The purpose of the study was to define the characteristics of tree-length skidding on the Lower Coastal Plain of Georgia. The objectives were: 1) to document skidder performance based on speed and tire slip, 2) to determine the effects of skidding on soil physical properties, and 3) to develop recommendations to minimize the impact on soil properties while maintaining skidder performance. A Franklin 170 grapple skidder was operated in second gear under moist (19% moisture content) and wet (31% moisture content) soil conditions using 28L-26, 67x34-25, and 73x44-32 tires. One, three, nine, and 27 passes were tested. The skidder was also operated in third gear with the 73x44-32 tires under the wet soil condition. With moist soil conditions skidder speed and tire slip were not affected by tire size or the number of skidder passes. Tire size did not influence soil properties. It was recommended that skidding be dispersed to avoid making more than nine passes over any particular soil area because the research indicated that repetitive passes resulted in a cumulative decrease in non-capillary porosity and an increase in bulk density. During wet conditions, wheel slip increased, skidder speed decreased, and rut formation increased with smaller tires, an increase in the number of skidder passes, and second gear operation. Operating the skidder in third gear with the 73x44-32 tires was beneficial to skidder performance and a reduction in rutting. Recommendations were to disperse skidding to maintain productivity and minimize rutting. / Master of Science

The purpose of a geotextile separator beneath a granular base, or subbase in a flexible pavement system is to prevent the road aggregate and the underlying subgrade from intermixing. It has been hypothesized that in the absence of a geotextile, intermixing between base course aggregate and soft subgrade occurs. Nine heavily instrumented flexible pavement test sections were built in Bedford County Virginia to investigate the benefits of geosynthetic stabilization in flexible pavements. Three groups of different base course thicknesses (100, 150 and 200mm) test sections were constructed with either geotextile or geogrid stabilization or no stabilization. Woven geotextile was used in sections 2, 5 and 8. Geogrids were used in sections 3, 6 and 9, and sections 1, 4 and 7 were controls. Six Falling weight deflectometer (FWD) tests were performed on all the nine sections over 30 months. The nine sections were subjected to at least 5 load drops with wide loading range each time. The measured deflections were analyzed using the MODULUS back-calculation program to determine layer moduli. The measured deflections were used together with elastic, viscoelastic and the MODULUS program to determine the extent of intermixing at base-subgrade interface. The study concluded that a transition layer would develop when a separator is absent, especially in the weak sections (designed to fail in three years). Other measurements such as in-situ stresses, rut depth, and subsurface profiling (using ground penetrating radar) support the conclusion of the development of a transition layer. / Master of Science

The injection of varying fuel-air mixtures into a vitiated, high-speed crossflow is investigated at five atmosphere chamber pressure in this work. The experimental facility has two combustion stages: a headend stage to create the vitiated crossflow and an axial stage injected into an optically accessible test section. The crossflow entered the test section at a velocity of 76 m/s and a temperature of 1750 K. The axial jet mixtures were first investigated at lean equivalence ratio conditions with hydrogen fuel mole fractions up to 100% to study hydrogen enrichment at lower reactivity. Separately, axial hydrogen fuel content was increased at a constant flame temperature of about 1770K to better understand the jet behavior at temperature conditions relevant to power generation industry combustors. The jet velocity for these cases is maintained at 120 m/s to investigate an increased momentum flux ratio. High-speed chemiluminescence was utilized to examine the flame behavior of the reacting jets. Additionally, emissions measurements were taken to quantify the increase in NOx emissions that is expected to occur with larger hydrogen fuel contents. Particle image velocimetry (PIV) imaging was taken for select points to obtain information on the flow field dynamics. For the methane air jets, increasing premixing led to reduced flame stability within the test section viewing window at the equivalence ratios tested Increasing jet hydrogen fraction leads to greater stabilization of the leeward jet flame near the axial injector location the tested equivalence ratios, and the stabilization of a windward flame not present in the methane jets at these velocities. Higher levels of NOx emissions were found to occur with increased equivalence ratio and reduced premixing, which are tied to reduced flame liftoff height, and when a scaling factor is applied higher jet hydrogen levels also led to increased emissions.

This thesis presents an innovative approach to enhance the stability of floating offshore wind turbine (FOWT) platform through mooring actuation. First, an OC3- Hywind spar-buoy floating platform is modeled utilizing the Control-oriented, Reconfigurable, and Acausal Floating Turbine Simulator (CRAFTS) with a specific focus on predicting hydrodynamic and mooring line loads while intentionally excluding consideration of aerodynamic forces. The accuracy of this model is validated against the industry standard OpenFAST simulator through various test cases. The central objective of this study revolves around achieving robust stabilization of the spar buoy platform, primarily focusing on X-Z symmetric planar motions, including surge, pitch, and heave degrees of freedom (DOFs). To accomplish this, two linearization techniques are employed: one transforms the inherently complex nonlinear model from CRAFTS into a linear Mass-Spring-Damper (MSD) system, particularly targeting surge and pitch motions, while the other method involves the conversion of the nonlinear model from CRAFTS into the Functional Mockup Interface (FMI) within MATLAB/Simulink for linearization. The analysis utilizing Bode plots derived from these lin- earized models yields crucial insights into the system's response to mooring actuation. Notably, it emphasizes the inherent challenge in pitch control, characterized by lower gain compared to surge at relevant frequencies, necessitating substantial mooring actuation or cable length modifications for effective pitch stabilization. Then, a Linear Quadratic Regulator (LQR) controller is designed to mitigate surge and pitch motions. Numerical simulations conducted across diverse scenarios reveal the inherent challenge in simultaneously mitigating surge and pitch motions using the original platform configuration. To address this challenge, a control co-design strategy is proposed, leading to the development of an optimized mooring line configuration that effectively stabilizes both motions with minimal adjustments. In summary, this thesis introduces a control-oriented modeling approach and an innovative control strategy to enhance the stability of the floating wind turbine platform through mooring actuation. The results emphasize the potential for broader application of this approach to various floating platforms for FOWTs and the extension of stabilization efforts to address all six DOFs in future research, where aerodynamic loads are also incorporated.

Yes / Crude oil is an unrefined petroleum composed of wide range of hydrocarbon up to n‐C40+. However, there are also a percentage of light hydrocarbon components present in the mixture. Therefore, to avoid their flashing for safe storage and transportation, the live crude needs to be stabilized beforehand. This paper aims to find the suitable operating conditions to stabilize an incoming live crude feed to maximum true vapor pressure (TVPs) of 12 psia (82.7 kPa) at Terengganu Crude Oil Terminal, Malaysia. The simulation of the process has been conducted by using Aspen HYSYS. The obtained results illustrate that the simulation data are in good agreement with the plant data and in particular for the heavier hydrocarbons. For the lighter components, the simulation results overpredict the plant data, whereas for the heavier components, this trend is reversed. It was found that at the outlet temperature (85–90°C) of hot oil to crude heat exchanger (HX‐220X), the high‐pressure separator (V‐220 A/B) and the low‐pressure separator (V‐230 A/B) had operating pressures of (400–592 kPa) and (165–186 kPa), respectively, and the live crude was successfully stabilized to a TVP of less than 12 psia. The impact of main variables, that is, inlet feed properties, three‐phase separators operating pressure, and preheater train's performance on the product TVP, are also studied. Based on the scenarios analyzed, it can be concluded that the actual water volume (kbbl/day) has greater impact on the heat exchanger's duty; thus, incoming free water to Terengganu Crude Oil Terminal should be less than 19.5 kbbl/day (9.1 vol%) at the normal incoming crude oil flow rate of 195 (kbbl/day).

In carbon fiber (CF) production, the stabilization process step is the most energy- and time-consuming step in comparison with carbonization and graphitization. To develop optimization routes for energy and productivity, the stabilization needs to be monitored continuously via inline analysis methods. To prognose the evolution of high-performance CF, the density of stabilized fibers has been identified as a robust pre-indicator. As the offline analysis of density is not feasible for inline analysis, a density-soft sensor based on the stabilization indices of Fourier Transform Infrared spectrum (FTIR)-analysis and Electron Paramagnetic Resonance (EPR) Spectroscopy could potentially be used for inline monitoring. In this study, a Polyacrylonitrile-based precursor fiber (PF) stabilized in a continuous thermomechanical stabilization line with varying stretching profiles was incrementally analyzed using density, FTIR-based relative cyclization index (RCI), and EPR-based free radical concentration (FRC). Our findings show RCI and EPR dependencies for density, correlated for RCI with sensitivity by stretching to cubic model parameters, while FRC exhibits linear relationships. Therefore, this study identifies two possible soft sensors for inline density measurement, enabling autonomous energy optimization within industry 4.0-based process systems.

Trimethylamine, (CH3)3N, (TMA), odors are often associated with limed and polymer conditioned sludges. This odor has a fishy smell and can be a nuisance to the community surrounding a wastewater treatment plant or land application site. Several factors are thought to determine the amount of TMA generated from limed biosolids. These are, the presence of cationic polymer, the polymer dose, the time between addition of polymer and lime stabilization, shear imparted on the sludge in the dewatering process and dewatered cake solids concentration. All of these were investigated in this study. The results showed that TMA could be generated from sludge that did not contain polymer but the concentrations were low compared to sludge conditioned with cationic polymer. As the polymer dose increased, the TMA increased. Shear also showed to play an important role for TMA production. In addition to higher shear increasing the polymer demand, shear in itself can increase TMA generation. However, the most important factor in generating TMA was the time between conditioning and liming. If this time was minimized, little TMA was produced, even at high polymer doses. Data also suggests that methanogens play an important role in the breakdown of TMA. / Master of Science

Linewidth is a measure of the frequency stability of any kind of oscillator, and it is a defining characteristic of coherent lasers. Narrow linewidth laser technology, particularly in the field of fiber-based infrared lasers, has progressed to the point where highly stable sources are commercially available with linewidths on the order of 1-100 kHz. In order to achieve a higher level of stability, the laser must be augmented by an external frequency stabilization system. This paper presents the design and operation of a frequency locking system for infrared fiber lasers. Using the Pound-Drever-Hall technique, the system significantly reduces the linewidth of an input laser with an un-stabilized linewidth of 2 kHz. It uses a high-finesse Fabry-Perot cavity, which is mechanically and thermally isolated, as a frequency reference to measure the time-varying frequency of the input laser. An electronic feedback loop works to correct the frequency error and maintain constant optical power. Testing has proven the Pound-Drever-Hall system to be highly stable and capable of operating continuously for several seconds at a time. / Master of Science

Bipedal locomotion in humanoid robots is a very challenging problem within the field of robot locomotion. In this thesis, we propose and demonstrate an omni-directional walking engine that achieves stable walking using feedback from an inertial measurement unit. Our walking engine generates gaits for which the zero moment point is on the center of the supporting foot. The mechanical structure of CHARLI-L, a humanoid robot used as our test platform in this thesis, is first introduced by describing the inverse kinematics of its legs. The principles of the omni-directional gait generator that creates walking motions and overcomes the robot's mechanical deficiencies is discussed. We develop and implement two kinds of feedback controllers; one is the gait feedback controller and the other is the joint feedback controller. Both feedback controllers use proportional-derivative of the angle of the pelvis from an inertial measurement unit. The results of the experiments are presented the efficacy of our proposed walking engine. / Master of Science

2025 / The current tools used in transcatheter procedures for interventional cardiology are often limited to one or two degrees of freedom as well as in their distal control, dexterity, and force output. These shortcomings greatly restrict which procedures can be translated from open-heart to transcatheter methods. To address these shortcomings, Rogatinsky et al. of the Morphable Biorobotics Laboratory (MBL) developed an interventional robot comprising a soft stacked balloon actuator (SBA) manipulator and a pop-up stabilization mechanism. The stabilization plays a critical role for the robot by moving the device fulcrum closer to the procedure site as well as creates a fixed reference point for the soft manipulator. The stabilization allows for greater mechanical leverage, force transmission, and predictable, controllable movement. This thesis draws inspiration from the stabilization mechanism from Rogatinsky et al. and presents a new stabilization design that can be successfully deployed in in vivo tests. This new design bears a segmented backbone, new pop-up geometry, different material, and an intuitive actuation system. This overall design allows the robot to navigate vasculature curves, make it robust against the unpredictability of the in vivo setting, increase the device’s mechanical and deployment failure threshold, and limit user error, respectively while matching and outperforming the initial design in respect to axial and radial perturbation resistance, and absence of vessel occlusion. These results allow the overall prototype to complete in vivo tests, a necessary step for product development toward clinical viability. / 2027-01-28T00:00:00Z