This research evaluated soft robotic knee brace designs that were intended to reduce the risk of injury, chronic pain, and osteoarthritis in laborers tasked with repetitive lifting. A soft robotic quasi-passive system was proposed due to energy efficiency, comfortability, and weight. The researcher developed three quasi-passive knee brace systems that would store energy when the user attempted a squat lift and release the energy when the user stood up. The first design focused on using clamped layered leaf springs to create an increased resistive force when the user bends at the knee. The researchers found that because of the unideal clamping of the springs the design failed to produce a significant increase to the forces the user experienced. The second design used a change in length of the layered leaf springs to provide a significant change in force. Through simple tests, the researchers found that the design did create a change in force significant enough to warrant further testing of the design in the future. The third and final design was inspired by a previous honors thesis by Ryan Bellman, this design used pre-stretched elastic bands to create an increased bending moment. Through experimental testing, the researchers found that the elastic bands created a factor increase of 8 from a non-loaded test. Further work would include prototyping a knee brace design and developing a method to allow the user to stretch and unstretch the elastic bands at will. In conclusion, design 2 and design 3 have the potential to significantly increase the well being of workers and increase their knee longevity.

Bicycles are already used for daily transportation by a large share of the world's population and provide a partial solution for many issues facing the world today. The low environmental impact of bicycling combined with the reduced requirement for road and parking spaces makes bicycles a good choice for transportation over short distances in urban areas. Bicycle riding has also been shown to improve overall health and increase life expectancy. However, riding a bicycle may be inconvenient or impossible for persons with disabilities due to the complex and coordinated nature of the task. Automated bicycles provide an interesting area of study for human-robot interaction, due to the number of contact points between the rider and the bicycle. The goal of the Smart Bike project is to provide a platform for future study of the physical interaction between a semi-autonomous bicycle robot and a human rider, with possible applications in rehabilitation and autonomous vehicle research.

This thesis presents the development of two balance control systems, which utilize actively controlled steering and a control moment gyroscope to stabilize the bicycle at high and low speeds. These systems may also be used to introduce disturbances, which can be useful for studying human reactions. The effectiveness of the steering balance control system is verified through testing with a PID controller in an outdoor environment. Also presented is the development of a force sensitive bicycle seat which provides feedback used to estimate the pose of the rider on the bicycle. The relationship between seat force distribution is demonstrated with a motion capture experiment. A corresponding software system is developed for balance control and sensor integration, with inputs from the rider, the internal balance and steering controller, and a remote operator.

For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I contributed to the design and evaluation of two prototypes: the silicon based Soft Poly Limb (SPL) and one bladder-based fabric arm, the fabric Soft Poly Limb (fSPL). For both arms I was responsible for the design of 3D printed components (molds, end caps, etc.) as well as the evaluation of the completed prototypes by comparing the actual performance of the arms to the finite element predictions. I contributed to the writing of two published papers describing the design and evaluation of the two arms. After the completion of the fSPL I attempted to create a quasi-static model of the actuators driving the fSPL.

With the growing popularity and advancements in automation technology, Connected and Automated Vehicles (CAVs) have become the pinnacle of ground-vehicle transportation. Connectivity has the potential to allow all vehicles—new or old, automated or non-automated—to communicate with each other at all times and greatly reduce the possibility of a multi-vehicle collision. This project sought to achieve a better understanding of CAV communication technologies by attempting to design, integrate, test, and validate a vehicular ad-hoc network (VANET) amongst three automated ground-vehicle prototypes. The end goal was to determine what current technology best satisfies Vehicle-to-Vehicle (V2V) communication with a real-time physical demonstration. Although different technologies, such as dedicated short-range communication (DSRC) and cellular vehicle to everything (C-V2X) were initially investigated, due to time and budget constraints, a FreeWave ZumLink Z9-PE DEVKIT (900 MHz radio) was used to create a wireless network amongst the ground-vehicle prototypes. The initial testing to create a wireless network was successful and demonstrated but creating a true VANET was unsuccessful as the radios communicate strictly peer to peer. Future work needed to complete the simulated VANET includes programming the ZumLink radios to send and receive data using message queuing telemetry transport (MQTT) protocol to share data amongst multiple vehicles, as well as programming the vehicle controller to send and receive data utilizing terminal control protocol (TCP) to ensure no data loss and all data is communicated in correct sequence.

Laminate devices have the potential to lower the cost and complexity of robots. Taking advantage of laminate materials' flexibility, a high-performance jumping platform has been developed with the goal of optimizing jump ground clearance. Four simulations are compared in order to understand which dynamic model elements (leg flexibility, motor dynamics, contact, joint damping, etc.) must be included to accurately model jumping performance. The resulting simulations have been validated with experimental data gathered from a small set of physical leg prototypes spanning design considerations such as gear ratio and leg length, and one in particular was selected for the fidelity of performance trends against experimental results. This simulation has subsequently been used to predict the performance of new leg designs outside the initial design set. The design predicted to achieve the highest jump ground clearance was then built and tested as a demonstration of the usefulness of this simulation.

Multi-material manufacturing combines multiple fabrication processes to produce individual parts that can be made up of several different materials. These processes can include both additive and subtractive manufacturing methods as well as embedding other components during manufacturing. This yields opportunities for creating single parts that can take the place of an assembly of parts produced using conventional techniques. Some example applications of multi-material manufacturing include parts that are produced using one process then machined to tolerance using another, parts with integrated flexible joints, or parts that contain discrete embedded components such as reinforcing materials or electronics.

Multi-material manufacturing has applications in robotics because, with it, mechanisms can be built into a design without adding additional moving parts. This allows for robot designs that are both robust and low cost, making it a particularly attractive method for education or research. 3D printing is of particular interest in this area because it is low cost, readily available, and capable of easily producing complicated part geometries. Some machines are also capable of depositing multiple materials during a single process. However, up to this point, planning the steps to create a part using multi-material manufacturing has been done manually, requiring specialized knowledge of the tools used. The difficulty of this planning procedure can prevent many students and researchers from using multi-material manufacturing.

This project studied methods of automating the planning of multi-material manufacturing processes through the development of a computational framework for processing 3D models and automatically generating viable manufacturing sequences. This framework includes solid operations and algorithms which assist the designer in computing manufacturing steps for multi-material models. This research is informing the development of a software planning tool which will simplify the planning needed by multi-material fabrication, making it more accessible for use in education or research.

In our paper, Voxel-Based Cad Framework for Planning Functionally Graded and Multi-Step Rapid Fabrication Processes, we present a new framework for representing and computing functionally-graded materials for use in rapid prototyping applications. We introduce the material description itself, low-level operations which can be used to combine one or more geometries together, and algorithms which assist the designer in computing manufacturing-compatible sequences. We then apply these techniques to several example scenarios. First, we demonstrate the use of a Gaussian blur to add graded material transitions to a model which can then be produced using a multi-material 3D printing process. Our second example highlights our solution to the problem of inserting a discrete, off-the-shelf part into a 3D printed model during the printing sequence. Finally, we implement this second example and manufacture two example components.

The initial women pioneers in engineering faced many of the same barriers as women engineers today, including stereotypes, unfair treatment in the workplace, restrictions and lack of opportunities, and lack of recognition. Research shows that these barriers are the primary reason why women’s representation within engineering has been low and slow to increase compared to their representation in other fields such as nursing and science. As of 2013, women still only account for 12 percent of all engineers. Yet, despite the barriers and low numbers, women engineers have demonstrated themselves as capable of succeeding just as much, if not more, than their male peers. Some of the ways they have broken the barriers in engineering have been through focusing on proving their merit, finding alternative paths, leveraging government jobs and programs, finding support among other women engineers, fighting for their right to be engineers, and through being satisfied and interested in their work. This thesis analyzes reasons why women have been underrepresented in the field, major achievements from women engineers, and strategies women engineers have adopted to mitigate barriers. The individual profiles of the women discussed in this thesis come from historical research on pioneer women engineers and interviews from modern day women engineers. Their stories help tell the history of how the experiences of women in engineering have changed and remained the same over the past 140 years. The goal of this thesis is to serve as a resource for young women who want to learn more about women in engineering. The history of women engineers is a story worth sharing to everyone because it could inspire young girls to consider engineering as a path for the future and help shift the mindset of members of society to accept and encourage women engineers.

Through the course of this project, I worked to redesign an underused and conveniently located space on the Arizona State University Polytechnic campus in such a way as to bring the benefits of nature to students spending time on-campus. This paper outlines how I used the ideas behind biophilia and sensory gardens to provide visitors to the space the wholesome experience of nature in the small area of my selected location.It walks through the design process from site selection to the final planting plan, which considers not only the physical requirements of the plants but also their contribution to the space. I separated the chosen space into five distinct zones, each with their own purpose. Due to time constraints, I only produced planting and hardscape plans for three
of the five spaces. In redesigning this space, I placed emphasis on utilizing some methods for passive cooling and heating to preserve a comfortable environment throughout the year with minimal energy usage. These methods include protecting visitors from intense eastern, western, and overhead sun during the warmer months and using thermal masses to absorb heat during the day. For the landscape design component, I found plants whose colors, textures, and smells suited the purpose of each space and arranged them in such a way as to maximize the positive sensory effects of the plants. Because color in the
landscape was an essential component in parts of the design, I focused on providing yearlong color by staggering the bloom periods of different plants. In doing this, I devised a system to visually represent the bloom period of any given plant within the landscape plan. Finally, I generated a rough cost estimate for the materials needed to construct the site according to my hardscape and landscape plans.

This thesis is explaining the background, methods, discussions, and future work of developing a low-budget, variable-length, Arduino-based robotics unit for a 5th-7th grade classroom. The main motivation for the Thesis came from self-motivation and a lack of K-12th grade teachers’ teaching robotics. The end goal of the Thesis would be to teach primary school teachers how to teach robotics in the hopes that it would be taught in their classrooms. There have been many similar robotics or Arduino-based curricula that do not fit the preferred requirement for this thesis but do provide some level of guidance for future development. The method of the Thesis came in four main phases: 1) setup, 2) pre-unit phase, 3) unit phase, and 4) post unit phase. The setup focused primarily on making a timeline and researching what had already been done. The pre-unit phase focused primarily on the development of a new lesson plan along with a new robot design. The unit phase was primarily focused around how the teacher was assisted from a distance. Lastly, the post unit phase was when feedback was received from the teacher and the robots were inventoried to determine if, and what, damage occurred. There are many ways in which the lesson plan and robot design can be improved. Those improvements are the basis for a potential follow-up master’s thesis following the provided timeline.

This project is investigating the impact curvature, buckling, and anisotropy play when used passively to enhance jumping capability. In this paper we employ a curved structure to allow a rigid link to collapse preferentially in one direction when it encounters aerodynamic drag forces. A joint of this nature could be used for passively actuated jump gliding, where wings would collapse immediately on takeoff and passively redeploy during descent, allowing the jumping robot to extend its horizontal range via gliding. A passively actuated joint is simpler and more lightweight than active solutions, allowing for a lighter glider and higher jumps. To test this, several prototype collapsing gliding wings of different diameters were tested by dropping them from a consistent height above the ground and by launching them upwards and recording their initial velocity. A model was constructed in Python using the data gathered through the experiments and was tuned so that its outputs were as close as possible to the experimental results. As expected, increasing the wing diameter increased the total fall time, and increasing the payload mass decreased the total fall time. Orientation of the wings around the vertical axis of the glider relative to the direction of horizontal motion was also found to have an effect on the length of time between when the gliding platform was launched and when it made contact with the ground, with a configuration where the axis between the wings was parallel to the direction of motion granting added stability.