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DTSTART;TZID=America/New_York:20210719T100000
DTEND;TZID=America/New_York:20210719T110000
DTSTAMP:20260406T205525
CREATED:20210702T201753Z
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SUMMARY:MEAM PhD Thesis Defense: "Design of Proprioceptive Legged Robots"
DESCRIPTION:It has been twenty years since the advent of the first power-autonomous legged robots\, yet they have still not yet been deployed at scale. One fundamental challenge in legged machines is that actuators must perform work at relatively high speed in swing but also at high torque in stance. Legged machines must also be able to “feel” the reaction forces in both normal (to switch from swing to stance control) and tangential (to detect slip or stubbing) directions for appropriate gait-level control. This “feeling” can be accomplished by explicit force/torque sensors in the foot/leg/actuator\, or by measuring the deflection of a series mechanical spring. In this thesis we analyse machines that obtain this force information directly through the implementation of highly backdriveable actuators that require no additional sensors (apart from those already required for commutation). \nWe address the holistic design of robots with backdriveable actuators including motor\, transmission\, compliance\, degrees of freedom\, and leg design. Moreover\, this work takes such actuators to the conceptual limit by removing the gearbox entirely and presenting the design and construction of the first direct-drive legged robot family (a monopod\, a biped\, and a quadruped). The actuator analysis that made these direct-drive machines possible has gained traction in state of the art modestly geared machines (legged robots as well as robot arms)\, many of which now use the same motors. A novel leg design (the symmetric five-bar\, where the “knee” is allowed to ride above the “hip”) halves the wasted Joule heating per unit of torque produced over the workspace compared to a conventional serial design\, making the 40 cm hip-to-hip Minitaur platform possible without violating the thermal limit of its motors. A means of comparing actuator transparency (the curve representing collision energy vs. contact information) is presented and is used to compare the performance of actuators with similar continuous torque but vastly different gear ratios (1:1\, 4.4:1\, 51:1). This transparency can be used to show the different outcomes in a representative task where the actuators must “feel” a ball on a track through contact and then recirculate to “cage” the ball before the energy required to “feel” has caused the ball to roll out of the workspace. For a 50g rubber ball\, the direct drive actuator is able to successfully accomplish the task\, but the 4.4:1 actuator is not able to cage the ball in time\, and the 51:1 actuator cannot feel the ball at all before pushing it out of the workspace. \nFinally\, the actuation and force measurement/estimation strategies of the three leading commercial legged robots are compared\, alongside other considerations for real-world fielded machines. This thesis seeks to show that legged robots (both academic and commercial) whose actuators are designed with careful consideration for proprioception can have similar performance to more conventional machines\, with better robustness and greatly reduced complexity.
URL:https://seasevents.nmsdev7.com/event/meam-phd-thesis-defense-design-of-proprioceptive-legged-robots/
LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu
CATEGORIES:Doctoral,Dissertation or Thesis Defense
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210719T120000
DTEND;TZID=America/New_York:20210719T130000
DTSTAMP:20260406T205525
CREATED:20210520T134741Z
LAST-MODIFIED:20210520T134741Z
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SUMMARY:PSOC Webinar: Geng-Yuan "Scott" Chen & Ze Gong
DESCRIPTION:Join Zoom Meeting: \nhttps://upenn.zoom.us/j/99334915941?pwd=eDRXV1lITDlySXFyRHUyUzdmRldoQT09 \nMeeting ID: 993 3491 5941 \nPasscode: 189247 \nPSOC@Penn Summer Webinars 2021 \nContact manu@seas.upenn.edu with any questions \nScott Chen 12:00-12:30 PM \nZe Gong 12:30-1:00 PM
URL:https://seasevents.nmsdev7.com/event/psoc-webinar-geng-yuan-scott-chen-ze-gong/
LOCATION:https://upenn.zoom.us/j/96715197752
CATEGORIES:Seminar,Postdoctoral
ORGANIZER;CN="PSOC":MAILTO:manu@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210719T130000
DTEND;TZID=America/New_York:20210719T150000
DTSTAMP:20260406T205525
CREATED:20210719T000744Z
LAST-MODIFIED:20210719T000744Z
UID:10006835-1626699600-1626706800@seasevents.nmsdev7.com
SUMMARY:MSE Thesis Defense: "Liquid Crystallinity in Responsive Soft Materials: Embedding Intelligence via Anisotropy"
DESCRIPTION:
URL:https://seasevents.nmsdev7.com/event/mse-thesis-defense-liquid-crystallinity-in-responsive-soft-materials-embedding-intelligence-via-anisotropy/
LOCATION:PA
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210719T133000
DTEND;TZID=America/New_York:20210719T153000
DTSTAMP:20260406T205525
CREATED:20210706T132536Z
LAST-MODIFIED:20210706T132536Z
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SUMMARY:BE Doctoral Dissertation: "Development and Evaluation of Next Generation Tomosynthesis" (Trevor Vent)
DESCRIPTION:The Department of Bioengineering at the University of Pennsylvania and Dr. Andrew Maidment are pleased to announce the Doctoral Dissertation Defense of Trevor Vent. \nTitle: “Development and Evaluation of Next Generation Tomosynthesis” \nThe public is welcome to attend. This event will be held both in person and on zoom. \nZoom link \nMeeting ID: 993 7019 2766 \nPasscode: 249310 \nPhysical location: \nClass of 1962 Auditorium \nJohn Morgan Building \nPerelman School of Medicine
URL:https://seasevents.nmsdev7.com/event/be-doctoral-dissertation-development-and-evaluation-of-next-generation-tomosynthesis-trevor-vent/
LOCATION:Class of 62 Auditorium\, John Morgan Building\, 3620 Hamilton Walk\, Philadelphia\, PA\, 19104
CATEGORIES:Doctoral,Graduate,Student,Dissertation or Thesis Defense
ORGANIZER;CN="Bioengineering":MAILTO:be@seas.upenn.edu
END:VEVENT
BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210720T103000
DTEND;TZID=America/New_York:20210720T120000
DTSTAMP:20260406T205525
CREATED:20210713T145501Z
LAST-MODIFIED:20210713T145501Z
UID:10006834-1626777000-1626782400@seasevents.nmsdev7.com
SUMMARY:MEAM Seminar: "Rheological Behavior and Field Statistics of Suspensions of Rigid Particles in Yield Stress Fluids"
DESCRIPTION:Suspensions of non-Brownian particles in fluids are commonly found in nature (e.g. mud\, soils\, and debris flows) and in the industry (e.g. paints\, food\, and cosmetics). Understanding the relations between the microstructure and the effective properties of these materials can provide insight into how they fail or behave during processing. Despite their ubiquity and usefulness\, estimating the rheological properties of such suspensions\, particularly in the non-dilute regime\, remains a challenge. In this talk\, I will discuss homogenization techniques to model the rheological behavior of athermal suspensions of hard spheres in both Newtonian and non-Newtonian (viscoplastic) fluids. For the case of Newtonian suspensions\, we propose a generalization of the classical homogenization estimates of Ponte Castañeda and Willis (PCW) for the full viscosity tensor. The new estimates make use of an empirical interpolation parameter that is expected to depend on the particle properties (e.g. polydispersivity and size-ratios). Good agreement is found with experimental (rheology) data using polymethyl methacrylate (PMMA) spheres suspended in Glycerol\, a viscous fluid. For the case of non-Newtonian suspensions\, the generalized PCW estimates are used in combination with a variational linear comparison method to predict the effective nonlinear properties of viscoplastic suspensions. Good agreement is found with experimental data for suspensions of PMMA spheres in Carbopol\, a yield-stress fluid. The proposed new theory is found to improve the predictive capabilities of the classical PCW estimates at moderate particle volume fractions. A physical interpretation of the interpolation parameter is offered in terms of the phase averages and the fluctuations of the local fields. Finally\, the new estimates are used to generate fully-optimized\, second-order homogenization estimates for viscoplastic suspensions under pure and axisymmetric shear. Special attention is devoted to the method’s ability to capture the localized\, anisotropic deformation patterns that emerge under pure shear but are absent under axisymmetric shear.
URL:https://seasevents.nmsdev7.com/event/meam-seminar-rheological-behavior-and-field-statistics-of-suspensions-of-rigid-particles-in-yield-stress-fluids/
LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu
CATEGORIES:Seminar
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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BEGIN:VEVENT
DTSTART;TZID=America/New_York:20210721T103000
DTEND;TZID=America/New_York:20210721T120000
DTSTAMP:20260406T205525
CREATED:20210707T161341Z
LAST-MODIFIED:20210707T161341Z
UID:10006827-1626863400-1626868800@seasevents.nmsdev7.com
SUMMARY:MEAM PhD Thesis Defense: "Lightweight Structures Enabled by Microfabrication"
DESCRIPTION:Lightweight structures are the product of the science of making systems as light as possible with constraints\, which often refer to being sufficiently strong and stiff. Although the development of lightweight structures was initially driven by the demands for better fuel and material economy\, the recent advancements in microfabrication have allowed the manufacture of structures with unprecedented properties. In this work\, three strategies of achieving lightweight structures are explored: (1) hollowing\, (2) folding\, and (3) lightweight composites. The first strategy is demonstrated by creating a hollow atomic force microscopy (AFM) cantilever. We made these hollow cantilevers by conformally depositing a thin layer of alumina on a solid beam and hollowing out the internal mold\, resulting in hollow shells with the same overall dimensions but with nanoscale wall thickness. Due to their significantly reduced weight\, these hollow cantilevers exhibited comparable resonant frequencies compared to their solid counterparts\, but significantly reduced quality factors and spring constants\, resulting in increased bandwidth and wear resistance. In the second strategy\, we made a self-deployable silicon-based propeller for microflyers with lightweight polymeric film. The propeller can be initially folded and then deployed by the centrifugal force from rotation. The propeller exhibited low weight yet payload capable thrust which is promising for application in micro-aerial vehicles (MAVs). Furthermore\, the fabrication techniques we developed allowed controllability on the folding directions which can be beneficial to origami-inspired devices. Lastly\, we developed thin composites in the form of millimeter-thick sandwich plates by combining carbon-fiber-based faces with perforated aluminum core. The sandwich constructions allowed improved stiffnesses and strengths without adding excessive mass compared to single-ply carbon-fiber sheets\, presenting viability as structural elements for small-scale robotics applications. In addition\, these plates can be manufactured to be folded and curved that allows more complex geometries.
URL:https://seasevents.nmsdev7.com/event/meam-phd-thesis-defense-lightweight-structures-enabled-by-microfabrication/
LOCATION:Zoom – Email MEAM for Link\, peterlit@seas.upenn.edu
CATEGORIES:Doctoral,Dissertation or Thesis Defense
ORGANIZER;CN="Mechanical Engineering and Applied Mechanics":MAILTO:meam@seas.upenn.edu
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