Theses and Dissertations from UMD
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New submissions to the thesis/dissertation collections are added automatically as they are received from the Graduate School. Currently, the Graduate School deposits all theses and dissertations from a given semester after the official graduation date. This means that there may be up to a 4 month delay in the appearance of a give thesis/dissertation in DRUM
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Item Wave impedance selection for passivity-based bilateral teleoperation(2016) D'Amore, Nicholas; Akin, David L; Aerospace Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)When a task must be executed in a remote or dangerous environment, teleoperation systems may be employed to extend the influence of the human operator. In the case of manipulation tasks, haptic feedback of the forces experienced by the remote (slave) system is often highly useful in improving an operator's ability to perform effectively. In many of these cases (especially teleoperation over the internet and ground-to-space teleoperation), substantial communication latency exists in the control loop and has the strong tendency to cause instability of the system. The first viable solution to this problem in the literature was based on a scattering/wave transformation from transmission line theory. This wave transformation requires the designer to select a wave impedance parameter appropriate to the teleoperation system. It is widely recognized that a small value of wave impedance is well suited to free motion and a large value is preferable for contact tasks. Beyond this basic observation, however, very little guidance exists in the literature regarding the selection of an appropriate value. Moreover, prior research on impedance selection generally fails to account for the fact that in any realistic contact task there will simultaneously exist contact considerations (perpendicular to the surface of contact) and quasi-free-motion considerations (parallel to the surface of contact). The primary contribution of the present work is to introduce an approximate linearized optimum for the choice of wave impedance and to apply this quasi-optimal choice to the Cartesian reality of such a contact task, in which it cannot be expected that a given joint will be either perfectly normal to or perfectly parallel to the motion constraint. The proposed scheme selects a wave impedance matrix that is appropriate to the conditions encountered by the manipulator. This choice may be implemented as a static wave impedance value or as a time-varying choice updated according to the instantaneous conditions encountered. A Lyapunov-like analysis is presented demonstrating that time variation in wave impedance will not violate the passivity of the system. Experimental trials, both in simulation and on a haptic feedback device, are presented validating the technique. Consideration is also given to the case of an uncertain environment, in which an a priori impedance choice may not be possible.Item Integration of virus-like particle macromolecular bioreceptors in electrochemical biosensors(2016) Zang, Faheng; Ghodssi, Reza; Electrical Engineering; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)Rapid, sensitive and selective detection of chemical hazards and biological pathogens has shown growing importance in the fields of homeland security, public safety and personal health. In the past two decades, efforts have been focusing on performing point-of-care chemical and biological detections using miniaturized biosensors. These sensors convert target molecule binding events into measurable electrical signals for quantifying target molecule concentration. However, the low receptor density and the use of complex surface chemistry in receptors immobilization on transducers are common bottlenecks in the current biosensor development, adding to the cost, complexity and time. This dissertation presents the development of selective macromolecular Tobacco mosaic virus-like particle (TMV VLP) biosensing receptor, and the microsystem integration of VLPs in microfabricated electrochemical biosensors for rapid and performance-enhanced chemical and biological sensing. Two constructs of VLPs carrying different receptor peptides targeting at 2,4,6-trinitrotoluene (TNT) explosive or anti-FLAG antibody are successfully bioengineered. The VLP-based TNT electrochemical sensor utilizes unique diffusion modulation method enabled by biological binding between target TNT and receptor VLP. The method avoids the influence from any interfering species and environmental background signals, making it extremely suitable for directly quantifying the TNT level in a sample. It is also a rapid method that does not need any sensor surface functionalization process. For antibody sensing, the VLPs carrying both antibody binding peptides and cysteine residues are assembled onto the gold electrodes of an impedance microsensor. With two-phase immunoassays, the VLP-based impedance sensor is able to quantify antibody concentrations down to 9.1 ng/mL. A capillary microfluidics and impedance sensor integrated microsystem is developed to further accelerate the process of VLP assembly on sensors and improve the sensitivity. Open channel capillary micropumps and stop-valves facilitate localized and evaporation-assisted VLP assembly on sensor electrodes within 6 minutes. The VLP-functionalized impedance sensor is capable of label-free sensing of antibodies with the detection limit of 8.8 ng/mL within 5 minutes after sensor functionalization, demonstrating great potential of VLP-based sensors for rapid and on-demand chemical and biological sensing.Item Scattering from chaotic cavities: Exploring the random coupling model in the time and frequency domains(2009) Hart, James Aamodt; Ott, Edward; Antonsen, Thomas M; Physics; Digital Repository at the University of Maryland; University of Maryland (College Park, Md.)Scattering waves off resonant structures, with the waves coupling into and out of the structure at a finite number of locations (`ports'), is an extremely common problem both in theory and in real-world applications. In practice, solving for the scattering properties of a particular complex structure is extremely difficult and, in real-world applications, often impractical. In particular, if the wavelength of the incident wave is short compared to the structure size, and the dynamics of the ray trajectories within the scattering region are chaotic, the scattering properties of the cavity will be extremely sensitive to small perturbations. Thus, mathematical models have been developed which attempt to determine the statistical, rather than specific, properties of such systems. One such model is the Random Coupling Model. The Random Coupling Model was developed primarily in the frequency domain. In the first part of this dissertation, we explore the implications of the Random Coupling Model in the time domain, with emphasis on the time-domain behavior of the power radiated from a single-port lossless cavity after the cavity has been excited by a short initial external pulse. In particular, we find that for times much larger than the cavity's Heisenberg time (the inverse of the average spacing between cavity resonant frequencies), the power from a single cavity decays as a power law in time, following the decay rate of the ensemble average, but eventually transitions into an exponential decay as a single mode in the cavity dominates the decay. We find that this transition from power-law to exponential decay depends only on the shape of the incident pulse and a normalized time. In the second part of this dissertation, we extend the Random Coupling Model to include a broader range of situations. Previously, the Random Coupling Model applied only to ensembles of scattering data obtained over a sufficiently large spread in frequency or sufficiently different ensemble of configurations. We find that by using the Poisson Kernel, it is possible to obtain meaningful results applicable to situations which vary much less radically in configuration and frequency. We find that it is possible to obtain universal statistics by redefining the radiation impedance parameter of the previously developed Random Coupling Model to include the average effects of certain classical trajectories within the resonant structure. We test these results numerically and find good agreement between theory and simulation.