Robotic microassembly is a process to leverage intelligent micro-robotic technologies to manipulate and assemble three-dimensional complex micro-electromechanical systems (MEMS) from a set of simple-functional microparts or subsystems. As the development of micro and nano-technologies has progressed in recent years, complex and highly integrated micro-devices are required. Microassembly will certainly play an important role in the fabrication of the next generation of MEMS devices. This work provides advances in robotic microassembly of complex three-dimensional MEMS devices. The following key technologies in robotic microassembly are studied in this research: (i) the design of micro-fasteners with high accuracy, high mechanical strength, and reliable electrical connection, (ii) the development of a microassembly strategy that permits the manipulation of microparts with multiple degrees of freedom (DOFs) and high accuracy, (iii) fully automated microassembly based on computer vision, (iv) micro-force sensor design for microassembly. An adhesive mechanical micro-fastener is developed to assemble micro-devices. Hybrid microassembly strategy, which consists of pick-and-place and pushing-based manipulations, is employed to assemble three-dimensional micro-devices with high flexibility and high accuracy. Novel three-dimensional rotary MEMS mirrors have been successfully assembled using the proposed micro-fastener and manipulation strategy. Fully automatic pick-and-place microassembly is successfully developed based on visual servo control. A vision-based contact sensor is developed and applied to automatic micro-joining tasks. Experimental results show that automatic microassembly has achieved sub-micron accuracy, high efficiency, and high success rate. This work has provided an effective approach to construct the next generation of MEMS devices with high performance, high efficiency, and low cost.

Experiments were conducted to compare mixing and combustion of natural gas jets from round and elliptical nozzle holes in an optically accessible combustion bomb. A flame ionization detector was used to measure the concentration fields of the two jet types. Pressure data, combustion imaging, and hydrocarbon measurements of exhaust gas were used to compare the ignition delay, heat release, and combustion efficiency of the two nozzles. Concentration measurements indicated that the elliptical nozzle produced jets with smaller rich core regions and lower peak concentrations at all conditions. Firing tests indicated that the two nozzles produced equivalent ignition delays. Peak heat release rates were higher for the round nozzle, while the elliptical nozzle produced smoother transitions from premixed to diffusion burning. Combustion efficiency was slightly higher for the round nozzle. Results indicate that elliptical nozzles could potentially lower NOx and particulate emissions, but further experiments are required to test this hypothesis.

Several research groups have applied elevated hydrostatic pressure to ONH astrocytes cultured on a rigid substrate as an in vitro model for glaucoma. These studies have shown significant biological effects and this hydrostatic pressure model is now becoming generally accepted in the ophthalmic community. However, since the applied pressures were modest the finding of significant biological effects due to pressure alone is surprising. We hypothesized that the application of hydrostatic pressure as described in these studies also altered gas tensions in the culture media. Our goal was to design equipment and carry out experiments to separate the biologic effects of pressure from those of hypoxia on cultured astrocytes. We designed equipment and carried out experiments to subject cultures of DITNC1 astrocytes to the four combinations of two levels of each parameter. We explored the morphology and migration rates of astrocytes, but observed no significant change in any of these properties.

Two formal design methodologies, biomimetic design and the Theory of Inventive Problem Solving, TRIZ, were applied to the redesign of a Proton Exchange Membrane (PEM) fuel cell. Proof of concept prototyping was performed on two of the concepts for water management. The liquid water collection with strategically placed wicks concept demonstrated the potential benefits for a fuel cell. Conversely, the periodic flow direction reversal concepts might cause a potential reduction water removal from a fuel cell. The causes of this water removal reduction remain unclear. In additional, three of the concepts generated with biomimetic design were further studied and demonstrated to stimulate more creative ideas in the thermal and water management of fuel cells. The biomimetic design and the TRIZ methodologies were successfully applied to fuel cells and provided different perspectives to the redesign of fuel cells. The methodologies should continue to be used to improve fuel cells.

In this thesis, a methodology for rigid body dynamic modeling and control design is presented for a 6 degree-of-freedom (DOF) parallel-kinematic-mechanism-based reconfigurable meso-milling machine tool (RmMT) with submicron tracking accuracy requirement. The dynamic modeling of the parallel kinematic mechanism (PKM) is formulated using the Lagrangian method with the application of principle of energy equivalence and coordinate transformations to separate the mechanism into serial sub-systems. The rigid body gyroscopic force is also modeled using this approach and its effect as a disturbance is analyzed and compensated. The contour errors for both position and orientation are formulated to increase machining accuracy. The dynamic model of the system is linearized through feedback linearization and the contour error based feedback control law is formulated using the convex combination design approach to satisfy a set of design specifications simultaneously. The dynamic model and its control methodology are simulated and verified within the MATLAB Simulink environment.

Glaucoma is a common cause of blindness worldwide, yet the etiology of the disease is unclear. A leading hypothesis is that elevated intraocular pressure (IOP) affects the biomechanical environment within the tissues of the optic nerve head (ONH), and that the altered biomechanical environment contributes to optic nerve damage and consequent loss of vision. The biomechanical environment of the ONH is strongly dependent on the biomechanical properties of sclera, particularly scleral stiffness. However there is significant variability in reported stiffness data for human sclera. Therefore, our research goal was to measure the stiffness of human sclera and incorporate this information into finite element models of the human eye to characterize and quantify the biomechanical environment within and around the optic nerve head region at different IOP levels. Human sclera adjacent to the optic nerve head showed highly nonlinear, nearly isotropic and heterogeneous stiffness which was found to be substantially lower than that previously assumed, particularly at lower levels of IOP. The products c*c1 and c*c2, measures of stiffness in the latitudinal and longitudinal directions from the Fung constitutive model, were 2.9 ± 2.0 MPa and 2.8 ± 1.9 MPa, respectively, and were not significantly different (two-sided t-test; p = 0.795). Scleral stiffness was not statistically different between left and right eyes of an individual (p = 0.952) and amongst the quadrants of an eye (p = 0.412 and p = 0.456 in latitudinal and longitudinal directions, respectively). Three stress-strain relationships consistent with the 5th, 50th and 95th percentiles of the measured scleral stiffness distribution were selected as representatives of compliant, median and stiff scleral properties and were implemented in a generic finite element model of the eye using a hyperelastic five-parameter Mooney-Rivlin material model. Models were solved for IOPs of 15, 25 and 50 mmHg. The magnitudes of strains at the optic nerve head region were substantial at even the lowest applied IOP (15 mmHg) and increased at elevated IOPs (e.g. the third principal strain in the compliant model reached as much as 5.25% in the lamina cribrosa at 15mmHg and 8.84% in the lamina cribrosa at 50 mmHg). Scleras that are “weak”, but still within the physiologic range, are predicted to lead to appreciably increased optic nerve head strains and could represent a risk factor for glaucomatous optic neuropathy. As IOP increased from 15 to 50 mmHg, principal strains in the model with a compliant sclera increased at a lower rate than in the model with a stiff sclera. We quantified the biomechanical environment within and around the optic nerve head region using a range of experimentally measured mechanical properties of sclera and at different IOPs. We showed that IOP-related strains within optic nerve head tissues can reach potentially biologically significant levels (capable of inducing a range of effects in glial cells) even at average levels of IOP and for typical human scleral biomechanical properties.

Master of Science / Department of Mechanical and Nuclear Engineering / Kevin Lease / Over the past several years the crack tip opening angle (CTOA) has been identified as one of the key fracture parameters to characterize low constraint stable tearing and instability in structural metallic alloys. This document presents the results of experimental stable tearing characterizations. Characterization methods include optical microscopy and marker band measurements of crack front tunneling. Specific attention is given to the measurement methods used, and also the correlation between CTOA and Delta-5. The effect of tunneling and comparisons with computational results are discussed, and the effect of material and measurement method on CTOA is observed and a clear relationship is seen. Preliminary work on future studies into internal features and behavior is also presented.

Master of Science / Department of Mechanical and Nuclear Engineering / Mohammad H. Hosni / Byron W. Jones / Due to the high occupant density and large number of travelers on commercial aircraft, it is crucial to limit the transport of contaminants and pathogens amongst passengers. In order to minimize the exposure of passengers to various contaminants of different sizes and characteristic, all mechanisms influencing airflow movement within an aircraft cabin need to be understood. The use of personal gaspers on commercial aircraft and their relation to airborne contaminants and pathogens transport is one such mechanism that was investigated. Tracer gas testing using carbon dioxide (CO[subscript]2) was conducted in a wide-body, 11-row Boeing 767 aircraft cabin mockup using actual aircraft components for air distribution. Three separate experiments were conducted investigating the effect of gaspers on the transport of contaminants. The first series of experiments focused on the effect of gaspers on longitudinal transport patterns within an aircraft cabin environment by measuring the concentration of tracer gas along the length of the aircraft cabin. The second experiment investigated what fraction of air a passenger inhales originates from a gasper in relation to the overall cabin ventilation. The final set of experiments determined if gaspers could limit close range person-to-person transmission of exhaled contaminants. Three separate sets of conclusions were drawn, one for each series of experiments. The first conclusion is that gaspers disrupt the longitudinal transport of contaminants within the aircraft cabin. The second conclusion is that less than 5% of the air inhaled by a passenger is originating from a gasper even with a gasper directed at the passenger's face. This low percentage is a result of the turbulent airflow within the aircraft cabin causing the gasper jet to quickly mix with the overall cabin ventilation air. The last conclusion is that gaspers can reduce person-to-person transmission of exhaled contaminants as much as nearly 90% in some cases. In other cases the gaspers are found to have negligible or negative impact on the transmission of contaminants. These conclusions are dependent upon where the tracer gas plume emanated from, the sampling location, and the configuration of gaspers around the tracer gas release point.

Master of Science / Department of Mechanical and Nuclear Engineering / Warren N. White / As traditional resources are becoming scarce, renewable energy is a recent topic receiving greater concern. Among the renewable energies, wind power is a very popular type of energy extracted from wind which is readily available in the environment. The use of wind power all over the world is receiving increased attention. Horizontal axis wind turbines are the most popular equipment for extracting power form the wind. One of the problems of using wind turbines is how to maximize the wind power capture. In this paper, a method for maximizing the rotor power coefficient of a wind turbine is proposed. Simultaneous Perturbation Stochastic Approximation (SPSA) is an efficient way for extremum seeking. It is different from the classical gradient based extremum seeking algorithms. For maximizing the rotor power coefficient, it only needs two objective function measurements to take a step toward the next extremum approximation. The one measurement SPSA is a modification of SPSA method developed in this work. Instead of using measurements of two positions occurring at random directions away from the current position, it uses the measurement of one position in a random direction and the measurement of the current position to estimate the gradient. Usually, the rotor power coefficient is not easily measurable. For speed regulation, a nonlinear robust speed controller is used in this work. The controller produces an estimate of the aerodynamic torque of wind turbine. The quality of this estimate improves with time. From that, a good estimate of power coefficient can be obtained. Simulations in MATLAB are executed with a model of a wind turbine based on its dynamic equations. From simulations, it can be seen that the one measurement SPSA method works very well for the wind turbine. It changes the tip speed ratio and blade pitch simultaneously, and the power coefficient reaches its maximum value quickly in a reliable manner. The power capture optimization is then implemented in FAST, a turbine simulation model created by NREL which is used to test the 5MW NREL reference turbine. From the results, it is evident that the wind turbine reaches the maximum power coefficient rapidly.

Doctor of Philosophy / Department of Mechanical and Nuclear Engineering / Youqi Wang / Textile composites are made from textile fabric and resin. Depending on the weaving pattern, composite reinforcements can be characterized into two groups: uniform fabric and near-net shape fabric. Uniform fabric can be treated as an assembly of its smallest repeating pattern also called a unit cell; the latter is a single component with complex structure. Due to advantages of cost savings and inherent toughness, near-net shape fabric has gained great success in composite industries, for application such as turbine blades. Mechanical properties of textile composites are mainly determined by the geometry of the composite reinforcements. The study of a composite needs a computational tool to link fabric micro- and macro-geometry with the textile weaving process and composite manufacturing process. A textile fabric consists of a number of yarns or tows, and each yarn is a bundle of fibers. In this research, a fiber-level approach known as the digital element approach (DEA) is adopted to model the micro- and macro-geometry of fabric and fabric reinforced composites. This approach determines fabric geometry based on textile weaving mechanics. A solver with a dynamic explicit algorithm is employed in the DEA. In modeling a uniform fabric, the topology of the fabric unit cell is first established based on the weaving pattern, followed by yarn discretization. An explicit algorithm with a periodic boundary condition is then employed during the simulation. After its detailed geometry is obtained, the unit cell is then assembled to yield a fabric micro-geometry. Fabric micro-geometry can be expressed at both fiber- and yarn-levels. In modeling a near-net shape fabric component, all theories used in simulating the uniform fabric are kept except the periodic boundary condition. Since simulating the entire component at the fiber-level requires a large amount of time and memory, parallel program is used during the simulation. In modeling a net-shape composite, a dynamic molding process is simulated. The near-net shape fabric is modeled using the DEA. Mold surfaces are modeled by standard meshes. Long vertical elements that only take compressive forces are proposed. Finally, micro- and macro-geometry of a fabric reinforced net-shape composite component is obtained.