Abstract Modular active cell robots (MACROs) is a design approach in which a large number of linear actuators and passive compliant joints are assembled to create an active structure with a repeating unit cell. Such a mesh-like robotic structure can be actuated to achieve large deformation and shape-change. In this two-part paper, we use finite element analysis (FEA) to model the deformation behavior of different MACRO mesh topologies and evaluate their passive and active mechanical characteristics. In Part I, we presented the passive stiffness characteristics of different MACRO meshes. In this Part II of the paper, we investigate the active strain characteristics of planar MACRO meshes. Using FEA, we quantify and compare the strains generated for the specific choice of MACRO mesh topology and further for the specific choice of actuators actuated in that particular mesh. We simulate a series of actuation modes that are based on the angular orientation of the actuators within the mesh and show that such actuation modes result in deformation that is independent of the size of the mesh. We also show that there exists a subset of such actuation modes that spans the range of deformation behavior. Finally, we compare the actuation effort required to actuate different MACRO meshes and show that the actuation effort is related to the nodal connectivity of the mesh.
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Turning Mesh Analysis Inside Out
Elementary linear circuit analysis is a core competency for electrical and many other engineers. Two of the standard approaches to systematic analysis of linear circuits are nodal and mesh analysis, the latter being limited to planar circuits. Nodal and mesh analysis are related by duality and should therefore be fully symmetrical with each other. Here, the usual textbook approach to mesh analysis is argued to be deficient in that it obscures this fundamental duality and symmetry, and may thereby impede the development of intuition and the understanding of the nature of “mesh currents.” In particular, the usual distinction between “inner” and “outer” meshes (if the latter is even recognized) is argued to be meaningless, as can be seen when drawing a planar circuit on the surface of a sphere. A generalized definition of a mesh is proposed that includes both inner and outer meshes on the same footing. Selection of a reference node in nodal analysis should be paralleled by the selection of any mesh to be the reference mesh in mesh analysis, which is always selected to be the outer mesh by default in the usual approach. All branch currents are shown to the difference of two mesh currents, and the zero of all mesh currents is now arbitrary just as it is for node voltages. Use of supermeshes is sometimes obviated by the new approach, and the analysis is sometimes simplified. This new approach has been used in two sections of a linear circuit analysis course in Fall 2019, and student survey data is presented to show preference for the new method over the usual textbook method. An interactive multiple-choice tutorial describing the new method has been integrated into a step-based tutoring system for linear circuit analysis.
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- Award ID(s):
- 1821628
- NSF-PAR ID:
- 10179929
- Date Published:
- Journal Name:
- American Society for Engineering Education Annual Conference
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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null (Ed.)Linear circuit analysis is a complex topic in which students must use many principles to complete problems successfully, which may overload working memory and thereby impede learning. Introducing organizing principles may help students develop schemas that help reduce this burden and develop deeper conceptual understanding. The use of duality as such an organizing concept is explored in this work. To be effective, however, all the topics should be presented in a dual manner. Historically, definitions of series and parallel elements have been used that are not dual to each other, and mesh analysis has been performed in a way that is not fully dual to nodal analysis. This paper examines the research question of whether these key topics can be presented in a novel, fully dual fashion and whether students will accept and appreciate such a treatment. The revised approaches were implemented using lectures, online interactive tutorials, and step-based tutoring software exercises. Surveys using both quantitative and qualitative analysis were conducted over three semesters and showed positive reactions from 72-83% of students. These results can lead to development of a full set of instructional materials centered around duality to enable improved learning of circuit analysis.more » « less
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Contribution: A new operational definition of series connections is given based on elements belonging to the same two meshes, which is properly dual to the usual definition of parallel elements being connected to the same two nodes. Furthermore, computer-based exercises have been developed and tested to teach students about such connections in gateway linear circuits courses, using color coding of nodes and meshes as a pedagogical device. Background: Series and parallel connections are a crucial but difficult concept. Existing textbooks give them limited attention, resulting in later difficulties learning circuit analysis. Research Questions: RQ1: Can an improved definition of series elements aid student understanding and student satisfaction? RQ2: Can a computer-based ``game'' lead to effective mastery and student satisfaction at a wide range of institutions, including minority-serving ones? Methodology: Standard and new definitions were elaborated in a multiple-choice tutorial. A game was developed focusing on identifying series and parallel connections, with color coding of both nodes and meshes. Student learning was assessed over eight years using pretest and posttest in 14 varied institutions. Student opinions were assessed using several types of surveys. Findings: Strong learning gains were observed every semester from built-in pretest and posttest, with average scores of 28% and 87%, respectively. Large improvements were observed at every institution including five minority-serving ones. The posttest score is increased by a statistically significant amount after introducing the new definition of series elements. Students preferred the new definition of series and recommended its use, and very strongly endorsed color coding.more » « less
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The Finite Element Method (FEM) is widely used to solve discrete Partial Differential Equations (PDEs) in engineering and graphics applications. The popularity of FEM led to the development of a large family of variants, most of which require a tetrahedral or hexahedral mesh to construct the basis. While the theoretical properties of FEM basis (such as convergence rate, stability, etc.) are well understood under specific assumptions on the mesh quality, their practical performance, influenced both by the choice of the basis construction and quality of mesh generation, have not been systematically documented for large collections of automatically meshed 3D geometries. We introduce a set of benchmark problems involving most commonly solved elliptic PDEs, starting from simple cases with an analytical solution, moving to commonly used test problem setups, and using manufactured solutions for thousands of real-world, automatically meshed geometries. For all these cases, we use state-of-the-art meshing tools to create both tetrahedral and hexahedral meshes, and compare the performance of different element types for common elliptic PDEs. The goal of this benchmark is to enable comparison of complete FEM pipelines, from mesh generation to algebraic solver, and exploration of relative impact of different factors on the overall system performance. As a specific application of our geometry and benchmark dataset, we explore the question of relative advantages of unstructured (triangular/ tetrahedral) and structured (quadrilateral/hexahedral) discretizations. We observe that for Lagrange-type elements, while linear tetrahedral elements perform poorly, quadratic tetrahedral elements perform equally well or outperform hexahedral elements for our set of problems and currently available mesh generation algorithms. This observation suggests that for common problems in structural analysis, thermal analysis, and low Reynolds number flows, high-quality results can be obtained with unstructured tetrahedral meshes, which can be created robustly and automatically. We release the description of the benchmark problems, meshes, and reference implementation of our testing infrastructure to enable statistically significant comparisons between different FE methods, which we hope will be helpful in the development of new meshing and FEA techniques.more » « less
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Introduction and Theoretical Frameworks Our study draws upon several theoretical foundations to investigate and explain the educational experiences of Black students majoring in ME, CpE, and EE: intersectionality, critical race theory, and community cultural wealth theory. Intersectionality explains how gender operates together with race, not independently, to produce multiple, overlapping forms of discrimination and social inequality (Crenshaw, 1989; Collins, 2013). Critical race theory recognizes the unique experiences of marginalized groups and strives to identify the micro- and macro-institutional sources of discrimination and prejudice (Delgado & Stefancic, 2001). Community cultural wealth integrates an asset-based perspective to our analysis of engineering education to assist in the identification of factors that contribute to the success of engineering students (Yosso, 2005). These three theoretical frameworks are buttressed by our use of Racial Identity Theory, which expands understanding about the significance and meaning associated with students’ sense of group membership. Sellers and colleagues (1997) introduced the Multidimensional Model of Racial Identity (MMRI), in which they indicated that racial identity refers to the “significance and meaning that African Americans place on race in defining themselves” (p. 19). The development of this model was based on the reality that individuals vary greatly in the extent to which they attach meaning to being a member of the Black racial group. Sellers et al. (1997) posited that there are four components of racial identity: 1. Racial salience: “the extent to which one’s race is a relevant part of one’s self-concept at a particular moment or in a particular situation” (p. 24). 2. Racial centrality: “the extent to which a person normatively defines himself or herself with regard to race” (p. 25). 3. Racial regard: “a person’s affective or evaluative judgment of his or her race in terms of positive-negative valence” (p. 26). This element consists of public regard and private regard. 4. Racial ideology: “composed of the individual’s beliefs, opinions and attitudes with respect to the way he or she feels that the members of the race should act” (p. 27). The resulting 56-item inventory, the Multidimensional Inventory of Black Identity (MIBI), provides a robust measure of Black identity that can be used across multiple contexts. Research Questions Our 3-year, mixed-method study of Black students in computer (CpE), electrical (EE) and mechanical engineering (ME) aims to identify institutional policies and practices that contribute to the retention and attrition of Black students in electrical, computer, and mechanical engineering. Our four study institutions include historically Black institutions as well as predominantly white institutions, all of which are in the top 15 nationally in the number of Black engineering graduates. We are using a transformative mixed-methods design to answer the following overarching research questions: 1. Why do Black men and women choose and persist in, or leave, EE, CpE, and ME? 2. What are the academic trajectories of Black men and women in EE, CpE, and ME? 3. In what way do these pathways vary by gender or institution? 4. What institutional policies and practices promote greater retention of Black engineering students? Methods This study of Black students in CpE, EE, and ME reports initial results from in-depth interviews at one HBCU and one PWI. We asked students about a variety of topics, including their sense of belonging on campus and in the major, experiences with discrimination, the impact of race on their experiences, and experiences with microaggressions. For this paper, we draw on two methodological approaches that allowed us to move beyond a traditional, linear approach to in-depth interviews, allowing for more diverse experiences and narratives to emerge. First, we used an identity circle to gain a better understanding of the relative importance to the participants of racial identity, as compared to other identities. The identity circle is a series of three concentric circles, surrounding an “inner core” representing one’s “core self.” Participants were asked to place various identities from a provided list that included demographic, family-related, and school-related identities on the identity circle to reflect the relative importance of the different identities to participants’ current engineering education experiences. Second, participants were asked to complete an 8-item survey which measured the “centrality” of racial identity as defined by Sellers et al. (1997). Following Enders’ (2018) reflection on the MMRI and Nigrescence Theory, we chose to use the measure of racial centrality as it is generally more stable across situations and best “describes the place race holds in the hierarchy of identities an individual possesses and answers the question ‘How important is race to me in my life?’” (p. 518). Participants completed the MIBI items at the end of the interview to allow us to learn more about the participants’ identification with their racial group, to avoid biasing their responses to the Identity Circle, and to avoid potentially creating a stereotype threat at the beginning of the interview. This paper focuses on the results of the MIBI survey and the identity circles to investigate whether these measures were correlated. Recognizing that Blackness (race) is not monolithic, we were interested in knowing the extent to which the participants considered their Black identity as central to their engineering education experiences. Combined with discussion about the identity circles, this approach allowed us to learn more about how other elements of identity may shape the participants’ educational experiences and outcomes and revealed possible differences in how participants may enact various points of their identity. Findings For this paper, we focus on the results for five HBCU students and 27 PWI students who completed the MIBI and identity circle. The overall MIBI average for HBCU students was 43 (out of a possible 56) and the overall MIBI scores ranged from 36-51; the overall MIBI average for the PWI students was 40; the overall MIBI scores for the PWI students ranged from 24-51. Twenty-one students placed race in the inner circle, indicating that race was central to their identity. Five placed race on the second, middle circle; three placed race on the third, outer circle. Three students did not place race on their identity circle. For our cross-case qualitative analysis, we will choose cases across the two institutions that represent low, medium and high MIBI scores and different ranges of centrality of race to identity, as expressed in the identity circles. Our final analysis will include descriptive quotes from these in-depth interviews to further elucidate the significance of race to the participants’ identities and engineering education experiences. The results will provide context for our larger study of a total of 60 Black students in engineering at our four study institutions. Theoretically, our study represents a new application of Racial Identity Theory and will provide a unique opportunity to apply the theories of intersectionality, critical race theory, and community cultural wealth theory. 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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Conference Paper:
- https://doi.org/10.18260/1-2--35403
