Browsing by Author "Priya, Shashank"

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    3D printed graphene-based self-powered strain sensors for smart tires in autonomous vehicles
    Maurya, Deepam; Khaleghian, Seyedmeysam; Sriramdas, Rammohan; Kumar, Prashant; Kishore, Ravi Anant; Kang, Min-Gyu; Kumar, Vireshwar; Song, Hyun-Cheol; Lee, Seul-Yi; Yan, Yongke; Park, Jung-Min (Jerry); Taheri, Saied; Priya, Shashank (2020-10-26)
    The transition of autonomous vehicles into fleets requires an advanced control system design that relies on continuous feedback from the tires. Smart tires enable continuous monitoring of dynamic parameters by combining strain sensing with traditional tire functions. Here, we provide breakthrough in this direction by demonstrating tire-integrated system that combines direct mask-less 3D printed strain gauges, flexible piezoelectric energy harvester for powering the sensors and secure wireless data transfer electronics, and machine learning for predictive data analysis. Ink of graphene based material was designed to directly print strain sensor for measuring tire-road interactions under varying driving speeds, normal load, and tire pressure. A secure wireless data transfer hardware powered by a piezoelectric patch is implemented to demonstrate self-powered sensing and wireless communication capability. Combined, this study significantly advances the design and fabrication of cost-effective smart tires by demonstrating practical self-powered wireless strain sensing capability. Designing efficient sensors for smart tires for autonomous vehicles remains a challenge. Here, the authors present a tire-integrated system that combines direct mask-less 3D printed strain gauges, flexible piezoelectric energy harvester for powering the sensors and secure wireless data transfer electronics, and machine learning for predictive data analysis.
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    Alternating and direct current field effects on the structure-property relationships in Na0.5Bi0.5TiO3-x% BaTiO3 textured ceramics
    Ge, Wenwei; Maurya, Deepam; Li, Jiefang; Priya, Shashank; Viehland, Dwight D. (AIP Publishing, 2013-06-01)
    The influence of alternating (ac) and direct current (dc) fields on the structural and dielectric properties of [001](PC) textured Na0.5Bi0.5TiO3-7%BaTiO3 (NBT-7%BT) ceramics has been investigated. X-ray diffraction measurements revealed that the depolarization at temperature T-d in poled samples resulted from a tetragonal -> pseudo-cubic transition on heating. Moderate ac drive and dc bias had opposite influences on T-d: ac drive decreased the T-d, whereas dc bias increased it. These investigations suggested an effective method to expand the working temperature range of NBT-x%BT textured ceramics to a high temperature. (C) 2013 AIP Publishing LLC.
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    Anisotropic self-biased dual-phase low frequency magneto-mechano-electric energy harvesters with giant power densities
    Patil, Deepak Rajaram; Zhou, Yuan; Kang, Ju-Eun; Sharpes, Nathan; Jeong, Dae-Young; Kim, Yang-Do; Kim, Kee Hoon; Priya, Shashank; Ryu, Jungho (AIP Publishing, 2014-04-02)
    We report the physical behavior of self-biased multi-functional magneto-mechanoelectric (MME) laminates simultaneously excited by magnetic and/or mechanical vibrations. The MME laminates composed of Ni and single crystal fiber composite exhibited strong ME coupling under Hdc = 0 Oe at both low frequency and at resonance frequency. Depending on the magnetic field direction with respect to the crystal orientation, the energy harvester showed strong in-plane anisotropy in the output voltage and was found to generate open circuit output voltage of 20Vpp and power density of 59.78 mW/Oe² g² cm³ under weak magnetic field of 1 Oe and mechanical vibration of 30 mg, at frequency of 21 Hz across 1 MΩ resistance.
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    Barium Titanate-Based Magnetoelectric Nanocomposites
    Yang, Yaodong (Virginia Tech, 2011-06-21)
    Barium Titanate (BaTiO3 or BTO) has attracted an ever increasing research interest because of its wide range of potential applications. Nano-sized or nanostructured BTO has found applications in new, useful smart devices, such as sensors and piezoelectric devices. Not only limited to one material, multi-layers or multi-phases can lead to multifunctional applications; for example, nanocomposites can be fabricated with ferrite or metal phase with BTO. In this study, I synthesized various BTO-ferrites, ranging from nanoparticles, nanowires to thin films. BTO-ferrite coaxial nanotubes, BTO-ferrite self-assemble thin films, and BTO single phase films were prepared by pulsed laser deposition (PLD) and sol-gel process. BTO-ferrite nanocomposites were grown by solid state reaction. Furthermore, BTO-metal nanostructures were also synthesized by solid state reaction under hydrogen gas which gave us a great inspiration to fabricate metal-ceramic composites. To understand the relationship between metal and BTO ceramic phase, I also deposited BTO film on Au buffered substrates. A metal layer can affect the grain size and orientation in BTO film which can further help us to control the distribution of dielectric properties of BTO films. After obtaining different nanomaterials, I am interested in the applications of these materials. Recently, many interesting electric devices are developed based on nanotechnology, e.g.: memristor. Memristor is a resistor with memory, which is very important in the computer memory. I believe these newly-synthesized BTO based nanostructures are useful for development of memristor, sensors and other devices to fit increasing needs.
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    Biomimetic and Live Medusae Reveal the Mechanistic Advantages of a Flexible Bell Margin
    Colin, Sean P.; Costello, John H.; Dabiri, John O.; Villanueva, Alex A.; Blottman, John B.; Gemmell, Brad J.; Priya, Shashank (PLOS, 2012-11-07)
    Flexible bell margins are characteristic components of rowing medusan morphologies and are expected to contribute towards their high propulsive efficiency. However, the mechanistic basis of thrust augmentation by flexible propulsors remained unresolved, so the impact of bell margin flexibility on medusan swimming has also remained unresolved. We used biomimetic robotic jellyfish vehicles to elucidate that propulsive thrust enhancement by flexible medusan bell margins relies upon fluid dynamic interactions between entrained flows at the inflexion point of the exumbrella and flows expelled from under the bell. Coalescence of flows from these two regions resulted in enhanced fluid circulation and, therefore, thrust augmentation for flexible margins of both medusan vehicles and living medusae. Using particle image velocimetry (PIV) data we estimated pressure fields to demonstrate a mechanistic basis of enhanced flows associated with the flexible bell margin. Performance of vehicles with flexible margins was further enhanced by vortex interactions that occur during bell expansion. Hydrodynamic and performance similarities between robotic vehicles and live animals demonstrated that the propulsive advantages of flexible margins found in nature can be emulated by human-engineered propulsors. Although medusae are simple animal models for description of this process, these results may contribute towards understanding the performance of flexible margins among other animal lineages.
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    Biomimetic Bi-Pedal Humanoid: Design, Actuation, and Control Implementation with Focus on Robotic Legs
    Okyen, Michael Louis (Virginia Tech, 2013-05-21)
    The advancements made in technology over the past several decades have brought the field of humanoid robotics closer to integration into the everyday lives of humans. Despite these advances, the cost of these systems consistently remains high, thus limiting the environments in which these robots can be deployed. In this thesis, a pair of low-cost, bio-mimetic legs for a humanoid robot was developed with 12 degrees of freedom: three at the hip, one at the knee, and two at the ankle. Prior to developing the robot, a survey of the human-sized robotic legs released from 2006-2012 was conducted. The analysis included a summary of the key performance metrics and trends in series of human-sized robots. Recommendations were developed for future data reporting that will allow improved comparison of different prototypes. The design of the new robotic legs in this thesis utilized human anatomy data to devise performance parameters and select actuators. The developed system was able to achieve comparable ROM, size, weight, and torque to a six-foot tall human. Position and zero-moment point sensors were integrated for use in balancing, and a control architecture was developed. A model of the leg dynamics was created for designing balancing and walking algorithms. In addition, hydraulic actuators were evaluated for use in humanoid robotics, and testing was conducted in order to create a position control methodology. Finally, a predictive deadband controller was designed that was able to achieve accuracy of less than one degree using a valve with slow switching speed.
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    Broadband/Wideband Magnetoelectric Response
    Park, Chee-Sung; Priya, Shashank (Hindawi, 2012-04-08)
    A broadband/wideband magnetoelectric (ME) composite offers new opportunities for sensing wide ranges of both DC and AC magnetic fields. The broadband/wideband behavior is characterized by flat ME response over a given AC frequency range and DC magnetic bias. The structure proposed in this study operates in the longitudinal-transversal (L-T) mode. In this paper, we provide information on (i) how to design broadband/wideband ME sensors and (ii) how to control the magnitude of ME response over a desired frequency and DC bias regime. A systematic study was conducted to identify the factors affecting the broadband/wideband behavior by developing experimental models and validating them against the predictions made through finite element modeling. A working prototype of the sensor with flat bands for both DC and AC magnetic field conditions was successfully obtained. These results are quite promising for practical applications such as current probe, low-frequency magnetic field sensing, and ME energy harvester.
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    Colossal tunability in high frequency magnetoelectric voltage tunable inductors
    Yan, Yongke; Geng, Liwei D.; Tan, Yaohua; Ma, Jianhua; Zhang, Lujie; Sanghadasa, Mohan; Ngo, Khai D. T.; Ghosh, Avik W.; Wang, Yu U.; Priya, Shashank (2018-11-27)
    The electrical modulation of magnetization through the magnetoelectric effect provides a great opportunity for developing a new generation of tunable electrical components. Magnetoelectric voltage tunable inductors (VTIs) are designed to maximize the electric field control of permeability. In order to meet the need for power electronics, VTIs operating at high frequency with large tunability and low loss are required. Here we demonstrate magnetoelectric VTIs that exhibit remarkable high inductance tunability of over 750% up to 10 MHz, completely covering the frequency range of state-of-the-art power electronics. This breakthrough is achieved based on a concept of magnetocrystalline anisotropy (MCA) cancellation, predicted in a solid solution of nickel ferrite and cobalt ferrite through first-principles calculations. Phase field model simulations are employed to observe the domain-level strain-mediated coupling between magnetization and polarization. The model reveals small MCA facilitates the magnetic domain rotation, resulting in larger permeability sensitivity and inductance tunability.
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    Combinatory Finite Element and Artificial Neural Network Model for Predicting Performance of Thermoelectric Generator
    Kishore, Ravi Anant; Mahajan, Roop L.; Priya, Shashank (MDPI, 2018-08-24)
    Thermoelectric generators (TEGs) are rapidly becoming the mainstream technology for converting thermal energy into electrical energy. The rise in the continuous deployment of TEGs is related to advancements in materials, figure of merit, and methods for module manufacturing. However, rapid optimization techniques for TEGs have not kept pace with these advancements, which presents a challenge regarding tailoring the device architecture for varying operating conditions. Here, we address this challenge by providing artificial neural network (ANN) models that can predict TEG performance on demand. Out of the several ANN models considered for TEGs, the most efficient one consists of two hidden layers with six neurons in each layer. The model predicted TEG power with an accuracy of ±0.1 W, and TEG efficiency with an accuracy of ±0.2%. The trained ANN model required only 26.4 ms per data point for predicting TEG performance against the 6.0 minutes needed for the traditional numerical simulations.
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    Compositionally Graded Multilayer Ceramic Capacitors
    Song, Hyun-Cheol; Zhou, Jie E.; Maurya, Deepam; Yan, Yongke; Wang, Yu U.; Priya, Shashank (Springer Nature, 2017-09-27)
    Multilayer ceramic capacitors (MLCC) are widely used in consumer electronics. Here, we provide a transformative method for achieving high dielectric response and tunability over a wide temperature range through design of compositionally graded multilayer (CGML) architecture. Compositionally graded MLCCs were found to exhibit enhanced dielectric tunability (70%) along with small dielectric losses (< 2.5%) over the required temperature ranges specified in the standard industrial classifications. The compositional grading resulted in generation of internal bias field which enhanced the tunability due to increased nonlinearity. The electric field tunability of MLCCs provides an important avenue for design of miniature filters and power converters.
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    The Correlated Dynamics of Micron-Scale Cantilevers in a Viscous Fluid
    Robbins, Brian A. (Virginia Tech, 2014-12-08)
    A number of microcantilever systems of fundamental importance are explored using theoretical and numerical methods to quantify and provide physical insights into the dynamics of experimentally accessible systems that include a variety of configurations and viscous fluids. It is first shown that the correlated dynamics of both a laterally and vertically offset cantilever pair can be accurately predicted by numerical simulations. This is verified by comparing the correlated dynamics yielded by numerical simulations with experimental measurement. It is also demonstrated that in order to obtain these accurate predictions, geometric details of the cantilever must be included in the numerical simulation to directly reflect the experimental cantilever. A microrheology technique that utilizes the fluctuation-dissipation theorem is proposed. It is shown that by including the frequency dependence of the fluid damping, improvements in accuracy of the predictions of the rheological properties of the surrounding fluid are observed over current techniques. The amplitude spectrum of a 2-D cantilever in a power-law fluid is studied. The resulting amplitude spectrum yielded a curve similar to an overdamped system. It is observed that the amplitude and noise spectrum yield the same qualitative response for a 2-D cantilever in a shear thinning, power-law fluid. The correlated dynamics of a tethered vertically offset cantilever pair is investigated. It is shown that for a range of stiffness ratios, which is the ratio of the spring constant of the tethering relative to the cantilever spring constant, the change in the correlated dynamics of a Hookean spring tethered cantilever pair can be seen in the presence of fluid coupling. The dynamics of a spring-mass tethered, vertically offset cantilever pair is qualitatively studied by simplifying the model to an array of springs and masses. The resulting study found that the correlated dynamics of the displacement of mass of the tethered object yielded newly observed features and characteristics. It is shown that the curve shape of the cross-correlation of the displacement of the mass of the tethered object is similar to that of the auto-correlation of the displacement of the mass representing a step forced cantilever. The cross-correlation of the displacement of the mass of the tethered object, however, is found to be significantly more dependent on the stiffness ratio than the auto-correlation of the displacement of the mass representing a cantilever for t > 0. At t = 0, it is observed that the mass of the tethered object yields the same finite value for the cross-correlation for all studied values of the stiffness ratio. This characteristic is a result of the symmetry of the studied spring-mass system.
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    Correlation between structural deformation and magnetoelectric response in (1-x) Pb(Zr0.52Ti0.48)O-3-xNiFe(1.9)Mn(0.1)O(4) particulate composites
    Islam, Rashed Adnan; Jiang, Jiechao; Bai, Feiming; Viehland, Dwight D.; Priya, Shashank (AIP Publishing, 2007-10-01)
    The ferroelectric, ferromagnetic, and magnetoelectric properties of (1- x) Pb( Zr0.52Ti0.48)O-3 - xNiFe(1.9)Mn(0.1)O(4) (PZT- NFM) ceramic composites were found to be dependent upon postsinter annealing and aging. It was found on annealing and aging that (i) the size and density of the NFM phase is reduced, (ii) the PZT lattice constants changed from (a=3.8 angstrom, c= 4.07 angstrom) to (a= 4.07 angstrom, c= 4.09 angstrom), (iii) the ferroelectric and ferromagnetic Curie temperatures decreased by 8 and 33 degrees C, respectively, and (iv) the magnetoelectric coefficient increased by 50%. (C) 2007 American Institute of Physics.
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    Correlation between structure, doping and performance of thermoelectric materials
    Zhao, Yu (Virginia Tech, 2014-09-08)
    Thermoelectric materials can convert thermal energy into electrical energy and vice-versa. They are widely used in energy harvesters, thermal sensors, and cooling systems. However, the low efficiency and high cost of the known material compositions limit their widespread utilization in electricity generation applications. Therefore, there is a strong interest in identifying new thermoelectric materials with high figure of merit. In response to this need, this dissertation works on the synthesis, structure, doping mechanism, and thermoelectric properties of zinc oxide (ZnO) and lead tellurium (PbTe). The main focus is on ZnO based materials and in improving their performance. The influences of micro- or nano-structures on thermal conductivity, as well as the correlation between the electrical property and synthesis conditions, have been systematically investigated. ZnO is a likely candidate for thermoelectric applications, because of its good Seebeck coefficient, high stability at high temperature, non-toxicity and abundance. Its main drawbacks are the high thermal conductivity (κ) and low electrical conductivity (σ). To decrease κ, two novel structures—namely, precipitate system and layered-and-correlated grain microstructure—have been proposed and synthesized in ZnO. The mechanisms iii governing the nature of thermal behavior in these structures have been explored and quantified. Due to strong phonon scattering, the nano-precipitates can reduce the thermal conductivity of ZnO by 73%. The ZnO with layered-and-correlated grains can further reduce κ by about 52%, which compares favorably with the dense ZnO with nanoprecipitates. The figure of merit of this ZnO based structure was 0.14×10⁻³ K⁻¹ at 573 K. In order to understand the electrical behavior in nanostructured ZnO, the impact of Al doping and chemical defects in ZnO under different synthesis conditions were studied. Under varying sintering temperatures, atmospheres and initial physical conditions, ZnO exhibited very distinct σ. High temperature, lack of oxygen, vacuum condition, and chemically synthesized powder can increase the carrier concentration and σ of ZnO. A promising alloy system, PbTe-PbS, undergoes natural phase separation by nucleation and growth, and spinodal decomposition depending on the thermal treatment. The correlation between the thermal treatment, structure, and the thermoelectric properties of Pb0.9S0.1Te has been studied. The nano-precipitates were incorporated in the annealed alloy resulting in a 40% decrease in κ. The PbS precipitation was shown to enhance the carrier concentration and improves the Seebeck coefficient. These concomitant effects result in a maximum ZT of 0.76 at 573 K. Throughout the thesis, the emphasis was on understanding the impact of the microstructures on thermal conductivity and the effect of the synthesis condition on thermal and electrical properties. The process and control variables identified in this study provide practical ways to optimize the figure of merit of ZnO and PbTe materials for thermoelectric applications.
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    Correlation between tunability and anisotropy in magnetoelectric voltage tunable inductor (VTI)
    Yan, Yongke; Geng, Liwei D.; Zhang, Lujie; Gao, Xiangyu; Gollapudi, Sreenivasulu; Song, Hyun-Cheol; Dong, Shuxiang; Sanghadasa, Mohan; Ngo, Khai D. T.; Wang, Yu U.; Priya, Shashank (Springer Nature, 2017-11-22)
    Electric field modulation of magnetic properties via magnetoelectric coupling in composite materials is of fundamental and technological importance for realizing tunable energy efficient electronics. Here we provide foundational analysis on magnetoelectric voltage tunable inductor (VTI) that exhibits extremely large inductance tunability of up to 1150% under moderate electric fields. This field dependence of inductance arises from the change of permeability, which correlates with the stress dependence of magnetic anisotropy. Through combination of analytical models that were validated by experimental results, comprehensive understanding of various anisotropies on the tunability of VTI is provided. Results indicate that inclusion of magnetic materials with low magnetocrystalline anisotropy is one of the most effective ways to achieve high VTI tunability. This study opens pathway towards design of tunable circuit components that exhibit field-dependent electronic behavior.
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    Creating Human-Like Facial Expressions Utilizing Artificial Muscles and Skin
    Tadesse, Yonas Tegegn (Virginia Tech, 2009-11-18)
    Mimicking facial structures for a robotic head requires integration of multiple structural and mechanical parameters, design, synthesis and control of muscle actuation, architecture of the linkages between actuation points within skin, and implementation of the deformation matrix with respect to global skull coordinates. In this dissertation, humanoid faces were designed and fabricated to investigate all the parameters mentioned above. A prototype face and neck was developed using servo motors and extensively characterized. In this prototype, a neck mechanism was designed using a four bar mechanism to achieve nodding and turning motions. The modular neck prototype simplifies the assembly and statically in equilibrium and hence demands less torque from the cost-effective RC servo motor. The mechanism was critically investigated for dynamic performance and it was found out that RC servo based robotic head requires a PD external controller to overcome inherent overshoot. The servo based robotic head was analyzed for design and control of anchor, architecture of linkages between actuation points within skin, and deformation matrix with respect to global coordinate for creating specific expressions. A functional relationship between deformation vector of facial control points and actuator parameter, skin elasticity and angular position of actuator was derived. The developed analysis method is applicable to any rotary actuator technology utilized for facial expressions and takes into account the skin stiffness. The artificial skin materials for facial expression were synthesized using platinum-cured silicone elastomeric material (Reynolds Advanced Materials Inc.) with base consisting of mainly polyorganosiloxanes, amorphous silica and platinum-siloxane complex compounds. Systematic incorporation of porosity in this material was found to lower the force required to deform the skin in the axial direction. The performance of the servo motor based face was quite realistic but it suffers from the drawback of large power consumption, bulky, heavy, and limited functionality. Thus, significant effort was made in developing a Biometal fiber and Flexinol shape memory alloy actuator (SMA) based biped mountable baby head facial structure which resembles the form and functionality of a human being. SMAs were embedded inside a skull and connected to elastomeric skin at control points. An engineered architecture of skull was fabricated that incorporates all the muscles with their 35 routine pulleys, two fire wire CMOS cameras that serve as eyes, and a battery powered microcontroller base driving circuit within the total dimensions of 140 mm x 90 mm x 110 mm. The driving circuit was designed such that it can be easily integrated with biped and processed in real-time. The humanoid face with 12DOF was mounted on the body of DARwIn (Dynamic Anthropomorphic Robot with Intelligence) robot which has 21 DOF resulting in a total of 33 DOF system. Characterization results on the face and associated design issues are described that provide pathways for developing human-like facial anatomy. Numerical simulation using Simulink was conducted to assess the performance of a prototypic robotic face mainly focusing on jaw movement. A graphical method “Graphical Facial Expression Analysis and Design (GFEAD)” was developed that can be used to allocate the sinking points on robotic head. The method assumes that the origin of the action units are known prior and the underlying criterion in the design of faces being deformation of a soft elastomeric skin through tension in anchoring wires attached on one end to the sinking point and on the other to the actuator. Experimental characterization on a prototyping humanoid face was performed to validate the model and demonstrate the applicability on a generic platform. During characterization of the SMA based face, it was found that the currently available artificial muscle technologies do not meet the entire requirement for being embedded in the skin and provide the required strain rate, maximum strain, blocking force, response time and energy density. Thus an effort was made to develop conducting polymer based artificial muscles which can meet the metrics of human muscle. Composite stripe and zigzag actuators consisting of a sandwich structure polypyrrole /poly(vinylidene difluoride) (PPy/PVDF) were synthesized using potentiodynamic film growth on gold electrodes. The synthesis was done from an aqueous solution containing tetrabutylammonium Perchlorate (TBAP) and pyrrole by polymerization at room temperature. For depositing thin PPy films and thereby minimizing the response time, an experimental optimization of the deposition conditions was performed. The number of current-potential (potentiodynamic) growth cycles and the thickness of the deposited PPy film were highly correlated in the initial stages of polymer film growth. Strip actuator of size 11 x 5 mm2 with 63μM exhibited a deflection of 3mm under 1V DC voltage and 2mm deflection under 8V AC voltage at 0.5 Hz. It was found that three-segment zigzag actuator of segment length 15x2.5mm and thickness 63μM amplifies the displacement by 1.5 times. A study was also conducted on the synthesis and characterization of thick and thin film polypyrrole (PPy) – metal composite actuators. The fabrication method consisted of three steps based upon the approach proposed by Ding et al.: (i) winding the conductive spiral structure around the platinum (Pt)-wire core, (ii) deposition of PPy film on the Pt-wire core, and (iii) removal of the Pt-wire core. This approach yielded good performance from the synthesized actuators, but was complex to implement due to the difficulty in implementing the third step. To overcome the problem of mechanical damage occurring during withdrawal of Pt-wire, the core was replaced with a dispensable gold coated polylactide fiber that could be dissolved at the end of deposition step. Experimental results indicate that thin film actuators perform better in terms of response time and blocking force. A unique muscle-like structure with smoothly varying cross-section was grown by combining layer by layer deposition with changes in position and orientation of the counter electrode in reference to the working electrode. Synthesis of polypyrrole–metal coil was conducted in aqueous solution containing 0.25 M Pyrrole, 0.10 M TBAP and 0.50 M KCl. The actuator consisted of a single layer of platinum winding on a core substrate. Electrochemical characterization for free strain and blocking stress was conducted 0.1 M TBAP solution and a 6% free strain was obtained at an applied potential of 6V DC after 80 s stimulation time. The blocking stress 18 kPa was estimated by extrapolating the strain magnitude on stress-strain diagram. For axial type actuator with coil winding, a generalized governing equation for the electrochemical stress generated from polypyrrole–metal coil which accommodates the effect of magnetic field due to winding was proposed and numerically studied. It was considered as insightful modeling.
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    A Critical Review of Multi-Phase Materials and Optimization Strategies for Additive Printing Technologies
    McAllister, Walter Elliot (Virginia Tech, 2013-05-02)
    The focus of this thesis is the critical review of Additive Printing (AP) or 3D-printing, and optimization strategies for the introduction of new materials. During the course of tenure, four classes of solids were investigated to determine the hurdles presented from each system. Specifically, the investigation developed techniques for optimization of ink production, green-film deposition, and laser sintering parameters surrounding the Optomec AJP system (AJP). In the assessment, statistical experimental design, analysis and material characterization techniques have been utilized. Final recommendations disseminate current best practices for new ink and material development, along with factor analysis of input variables for phase and material properties, along with insights for future research of these systems. The first chapter provides a general introduction to the field of AP. The second chapter focuses specifically on Optomec aerosol-jet process (AJP) techniques, and expands the discussion to process parameters, information concerning the fabrication/characterization procedure followed for each system, and includes: a detailed description of the materials investigated. This is important because printing parameters, optimization, and approach may be divergent for optimization within each strain; and is meant as an aid to resolve some technical issues for future investigators. The third chapter is fully dedicated to the results concerning the fabrication and the characterization of amorphous boron powder to film. Chapter four discusses future research options, ideas and directions. Appendices are provided for any which wish to investigate the orthogonal arrays used, or the combinatorial effects resulting in the attributes of the material system final products.
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    Cyanea capillata Bell Kinematics Analysis through Corrected In Situ Imaging and Modeling Using Strategic Discretization Techniques
    Villanueva, Alex A.; Priya, Shashank (PLOS, 2014-12-26)
    Obtaining accurate kinematic data of animals is essential for many biological studies and bio-inspired engineering. Many animals, however, are either too large or too delicate to transport to controlled environments where accurate kinematic data can be easily obtained. Often, in situ recordings are the only means available but are often subject to multi-axis motion and relative magnification changes with time leading to large discrepancies in the animal kinematics. Techniques to compensate for these artifacts were applied to a large jellyfish, Cyanea capillata, freely swimming in ocean waters. The bell kinematics were captured by digitizing exumbrella profiles for two full swimming cycles. Magnification was accounted for by tracking a reference point on the ocean floor and by observing the C. capillata exumbrella arclength in order to have a constant scale through the swimming cycles. A linear fit of the top bell section was used to find the body angle with respect to the camera coordinate system. Bell margin trajectories over two swimming cycles confirmed the accuracy of the correction techniques. The corrected profiles were filtered and interpolated to provide a set of time-dependent points along the bell. Discrete models of the exumbrella were used to analyze the bell kinematics. Exumbrella discretization was conducted using three different methods. Fourier series were fitted to the discretized models and subsequently used to analyze the bell kinematics of the C. capillata. The analysis showed that the bell did not deform uniformly over time with different segments lagging behind each other. Looping of the bell trajectory between contraction and relaxation was also present through most of the exumbrella. The bell margin had the largest looping with an outer path during contraction and inner path during relaxation. The subumbrella volume was approximated based on the exumbrella kinematics and was found to increase during contraction.
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    Defect and adsorbate induced ferromagnetic spin-order in magnesium oxide nanocrystallites
    Kumar, Ashok; Kumar, Jitendra; Priya, Shashank (AIP Publishing, 2012-05-01)
    We report the correlation between d(0) ferromagnetism, photoluminescence (PL), and adsorbed hydrogen (H-) species in magnesium oxide (MgO) nanocrystallites. Our study suggests that the oxygen vacancies, namely singly ionized anionic vacancies (F+) and dimers (F-2(2+)) induce characteristic photoluminescence and the room-temperature ferromagnetic spin-order. Nanocrystallites with low population of oxygen vacancies have revealed diamagnetic behavior. Intriguingly, on adsorption of hydrogen (H-) species in the MgO nanocrystallites, ferromagnetic behavior was either enhanced (in the case of highly oxygen deficient nanocrystallites) or begun to percolate (in the case of nanocrystallite with low population density of oxygen vacancies). (C) 2012 American Institute of Physics. [http://dx.doi.org/10.1063/1.4712058]
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    Demagnetizing factors for two parallel ferromagnetic plates and their applications to magnetoelectric laminated sensors
    Liverts, Edward; Grosz, Asaf; Zadov, Boris; Bichurin, Mirza I.; Pukinskiy, Yuri J.; Priya, Shashank; Viehland, Dwight D.; Paperno, Eugene (American Institute of Physics, 2011-04-01)
    An analytical expression is derived to approximate the magnetometric demagnetizing factors for two parallel ferromagnetic plates having the shape of rectangular prisms. The magnetometric demagnetizing factors relate the average magnetic fields within the plates' volumes to an external magnetic field. Knowing this relationship is essential for describing the response of magnetoelectric sensors comprising two parallel magnetostrictive plates. It is shown that two separate ferromagnetic layers provide better field sensitivity than a single layer with a doubled thickness. The obtained results are in a good agreement with numerical calculations and experimental data. (C) 2011 American Institute of Physics. [doi:10.1063/1.3536518]
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    Design and Analysis of Biomimetic Medusa Robots
    Villanueva, Alexis A. (Virginia Tech, 2013-05-08)
    The design of unmanned underwater vehicle (UUV) was inspired by the form and functionality of Jellyfish. These natural organisms were chosen as bio-inspiration for a multitude of reasons including: efficiency, good room for payload, and a wide range of sizes and morphology. Shape memory alloy (SMA) actuators were selected as the primary source of actuation for the propulsion of the artificial jellyfish node. These actuators offer high power density which enables a compact system size and silent operation which is preferred for surveillance.  SMA wires mimic the form and function of natural muscles; allowing for a wider range of applications than conventional actuators. Commercial SMA wires (100 um in diameter) can exhibit a 4% deformation of the initial actuator length with a blocking stress of over 200 MPa. The deformation of SMA wire is not enough to mimic the bell contraction of jellyfish. In order to resolve this problem, a beam-shape composite actuator using SMA wires as the active component, termed as BISMAC, was designed to provide large curvature. The BISMAC design was inspired by rowing jellyfish bell contraction. Characterization of maximum deformation in underwater conditions was performed for different actuator configurations to analyze the effect of design parameters that include silicone thickness, flexible steel thickness and distance between SMA and flexible steel. A constant cross-section (CC) BISMAC of 16 cm in length was found to achieve deformation with a radius of curvature of 3.5 cm. Under equilibrium conditions, the CC-BISMAC was found to achieve 80% of maximum deformation consuming 7.9 J per cycle driven at 16.2 V/0.98 A and frequency of 0.25 Hz. Using the a developed analytical model, an actuator design was fabricated mimicking the maximum deformation profile of the A. aurita. The optimized AA-BISMAC achieved a maximum curvature of 0.428 1/cm as compared to 0.438 1/cm for the A. aurita with an average squared root error of 0.043 (1/cm), 10.2% of maximum A. aurita curvature.   BISMAC actuators are unidirectional flexible actuators capable of exhibiting high curvature. To extend the application range of these actuators, they were modified to achieve bidirectional deformation. The new bidirectional actuators termed as "BiFlex" actuators had the capability to achieve large deformation in two directions. The FlexLegs consist of six segments which can be actuated individually. Two different sets of legs were constructed to determine the effect of size. The small legs measured 35.8 mm in height and 63.2 mm in width and the large legs were 97.4 mm in height and 165.4 mm in width. The small FlexLegs achieved a maximum deformation of 12 % and 4 % in the x- and y-direction respectively using a power of 0.7 W while producing a maximum force of 0.023 N. They were also able to withstand a load of 1.18 N. The large FlexLegs had a maximum deformation of 57 % and 39 % in the x- and y-direction respectively using a power of 3 W while producing a force of 0.045 N. They were able to withstand a load of 0.25 N. The legs were also able to perform several walking algorithms consisting of stepping, crabbing and yawing. In order to reduce the power consumption and contraction time of SMA wires, a feedback control scheme using wire resistance was developed. The controller required the knowledge of threshold resistance and safe current inputs which were determined experimentally. The overheating effect of SMA wires was analyzed for BioMetal Fiber (BMF) and Flexinol 100 "m diameter wires revealing an increase in resistance as the wires overheated. The controller was first characterized on a SMA wire with bias spring system for a BMF 100 using I_hi=0.5 A and I_low=0.2 A, where hi corresponds to peak current for fast actuation and low corresponds to the safe current which prevents overheating and maintains desired deformation. A contraction of 4.59% was achieved in 0.06 s using the controller and the deformation was maintained for 2 s at low current. The BISMAC actuator was operated using the controller with I_hi=1.1 A and I_low=0.65 A achieving a 67% decrease in contraction time compared to using a constant driving current of I_low=0.2 A and a 60% decrease in energy consumption compared to using constant I_hi=0.5 A while still exceeding the contraction requirements of the Aurelia aurita. Two fundamental parameters at the composition level were associated with the power consumption of SMA: i) martensite to austentite phase transition temperature and ii) thermal hysteresis. Ideally, one would like to reduce both these quantities and for this purpose an equiatomic Ni-Ti alloy was modified with Cu. Replacing nickel with 10 at% copper reduces the thermal hysteresis by 50% or more. For Ni-Ti alloys with nickel content greater than 50 at%, transition temperature decreases linearly at a rate of 100 "C/Ni at%. Given these two power reducing factors, an alloy with composition of Ni40+xTi50-xCu10 was synthesized with x = 0, ±1, ±2, ±3, ±4, ±5. Metal powders were melted in an argon atmosphere using an RF induction furnace to produce ingots. All the synthesized samples were characterized by differential scanning calorimetric (DSC) analysis to reveal martensite to austenite and austenite to martensite transition temperatures during heating and cooling cycles respectively. Scanning electron microscopy (SEM) was conducted to identify the density and microstructure of the fractured samples. The results show the possibility of achieving low power consuming high performance SMAs. Using the BISMAC actuator and feedback control system, a robotic jellyfish called Robojelly that mimics the morphology and kinematics of the Aurelia aurita species was created. A systematic fabrication technique was developed to replicate the essential structural features of A. aurita. Robojelly's body was fabricated from RTV silicone having a total mass of 242 g and bell diameter of 16.4 cm. Robojelly was able to generate enough thrust in static water conditions to propel itself and achieve a proficiency of 0.19 s-1 while the A. aurita achieves a proficiency of around 0.25 s-1. A thrust analysis based on empirical measurements for natural jellyfish was used to compare the performance of the different robotic configurations. The configuration with best performance was a Robojelly with segmented bell and a passive flap structure. Robojelly was found to consume an average power on the order of 17 W with the actuators not having fully reached thermal steady state. A comparative kinematics analysis was conducted between a natural Aurelia aurita and Robojelly. The resistance feedback controller was implemented to tailor the deformation profile of BISMAC actuators embedded in Robojelly. Robojelly's performance was quantified in terms of thrust production and power consumption during vertical swimming experiments. A maximum average instantaneous thrust production of 0.006 N was achieved at a driving current (Ihi) of 1.5 A with 35% duty cycle. Rapid heating of SMA wires was found to reduce power consumption and increase thrust. The bell kinematic analysis revealed resemblance and differences in bell deformation trajectories of the biomimetic and natural jellyfish. The inflexion point of the A. aurita was found to convert an inner bell trajectory into an outer one during contraction which assists the thrust production. A biomimetic robot inspired by Cyanea capillata, termed as "Cyro", was developed to meet the functional demands of underwater surveillance in defense and civilian applications. The design of Cyro required kinematics of large C. capillata which are elusive creatures. Obtaining accurate kinematic data of animals is essential for many biological studies and bio-inspired engineering applications. Many animals such as the C. capillata however, are either too large or too delicate to transport to controlled environments where accurate kinematic data can easily be obtained. Often, in situ recordings are the only means available but are often subject to multi-axis motion and relative magnification changes with time, which lead to large discrepancies in animal kinematics. In Chapter 5, techniques to compensate for magnification and body rotation of animal footage were developed. A background reference point and animal dimensions were used to account for magnification. A linear fit of body points were used to measure body rotation. These techniques help resolve animal kinematics from in situ video footage. The techniques were applied to a large jellyfish, Cyanea capillata, swimming in ocean waters. The bell kinematics were captured by digitizing exumbrella profiles for two full swimming cycles. Magnification was accounted for by tracking a reference point on the ocean floor and by tracking the C. capillata exumbrella arclength in order to have a constant scale through the swimming cycles. A linear fit of the top bell portion was used to find the body angle with respect to the camera coordinate system. Bell margin trajectories over two swimming cycles confirm the accuracy of the correction techniques. The corrected profiles were filtered and interpolated to provide a set of time-dependent points along the bell. The ability to use in situ footage with significant multi-axis motion provides an opportunity to analyze previously impractical footage for gaining a better understanding of large or delicate organisms. The swimming kinematics of the C. capillata were analyzed after extracting the required kinematics from the in situ video. A discrete model of the exumbrella was developed and used to analyze the kinematics. The exumbrella discretization was done using three different methods. The first method consists of analyzing the animal anatomy for structural and mechanical features. The second method consists of analyzing the bell kinematics for areas of highest deformation over time. The third method consists of optimizing node locations that can provide minimal error with comparison to the digitized profiles. Two kinematic models of the C. capillata swimming motion were developed by fitting Fourier series to the discretized segments and angles formed by each segment. The four-segment anatomical kinematic model was used to analyze the bell kinematics of the C. capillata. It was found that the bell does not deform uniformly over time with segments lagging behind others. Hysteresis between contraction and relaxation was also present through most of the exumbrella. The bell margin had the largest hysteresis with an outer path during contraction and inner path during relaxation. The subumbrella volume was approximated based on the exumbrella kinematics and was found to increase during contraction. Cyro was designed to mimic the morphology and swimming mechanism of the natural counterpart. The body of the vehicle consists of a rigid support structure with linear DC motors which actuate eight mechanical arms. The mechanical arms in conjunction with artificial mesoglea create the hydrodynamic force required for propulsion. The full vehicle measures 170 cm in diameter and has a total mass of 76 kg. An analytical model of the mechanical arm kinematics was developed. The analytical and experimental bell kinematics were analyzed and compared to the C. capillata. Cyro reached the water surface untethered and autonomously from a depth of 182 cm in five actuation cycles. It achieved an average velocity of 8.47 cm/s while consuming an average power of 70 W. A thrust stand was developed to calculate the thrust directly from a single bell segment yielding an average thrust of 27.9 N for the whole vehicle. Steady state velocity during Cyro's swimming test was not reached but the measured performance during its last swim cycle resulted in a cost of transport of 10.9 J/kg m and total efficiency of 3%. It was observed that a passive flexible margin or flap, drastically increases the performance of the Robojelly. The effects of flap length and geometry on Robojelly were analyzed using PIV. The flap was defined as the bell section which is located between the flexion point and bell margin. The flexion point was established as the location where the bell undergoes a significant change compliance and therefore in slope. The flap was analyzed in terms of its kinematics and hydrodynamic contribution. An outer trajectory is achieved by the flap margin during contraction while an inner trajectory is achieved during relaxation. The flap kinematics was found to be replicable using a passive flexible structure. Flaps of constant cross section and varying lengths were put on the robotic vehicle to conduct a systematic parametric study. Robojelly's swimming performance was tested with and without a flap. This revealed a thrust increase 1340% with the addition of a flap.  Velocity field measurements were performed using planar Time Resolved Digital Particle Image Velocimetry (TRDPIV) to analyze the change in vortex structures as a function of flap length.  The robot input parameters stayed constant over the different configurations tested thus maintaining a near constant power consumption. Non-dimensional circulation results show a dependence on flap kinematics and geometry. The robot was approximated as a series of pitching panels circularly oriented around its apex. The first circulation peak of the pitching panel approximation revealed a normalized standard deviation of 0.23. A piston apparatus was designed and built to test different flexible margin configurations. This apparatus allow the isolation of the flap parameters and remove the uncertainties coming from the robotic vehicle.