework enhances the ability to assess the structural condition of in-service wind turbine towers. Using this framework: 1) the wind data for the wind turbine location is collected, 2) a series of numerical modeling and analysis for the wind turbine tower for various wind velocities are performed to obtain the maximum induced stresses and their corresponding critical fatigue components (hot spots), and 3) fatigue analysis is performed leading to prediction for the remaining life of the wind turbine tower. To illustrate the capability of the present method, a case study is performed on an existing wind turbine. The obtained analytical results are compared and verified by the original design parameters. The results obtained for life prediction of the wind turbine tower correlate with life predictions of other existing wind turbine towers. It is anticipated that application of this framework for existing and future wind turbines will enhance their inspection planning as well as offer a more cost-effective process for repair and rehabilitation of wind turbine towers. This will ultimately increase the overall safety of wind turbine systems and enhance their reliability of performance.Keywords: Wind Turbine Tower, Condition Assessment, Life Prediction.
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Title: Pre-implant Brain Activation Modeling to Drive Placement of Depth Leads in White Matter for Direct Neurostimulation Therapy in Epilepsy
Creator: Cendejas Zaragoza, Leopoldo
Date: 2019
Description: A critical step towards applying direct brain stimulation therapy in focal onset epilepsy is to effectively interface with epileptogenic...
Show moreA critical step towards applying direct brain stimulation therapy in focal onset epilepsy is to effectively interface with epileptogenic neural circuits using a limited set of active contacts. This takes special relevance when interacting with networks that exhibit two or more foci. A strategy to influence the maximum extent of the epileptogenic circuit is to stimulate white matter pathways to enhance propagation to distant epileptic tissue.A significant number of elements must be considered in the clinical response to stimulation delivered directly to neuronal populations. These variables include: stimulation parameter settings, number and interdependence of anatomical targets, electrode number, electrode location and orientation, geometry or shape of the electrode contacts, contact polarity, biophysical properties of stimulated medium, andtrajectory of axonal bundles adjacent to the stimulation site.This document addresses the development of a computational model which takes into consideration all the mentioned variables to predict activation of distant sites via white matter pathways. A method to calculate the extracellular potential field, induced by the application of time-dependent stimulation waveforms, is discussed. Such a method considers both the anisotropic conductivity nature of neural tissue and the electrochemical phenomena of the electrode-tissue interface. The response of white matter fibers is then evaluated by solving a compartmental cable model based in the Hodgkin and Huxley membrane description.The model was integrated into a pre-surgical workflow and was used prospectively to guide stereotactic implantation of depth leads to apply direct neurostimulation therapy in four patients with refractory focal onset epilepsy.
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Title: THE EFFECT OF INTENTIONAL, PERSISTENT SMALL-GROUP LEARNING ON COLLEGE STUDENT ACHIEVEMENT AND RETENTION IN THE PRE-CALCULUS CLASSROOM
Creator: Peterson, Christy Lee
Date: 2019
Description: Various research studies have established that nearly half of all students who decide to pursuit a math, science, or engineering field change...
Show moreVarious research studies have established that nearly half of all students who decide to pursuit a math, science, or engineering field change their mind and seek a different major. The National Center for Education Statistics shows a decrease in the number of degrees in engineering and related fields from 36,900 degrees in the 2003 – 2004 academic year to 31,800 degrees in 2013 – 2014, a 13.8% decline. Not surprising, a report by the President’s Council of Advisors on Science and Technology in 2012 predicted that the United States workforce would see a deficit of one million college graduates in science, technology, engineering and math over the next decade. This study was designed to help answer the question, Is there a difference in achievement or retention for students participating in intentional, persistent small-group learning compared with randomly assigned small-groups in a college level pre-calculus course? This study compared the pre-calculus achievement scores, course pass rates and retention rates between two types of small-group membership, persistent and random. The study also compared students’ study habits throughout the semester and students’ experiences working in a small-group learning environment. Initial examination of the data showed that students participating in intentional, persistent small-groups had better course pass rates and consistently scored higher on unit exams and the final exam than students who participated in randomly assigned small-groups. The course pass rates for both types of small-group membership were similar to the pass rates for students in all other sections of pre-calculus offered at the college. The retention rate for the two courses was similar. However, when compared to the retention rate for all sections of pre-calculus offered at the college, retention was statistically higher in the two sections utilizing small-groups in this study. Given that retention is one of the challenges for pre-calculus, utilizing small-group learning might be a way to improve student retention in college pre-calculus. There were no significant findings for differences in students’ study skills or students’ experiences working in small-group learning environments. However, it was interesting to see that students in randomly assigned small-groups had stronger agreement on items related to working with multiple peers while students in the intentional, persistent small-groups had stronger agreement on items related to developing relationships. The results indicate there might be value to student achievement in utilizing persistent group membership over randomly assigned group membership or even whole-class lecture. Furthermore, the results of this study indicate that utilizing small-group learning in pre-calculus benefits the student retention rate.
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Title: INTERACTIVE MULTIPLE MODEL ESTIMATION FOR UNMANNED AIRCRAFT SYSTEMS DETECT AND AVOID
Creator: Canolla, Adriano Carlos
Date: 2018
Description: This research presents new methods to apply safety standards to Detect and Avoid (DAA) functions for Unmanned Aircraft Systems (UAS), using...
Show moreThis research presents new methods to apply safety standards to Detect and Avoid (DAA) functions for Unmanned Aircraft Systems (UAS), using maneuvering target tracking and encounter models.Previous DAA research methods focused on predefined, linear encounter generation. The new estimation and prediction methods in this research are based on the target tracking of maneuvering intruders using Multiple Model Adaptive Estimation and a realistic random encounter generation based on an established encounter model.When tracking maneuvering intruders there is limited knowledge of changes in intruder behavior beyond the current measurement. The standard Kalman filter (KF) with a single motion model is limited in performance for such problems due to ineffective responses as the target maneuvers. In these cases, state estimation can be improved using MMAE. It is assumed that the current active dynamic model is one of a discrete set of models, each of which is the basis for a separate filter. These filters run in parallel to estimate the states of targets with changing dynamics. In practical applications of multiple model systems, one of the most popular algorithms for the MMAE is the Interacting Multiple Model (IMM) estimator. In the IMM, the regime switching is modeled by a finite state homogeneous Markov Chain. This is represented by a transition probability matrix characterizing the mode transitions. A Markov Chain is a stochastic model describing a sequence of possible events in which the probability of each event depends only on the previous event.This research uses the hazard states estimates (which are derived from DAA standards) to analyze the IMM performance, and then presents a new method to predict the hazard states. To reduce the prediction error, this new method accounts for maneuvering intruders. The new prediction method uses the prediction phase in the IMM algorithm to predict the future intruder aircraft states based on the current and past sensor measurements. The estimation and prediction methods described in this thesis can help ensure safe encounters between UAS and manned aircraft in the National Airspace System through improvement of the trajectory estimation used to inform the DAA sensor certification process.
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Title: DEVELOPING NON-LINEAR AND ADAPTIVE NEURONAL SYNCHRONY AND CONNECTIVITY ANALYSIS TO PERSONALIZE CLOSED-LOOP DBS THERAPY FOR TREATING EPILEPSY
Creator: Farahmand, Sina
Date: 2019
Description: Epilepsy disease afflicts more than seventy million people worldwide. In approximately one third of the cases, antiepileptic medications fail...
Show moreEpilepsy disease afflicts more than seventy million people worldwide. In approximately one third of the cases, antiepileptic medications fail to control seizures. Over the last few decades, electrical stimulation of the brain has been evaluated as a potential alternative to treat surgically and medically refractory epilepsy patients. Despite some successes, most of the devices using this protocol operate based on pre-determined stimulation parameters (e.g. frequency and location of stimulation) that have little or no relationship to the individuals’ underlying brain dynamics, which we hypothesize may explain their low clinical efficacy in preventing or terminating seizures.In this study, a non-linear adaptive neuronal synchrony and connectivity analysis was developed in order to extract stimulation parameters from endogenous, multi-site brain dynamics of epilepsy patients. A non-linear analytical methodology was proposed to assess phase-synchrony dynamics in epilepsy patients as seizures evolve. This study revealed a desynchronization around seizure onset. However, the synchrony level started to increase gradually towards seizure end and reached its maximum at seizure termination. This results reveal that hyper-synchronization of the epileptic network may be a critical self-regulatory mechanism by which the brain terminates seizures. In the other phase of this study, a non-linear adaptive phase-connectivity analysis was developed in order to extract frequency and locations of stimulation that match the synchronized network dynamics at seizure termination. Matching these parameters to the endogenous brain dynamics of epilepsy patients as seizure naturally terminates may not only terminate seizures prior to their development, but it may also lead to a personalized deep brain stimulation (DBS) therapy with higher clinical efficacy.
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Title: FRANK-KASPER PHASES IN THE CO-NB-NI TERNARY SYSTEM AND THE ISOTHERMAL SECTION OF THE CO-NB-NI SYSTEM AT 1473K
Creator: Jia, Hui
Date: 2019
Description: The present study is to determine the Frank-Kasper phases in the Co-Nb-Ni system. Frank-Kasper phases, also called topological close packed ...
Show moreThe present study is to determine the Frank-Kasper phases in the Co-Nb-Ni system. Frank-Kasper phases, also called topological close packed (TCP) phases are one of the largest groups of intermetallic compounds. They are classified into several phases: A15, Laves, σ, µ and the M, P, R phases. In the 1200°C-isothermal section of the Co-Nb-Ni system, the µ phase and Laves phases exist over large composition ranges. In this study, the Co-Nb-Ni ternary system was investigated using optical microscopy(OM), X-ray diffraction (XRD), scanning electron microscopy (SEM), energy-dispersive X-ray spectroscopy (EDS) and differential scanning calorimetry (DSC). The experimental results were compared with literature data and thermodynamic calculations. XRD was used to identify the Frank-Kasper phases. In comparison with previous investigations, the large extensition of µ phase in the Co-Nb-Ni system was verified. In addition, the small phase (~67at. % Nb) shown in the alloys with ~50at. % Nb is the unstablized impurity phase. On the other hand, according to the results of experiments and thermo-calc, C15 phase was found instead of C14 phase compared with Gupta's study.
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Title: ENHANCED DEGRADATION AND PEPTIDE SPECIFICITY OF MMP-SENSITIVE SCAFFOLDS FOR NEOVASCULARIZATION OF ENGINEERED TISSUES
Creator: Sokic, Sonja
Date: 2013, 2013-07
Description: Biomaterial strategies for engineering tissues of clinically relevant size require the formation of rapid and stable neovascularization. The...
Show moreBiomaterial strategies for engineering tissues of clinically relevant size require the formation of rapid and stable neovascularization. The ability of an engineered scaffold to induce vascularization is highly dependent on its rate of degradation. During the process of material degradation, the scaffold should degrade in a manner allowing for cellular infiltration, lumen formation, and extracellular matrix (ECM) synthesis. Matrix metalloproteinases (MMPs) play a key role in mediating cell-induced proteolytic matrix degradation, remodeling, and controlled neovascularization. Poly (ethylene glycol) PEG hydrogels have been extensively investigated as scaffolds for tissue engineering applications due to their ease of chemical modification allowing for the recapitulation of key aspects of the neovascularization process. The goal of the work described in this thesis was to develop strategies to enhance and control the degradation of MMP-sensitive PEG diacrylate (PEGDA) hydrogels without inducing changes to the bulk physical and mechanical properties of the material and to further study the effect of the cleavage site concentration and MMP-sensitive peptide substrate specificity on the rate of neovascularization and tissue remodeling in vitro and in vivo. In the first part of this study, a detailed investigation was completed to investigate the effects of the mechanical and physical properties of the scaffolds as well as the role of proteolytically mediated hydrogel degradation on 3D fibroblast invasion within MMPsensitive PEGDA hydrogels. Initial studies focused on the use of a modified version of a previously published multistep conjugation method to generate degradable PEGDA macromer conjugates containing variations in the number of MMP-sensitive domains. Theoretical and experimental characterization of this multistep conjugation demonstrated xi that this method leads to the formation of multiple species that directly affect the compressive modulus and degradation rate of the scaffold making it difficult to control degradation independent of alterations in the bulk physical and mechanical hydrogel properties. After manipulation of multiple polymerization conditions, hydrogels with similar compressive moduli but different hydrogel degradation rates were synthesized. These initial studies showed that an increase in the incorporation of proteolytically sensitive domains in PEGDA hydrogels of similar modulus lead to enhanced degradation and 3D fibroblast invasion. In this study, the role of soluble FGF-1 on fibroblast invasion within these scaffolds was investigated and it was demonstrated that the inclusion of FGF-1 in the scaffolds results in further enhancement of fibroblast invasion in a dosedependent fashion. Further studies were necessary to develop a more controllable and robust approach in tuning scaffold degradation independent of alterations in the bulk physical and mechanical properties. In order to address this, a novel approach was developed to engineer protease-sensitive peptides with multiple proteolytic cleavage sites that could be covalently crosslinked into hydrogels without compromising the physical and mechanical biomaterial properties. This approach avoided the need for utilizing a multistep conjugation process as peptides could be incorporated into the backbone of PEG using a single step conjugation. Using this approach, hydrogels formed with the engineered peptides led to significantly enhanced degradation and neovascularization in vitro as compared to scaffolds with a single protease sensitive peptide between crosslinks. In addition, hydrogels with enhanced susceptibility to degradation promoted vascularization over a wider range of matrix properties. This approach allowed for controlled xii concentration of the proteolytic cleavage sites within the matrix and thus tuning of hydrogel degradation for tissue engineering applications. In the final study, MMP-sensitive peptide substrates specific to degradation by MMPs known to be expressed during neovascularization were screened for degradation and their role in neovascularization. MMP-sensitive PEGDA hydrogels (SSite and TriSite) were synthesized with peptide substrates sensitive to cleavage by MMP-2, MMP- 9, MMP-14, a mixed sequence of MMP-2, 9 and 14, and compared to the peptide substrate used in the previous studies, which is degraded by collagenase enzymes. The hydrogels were evaluated for their sensitivity and specificity to degradation by MMPs, in terms of cleavage site concentration, and for their role in neovascularization and tissue remodeling in vitro and in vivo. The presented approach allows for the incorporation of varying cleavage site concentration and MMP-sensitive peptide substrates into PEG hydrogels without alterations in the mechanical and physical properties of the hydrogels. Results showed that without the incorporation of growth factors in this scaffold, vascularization and tissue invasion was supported in all MMP-sensitive hydrogel groups regardless of the MMP-sensitive peptide substrate embedded in the matrix. In addition, the cleavage site concentration had a profound impact in enhancing vascularization in vitro and tissue invasion in vivo. These techniques can be used to tune the properties of polymer scaffolds for neovascularization and tissue remodeling. In addition, these studies provide insight into the effect of the physical, mechanical, and degradative properties of these systems and on the role of cleavage site concentration, and MMP substrate specificity on xiii neovascularization and tissue invasion within proteolytically degradable PEG hydrogel constructs.
PH.D in Biomedical Engineering, July 2013
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Title: STEEL STRUCTURE RESPONSE UNDER FIRE CONDITIONS MODEL BASED SIMULATION (MBS)
Creator: Coughlin, Kevin James
Date: 2019
Description: This paper addresses the issue of structure design and analysis for conditions of fire loading. It includes an introductory section that...
Show moreThis paper addresses the issue of structure design and analysis for conditions of fire loading. It includes an introductory section that presents the historical and current state of practice using prescriptive methods of design, a qualitative and conceptual development (based on actual field observations) of what is expected to occur in a structure when subjected to fire, and a summary of the current state of research on the subject of structure design for fire loading. Next, a thermo-plastic non-linear finite element shell model was developed for a two member steel beam and column, bolted joint structure used in an actual physical fire test, subjected to beam a bending load and column compressive load, held constant, while the structure was heated up in a furnace. The beam / column bolted joint rotation for the test matched the simulation quite well. Next, further extending this modeling approach, a partial moment frame from the center of a 9 story building designed for dead, live, and seismic loading was modeled with non-linear thermo-plastic shell elements in the fire zone, along with linear elastic beam / line elements for structural components surrounding the fire zone. For this model, the gravity loading (no seismic loading included) was fully applied, and then a thermal load corresponding to the ASTM E119 fire test load was applied to the structure in the fire zone. Simulation of lateral torsional buckling, flange local buckling, web local buckling, and finally overall global buckling of the columns was accomplished in this effort, increasing confidence that complex thermo-plastic structural behavior can be modeled with advanced non-linear finite element technology. Boundary conditions on this model from the floor system had a significant impact on the mode of global buckling (strong axis or weak axis), warranting further investigation and possibly a 3-D frame with a floor system included in future work. Also, extending this modeling approach even further, in future work, using the entire 9 story moment frame, with shell elements in the fire zone and non-linear moment-curvature beam / line elements for surrounding members, is contemplated, the objective being to numerically model a progressive collapse event in a planar frame. Finally, an actual 10 story structure, converted to and industrial open floor structure, based on current design codes and standards, was modeled thermally using the industry standard Hydrocarbon (HC) Temperature vs time curve, and structurally using non-linear thermoplastic shell elements in the “fire room” (to better capture local buckling and overall structure collapse behavior), and thermoplastic beam elements for the rest of the structure. The thermal modeling was performed for steel members both without insulation (bare steel) and with minimal insulation (1/4” coated thickness), and these “decoupled” results then applied to the structural model. The use of even a small layer of insulation demonstrated the dramatic effect of such, insofar as the collapse time of the structure is concerned.
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