Design of compliant mechanism lattice structures for impact energy absorption

Indiana University-Purdue University Indianapolis (IUPUI)Lattice structures have seen increasing use in several industries including automotive, aerospace, and construction. Lattice structures are lightweight and can achieve a wide range of mechanical behaviors through their inherent cellular design. Moreover, the unit cells of lattice structures can easily be meshed and conformed to a wide variety of volumes. Compliant mechanism make suitable micro-structures for units cells in lattice structures that are designed for impact energy absorption. The flexibility of compliant mechanisms allows for energy dissipation via straining of the members and also mitigates the effects of impact direction uncertainties. Density-based topology optimization methods can be used to synthesize compliant mechanisms. To aid with this task, a proposed optimization tool, coded in MATLAB, is created. The program is built on a modular structure and allows for the easy addition of new algorithms and objective functions beyond what is developed in this study. An adjacent investigation is also performed to determine the dependencies and trends of mechanical and geometric advantages of compliant mechanisms. The implications of such are discussed. The result of this study is a compliant mechanism lattice structure for impact energy absorption. The performance of this structure is analyzed through the application of it in a football helmet. Two types of unit cell compliant mechanisms are synthesized and assembled into three liner configurations. Helmet liners are further developed through a series of ballistic impact analysis simulations to determine the best lattice structure configuration and mechanism rubber hardness. The final liner is compared with a traditional expanded polypropylene foam liner to appraise the protection capabilities of the proposed lattice structure

Investigation of a hopping transporter concept for lunar exploration

Performance and dynamic characteristics determined for hopping transporter for lunar exploratio

Mechanical Prosthetic Hand for Navy SEAL

Quality of Life Plus has been improving the lives of many wounded servicemen and first responders around the country. Its mission is to foster and generate innovations to aid and improve the quality of life for those injured in the line of duty. This project is the fifth iteration of designing a prosthetic hand for an active duty Navy SEAL. The first iterations have been myoelectric systems where sensors are attached to the user’s muscles to actuate the prosthetic. However, the most recent has been a purely mechanical system, and was shoulder actuated. The design was more robust, it was lightweight compared to the first iterations, and it is also waterproof. This project is made out of Titanium 6AL-4V, which offers a great strength-to-weight ratio, is robust, reliable and easy to assemble. This project took a different avenue of approach when manufacturing the prosthetic hand. The vast majority of the hand was 3D-printed using the latest technology of direct metal laser sintering. The material chosen for this device is Ti 6-4, where it was printed and donated by Lawrence Livermore National Laboratory located in Livermore, CA. Most of the hardware was made out of stainless steel and was purchased from McMaster Carr, and the Sure-Lok was obtained from a previous iteration. The prosthetic hand will include shock cord, non-flexible cable to withstand up to 200 lbs. per finger and a break cable that will interlock the fingers, palm and gantlet sub systems of the prosthetic. The device will also include a silicon sleeve with an embedded plate that will attach to the palm. The sleeve will attach via suction to the users residual and has been proven to work as he currently uses a similar device with a purely aesthetic hand. This prosthetic was designed by analyzing the Raptor Hand created by e-Nable, an organization that helps small children by creating prosthetic hands that can be easily printed and assembled. In order to actuate our prosthetic, the user will need sufficient wrist movement and strength for proper function. Since our client has full mobility of his wrist, this will be the best method. The prosthetic uses a Sure-Lok to allow the user to maintain a grip without applying any excess force. The non-flexible cable will maintain a tension that will allow the user to grip and hold heavy items over a long period of time. Once the Sure-Lok is not active, the flexible cord will spring the fingers back into the initial position. The thumb is not connected to any cables and is spring loaded to allow the user to manually place the thumb in three different positions. During the initial inspection of the titanium parts received, the team noticed that the support material was still intact and needed to be removed. This will delay the assembly and testing of the titanium prototype. The support material will be removed via Electric Discharge Machining (EDM), which is a controlled process that is used to remove metal by electric spark erosion. The electric spark is used as the cutting tool to erode the work piece to the desired surface finish. Once completed, the hand will be assembled and tested and will be sent to the client’s prosthetist to implement the silicon sleeve. Furthermore, our donor has agreed to reprint the prosthetic to allow any improvements of the design. This will be done towards the end of the summer. Several of our team members will remain in contact with the sponsor and LLNL to oversee the completion of this design

Multi-objective Generative Design Framework and Realization for Quasi-serial Manipulator: Considering Kinematic and Dynamic Performance

This paper proposes a framework that optimizes the linkage mechanism of the quasi-serial manipulator for target tasks. This process is explained through a case study of 2-degree-of-freedom linkage mechanisms, which significantly affect the workspace of the quasi-serial manipulator. First, a vast quasi-serial mechanism is generated with a workspace satisfying a target task and it converts it into a 3D CAD model. Then, the workspace and required torque performance of each mechanism are evaluated through kinematic and dynamic analysis. A deep learning-based surrogate model is leveraged to efficiently predict mechanisms and performance during the optimization process. After model training, a multi-objective optimization problem is formulated under the mechanical and dynamic conditions of the manipulator. The design goal of the manipulator is to recommend quasi-serial mechanisms with optimized kinematic (workspace) and dynamic (joint torque) performance that satisfies the target task. To investigate the underlying physics from the obtained Pareto solutions, various data mining techniques are performed to extract design rules that can provide practical design guidance. Finally, the manipulator was designed in detail for realization with 3D printed parts, including topology optimization. Also, the task-based optimized manipulator is verified through a payload test. Based on these results, the proposed framework has the potential for other real applications as realized cases and provides a reasonable design plan through the design rule extraction

Tailoring self-organized nanostructured morphologies in kilometer-long polymer fiber

Cataloged from PDF version of article.While nanowires and nanospheres have been utilized in the design of a diverse array of nanoscale devices, recent schemes frequently require nanoscale architectures of higher complexity. However, conventional techniques are largely unsatisfactory for the production of more intricate nanoscale shapes and patterns, and even successful fabrication methods are incompatible with large-scale production efforts. Novel top-down, iterative size reduction (ISR)-mediated approaches have recently been shown to be promising for the production of high-throughput cylindrical and spherical nanostructures, though more complex architectures have yet to be created using this process. Here we report the presence of a hitherto-undescribed transitory region between nanowire and nanosphere transformation, where a diverse array of complex quasi one-dimensional nanostructures is produced by Rayleigh-Plateau instability-mediated deformation during the progress of a combined ISR/thermal instability technique. Temperature-based tailoring of architecturally diverse, indefinitely long, globally parallel, complex nanostructure arrays with high uniformity and low size variation facilitates the development of in-fiber or free-standing nanodevices with significant advantages over on-chip devices

A continuum robotic platform for endoscopic non-contact laser surgery: design, control, and preclinical evaluation

The application of laser technologies in surgical interventions has been accepted in the clinical domain due to their atraumatic properties. In addition to manual application of fibre-guided lasers with tissue contact, non-contact transoral laser microsurgery (TLM) of laryngeal tumours has been prevailed in ENT surgery. However, TLM requires many years of surgical training for tumour resection in order to preserve the function of adjacent organs and thus preserve the patient’s quality of life. The positioning of the microscopic laser applicator outside the patient can also impede a direct line-of-sight to the target area due to anatomical variability and limit the working space. Further clinical challenges include positioning the laser focus on the tissue surface, imaging, planning and performing laser ablation, and motion of the target area during surgery. This dissertation aims to address the limitations of TLM through robotic approaches and intraoperative assistance. Although a trend towards minimally invasive surgery is apparent, no highly integrated platform for endoscopic delivery of focused laser radiation is available to date. Likewise, there are no known devices that incorporate scene information from endoscopic imaging into ablation planning and execution. For focusing of the laser beam close to the target tissue, this work first presents miniaturised focusing optics that can be integrated into endoscopic systems. Experimental trials characterise the optical properties and the ablation performance. A robotic platform is realised for manipulation of the focusing optics. This is based on a variable-length continuum manipulator. The latter enables movements of the endoscopic end effector in five degrees of freedom with a mechatronic actuation unit. The kinematic modelling and control of the robot are integrated into a modular framework that is evaluated experimentally. The manipulation of focused laser radiation also requires precise adjustment of the focal position on the tissue. For this purpose, visual, haptic and visual-haptic assistance functions are presented. These support the operator during teleoperation to set an optimal working distance. Advantages of visual-haptic assistance are demonstrated in a user study. The system performance and usability of the overall robotic system are assessed in an additional user study. Analogous to a clinical scenario, the subjects follow predefined target patterns with a laser spot. The mean positioning accuracy of the spot is 0.5 mm. Finally, methods of image-guided robot control are introduced to automate laser ablation. Experiments confirm a positive effect of proposed automation concepts on non-contact laser surgery.Die Anwendung von Lasertechnologien in chirurgischen Interventionen hat sich aufgrund der atraumatischen Eigenschaften in der Klinik etabliert. Neben manueller Applikation von fasergeführten Lasern mit Gewebekontakt hat sich die kontaktfreie transorale Lasermikrochirurgie (TLM) von Tumoren des Larynx in der HNO-Chirurgie durchgesetzt. Die TLM erfordert zur Tumorresektion jedoch ein langjähriges chirurgisches Training, um die Funktion der angrenzenden Organe zu sichern und damit die Lebensqualität der Patienten zu erhalten. Die Positionierung des mikroskopis chen Laserapplikators außerhalb des Patienten kann zudem die direkte Sicht auf das Zielgebiet durch anatomische Variabilität erschweren und den Arbeitsraum einschränken. Weitere klinische Herausforderungen betreffen die Positionierung des Laserfokus auf der Gewebeoberfläche, die Bildgebung, die Planung und Ausführung der Laserablation sowie intraoperative Bewegungen des Zielgebietes. Die vorliegende Dissertation zielt darauf ab, die Limitierungen der TLM durch robotische Ansätze und intraoperative Assistenz zu adressieren. Obwohl ein Trend zur minimal invasiven Chirurgie besteht, sind bislang keine hochintegrierten Plattformen für die endoskopische Applikation fokussierter Laserstrahlung verfügbar. Ebenfalls sind keine Systeme bekannt, die Szeneninformationen aus der endoskopischen Bildgebung in die Ablationsplanung und -ausführung einbeziehen. Für eine situsnahe Fokussierung des Laserstrahls wird in dieser Arbeit zunächst eine miniaturisierte Fokussieroptik zur Integration in endoskopische Systeme vorgestellt. Experimentelle Versuche charakterisieren die optischen Eigenschaften und das Ablationsverhalten. Zur Manipulation der Fokussieroptik wird eine robotische Plattform realisiert. Diese basiert auf einem längenveränderlichen Kontinuumsmanipulator. Letzterer ermöglicht in Kombination mit einer mechatronischen Aktuierungseinheit Bewegungen des Endoskopkopfes in fünf Freiheitsgraden. Die kinematische Modellierung und Regelung des Systems werden in ein modulares Framework eingebunden und evaluiert. Die Manipulation fokussierter Laserstrahlung erfordert zudem eine präzise Anpassung der Fokuslage auf das Gewebe. Dafür werden visuelle, haptische und visuell haptische Assistenzfunktionen eingeführt. Diese unterstützen den Anwender bei Teleoperation zur Einstellung eines optimalen Arbeitsabstandes. In einer Anwenderstudie werden Vorteile der visuell-haptischen Assistenz nachgewiesen. Die Systemperformanz und Gebrauchstauglichkeit des robotischen Gesamtsystems werden in einer weiteren Anwenderstudie untersucht. Analog zu einem klinischen Einsatz verfolgen die Probanden mit einem Laserspot vorgegebene Sollpfade. Die mittlere Positioniergenauigkeit des Spots beträgt dabei 0,5 mm. Zur Automatisierung der Ablation werden abschließend Methoden der bildgestützten Regelung vorgestellt. Experimente bestätigen einen positiven Effekt der Automationskonzepte für die kontaktfreie Laserchirurgie

Selected Papers from Experimental Stress Analysis 2020

This Special Issue consists of selected papers from the Experimental Stress Analysis 2020 conference. Experimental Stress Analysis 2020 was organized with the support of the Czech Society for Mechanics, Expert Group of Experimental Mechanics, and was, for this particular year, held online in 19–22 October 2020. The objectives of the conference included identification of current situation, sharing professional experience and knowledge, discussing new theoretical and practical findings, and the establishment and strengthening of relationships between universities, companies, and scientists from the field of experimental mechanics in mechanical and civil engineering. The topics of the conference were focused on experimental research on materials and structures subjected to mechanical, thermal–mechanical, and dynamic loading, including damage, fatigue, and fracture analyses. The selected papers deal with top-level contemporary phenomena, such as modern durable materials, numerical modeling and simulations, and innovative non-destructive materials’ testing

Combined measures of oxygenation, haemodynamics and metabolism to understand neural responses in infants

fNIRS is an established research tool used to investigate typical and atypical brain development.Primarily, it provides measures of haemodynamic changes that are used to indirectly infer neural activity. Broadband NIRS provides a more direct marker of neuronal activation through measurement of changes in cytochrome-c-oxidase (CCO). As a cellular measure, CCO can be used as a bridge to improve our understanding of the link between neural and haemodynamic activity or “neurovascular coupling”. Study 1 demonstrated that changes in mitochondrial activity could be measured alongside haemodynamics during functional activation, over the temporal cortex, using a miniature system in four-to-six-month-old infants. In order to investigate the spatial specificity of CCO, its relation to haemodynamics and to build upon our understanding of neurovascular coupling mechanisms, multi-channel broadband NIRS was used alongside EEG in Study 2 where responses were measured over the visual cortex. Study 2 was performed in adults as the development of a concurrent NIRS and EEG protocol was methodologically challenging. Following this, Study 3 extended on experimental paradigms from Studies 1 and 2 to measure changes in metabolic activity and haemodynamics over the temporal and visual cortices, in four-to-seven-month-old infants. This study demonstrated simultaneous broadband NIRS and EEG use in infants for the first time. The results provided evidence of underdeveloped coupling of cerebral blood flow changes and mitochondrial activity in early infancy. Finally, Study 4 extended the protocol to investigate underlying biological mechanisms that may be altered in neurovascular coupling in autism, by studying infants at high familial risk for the disorder. The findings demonstrated that the combined protocol was not only feasible for use to study atypical brain development but also provided preliminary evidence of altered coupling between cerebral energy metabolism and haemodynamics.Taken together, this work illuminates hitherto undocumented evidence of neurovascular coupling during brain development and highlights the potential of using broadband NIRS with EEG for future neurodevelopmental research in typical and atypical populations

Optimizing transportation systems and logistics network configurations : From biased-randomized algorithms to fuzzy simheuristics

242 páginasTransportation and logistics (T&L) are currently highly relevant functions in any competitive industry. Locating facilities or distributing goods to hundreds or thousands of customers are activities with a high degree of complexity, regardless of whether facilities and customers are placed all over the globe or in the same city. A countless number of alternative strategic, tactical, and operational decisions can be made in T&L systems; hence, reaching an optimal solution –e.g., a solution with the minimum cost or the maximum profit– is a really difficult challenge, even by the most powerful existing computers. Approximate methods, such as heuristics, metaheuristics, and simheuristics, are then proposed to solve T&L problems. They do not guarantee optimal results, but they yield good solutions in short computational times. These characteristics become even more important when considering uncertainty conditions, since they increase T&L problems’ complexity. Modeling uncertainty implies to introduce complex mathematical formulas and procedures, however, the model realism increases and, therefore, also its reliability to represent real world situations. Stochastic approaches, which require the use of probability distributions, are one of the most employed approaches to model uncertain parameters. Alternatively, if the real world does not provide enough information to reliably estimate a probability distribution, then fuzzy logic approaches become an alternative to model uncertainty. Hence, the main objective of this thesis is to design hybrid algorithms that combine fuzzy and stochastic simulation with approximate and exact methods to solve T&L problems considering operational, tactical, and strategic decision levels. This thesis is organized following a layered structure, in which each introduced layer enriches the previous one.El transporte y la logística (T&L) son actualmente funciones de gran relevancia en cual quier industria competitiva. La localización de instalaciones o la distribución de mercancías a cientos o miles de clientes son actividades con un alto grado de complejidad, indepen dientemente de si las instalaciones y los clientes se encuentran en todo el mundo o en la misma ciudad. En los sistemas de T&L se pueden tomar un sinnúmero de decisiones al ternativas estratégicas, tácticas y operativas; por lo tanto, llegar a una solución óptima –por ejemplo, una solución con el mínimo costo o la máxima utilidad– es un desafío realmente di fícil, incluso para las computadoras más potentes que existen hoy en día. Así pues, métodos aproximados, tales como heurísticas, metaheurísticas y simheurísticas, son propuestos para resolver problemas de T&L. Estos métodos no garantizan resultados óptimos, pero ofrecen buenas soluciones en tiempos computacionales cortos. Estas características se vuelven aún más importantes cuando se consideran condiciones de incertidumbre, ya que estas aumen tan la complejidad de los problemas de T&L. Modelar la incertidumbre implica introducir fórmulas y procedimientos matemáticos complejos, sin embargo, el realismo del modelo aumenta y, por lo tanto, también su confiabilidad para representar situaciones del mundo real. Los enfoques estocásticos, que requieren el uso de distribuciones de probabilidad, son uno de los enfoques más empleados para modelar parámetros inciertos. Alternativamente, si el mundo real no proporciona suficiente información para estimar de manera confiable una distribución de probabilidad, los enfoques que hacen uso de lógica difusa se convier ten en una alternativa para modelar la incertidumbre. Así pues, el objetivo principal de esta tesis es diseñar algoritmos híbridos que combinen simulación difusa y estocástica con métodos aproximados y exactos para resolver problemas de T&L considerando niveles de decisión operativos, tácticos y estratégicos. Esta tesis se organiza siguiendo una estructura por capas, en la que cada capa introducida enriquece a la anterior. Por lo tanto, en primer lugar se exponen heurísticas y metaheurísticas sesgadas-aleatorizadas para resolver proble mas de T&L que solo incluyen parámetros determinísticos. Posteriormente, la simulación Monte Carlo se agrega a estos enfoques para modelar parámetros estocásticos. Por último, se emplean simheurísticas difusas para abordar simultáneamente la incertidumbre difusa y estocástica. Una serie de experimentos numéricos es diseñada para probar los algoritmos propuestos, utilizando instancias de referencia, instancias nuevas e instancias del mundo real. Los resultados obtenidos demuestran la eficiencia de los algoritmos diseñados, tanto en costo como en tiempo, así como su confiabilidad para resolver problemas realistas que incluyen incertidumbre y múltiples restricciones y condiciones que enriquecen todos los problemas abordados.Doctorado en Logística y Gestión de Cadenas de SuministrosDoctor en Logística y Gestión de Cadenas de Suministro