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A Singularity Free Trajectory Tracking Method For The Cooperative Working Of Multi-Arm Robots Using Screw Theory, Emre Sariyildiz, Hakan Temeltas 2011 University of Wollongong

A Singularity Free Trajectory Tracking Method For The Cooperative Working Of Multi-Arm Robots Using Screw Theory, Emre Sariyildiz, Hakan Temeltas

Faculty of Engineering and Information Sciences - Papers: Part A

In this paper we present a singularity free trajectory tracking method for the cooperative working of multi-arm robot manipulators. It is based on an inverse kinematic transformation which determines the manipulator's joint angles corresponding to the end-effector trajectory given in the task space. The kinematic problem of multi-arm robot system is solved by using screw theory and quaternion algebra. Screw theory is an effective way to establish a global description of rigid body and avoids singularities due to the use of the local coordinates. Dual-quaternion is the most compact and efficient dual operator to express screw displacement. Inverse kinematic ...


Fluorinated Templates For Energy-Related Nanomaterials And Applications, Mohammed J. Meziani, Fushen Lu, Li Cao, Christopher E. Bunker, Elena A. Guliants, Ya-Ping Sun 2011 Clemson University

Fluorinated Templates For Energy-Related Nanomaterials And Applications, Mohammed J. Meziani, Fushen Lu, Li Cao, Christopher E. Bunker, Elena A. Guliants, Ya-Ping Sun

Electrical and Computer Engineering Faculty Publications

Fluorinated ionomer membranes, as represented by the commercially available Nafion films, are macroscopically homogeneous and optically transparent but microscopically inhomogeneous with the presence of nanoscale hydrophilic cavities. These cavities serve as nanoscale reactors for the synthesis of nanoparticles from a variety of materials. The membranes with embedded nanoscale semiconductors, still optically transparent, have been used as sheet-photocatalysts for energy conversion applications, while those with embedded reactive metals used as nano-energetic materials for hydrogen generation and beyond. This chapter provides an overview on the templated synthesis of nanomaterials in fluorinated ionomer membranes and the various energy-related applications of this unique class ...


Comparison Of Turbulence-Induced Scintillations For Multi-Wavelength Laser Beacons Over Tactical (7 Km) And Long (149 Km) Atmospheric Propagation Paths, Mikhail Vorontsov, Venkata S. Rao Gudimetla, Gary W. Carhart, Thomas Weyrauch, Svetlana Lachinova, Ernst Polnau, Joseph Rierson, Leonid A. Beresnev, Jony Jiang Liu, Jim F. Riker 2011 University of Dayton

Comparison Of Turbulence-Induced Scintillations For Multi-Wavelength Laser Beacons Over Tactical (7 Km) And Long (149 Km) Atmospheric Propagation Paths, Mikhail Vorontsov, Venkata S. Rao Gudimetla, Gary W. Carhart, Thomas Weyrauch, Svetlana Lachinova, Ernst Polnau, Joseph Rierson, Leonid A. Beresnev, Jony Jiang Liu, Jim F. Riker

Electrical and Computer Engineering Faculty Publications

We report results of the experimental analysis of atmospheric effects on laser beam propagation over two distinctive propagation paths: a long-range (149 km) propagation path between Mauna Loa (Island of Hawaii) and Haleakala (Island of Maui) mountains, and a tactical-range (7 km) propagation path between the roof of the Dayton Veterans Administration Medical Center (VAMC) and the Intelligent Optics Laboratory (IOL/UD) located on the 5th floor of the University of Dayton College Park Center building. Both testbeds include three laser beacons operating at wavelengths 532 nm, 1064 nm, and 1550 nm and a set of identical optical receiver systems ...


Estimating Industrial Building Energy Savings Using Inverse Simulation, Franc Server, J. Kelly Kissock, Dan Brown, Steve Mulqueen 2011 University of Dayton

Estimating Industrial Building Energy Savings Using Inverse Simulation, Franc Server, J. Kelly Kissock, Dan Brown, Steve Mulqueen

Mechanical and Aerospace Engineering Faculty Publications

Estimating energy savings from retrofitting existing building systems is traditionally a time intensive process, accomplished by developing a detailed building simulation model, running the model with actual weather data, calibrating the model to actual energy use data, modifying the model to include the proposed changes, then running the base and proposed models with typical weather data to estimate typical energy savings. This paper describes a less time-intensive method of estimating energy savings in industrial buildings using actual monthly energy consumption and weather data. The method begins by developing a multivariate three-parameter changepoint regression model of facility energy use. Next, the ...


Mixing Wet Distillers Grain In Beef Feed Rations, Nathan Schuler, Daryl R. Strohbehn, Daniel D. Loy, Carl J. Bern, Thomas J. Brumm 2011 Iowa State University

Mixing Wet Distillers Grain In Beef Feed Rations, Nathan Schuler, Daryl R. Strohbehn, Daniel D. Loy, Carl J. Bern, Thomas J. Brumm

Animal Industry Report

Distillers grains use in beef feeding operations has become more popular over the recent years due to the growing ethanol industry; although, little is known about the order in which the ingredients should be added, optimum mixer design, and optimum mix time when using distillers grains. Not using the correct methods and equipment when mixing distillers grains cost beef producer’s time and money. Recognizing the lack of information available on the mixing process, a joint effort by four professors and one junior undergraduate student from the Agricultural & Biosystems Engineering Department at Iowa State University was established. The results of ...


Mitigating Ammonia Emissions From High-Rise Hen Houses Through Dietary Manipulation, Hongwei Xin, Hong Li, Robert Burns, James B. Kliebenstein, Maro Ibarburu, Stacey Roberts, Kristjan Bregendahl 2011 Iowa State University

Mitigating Ammonia Emissions From High-Rise Hen Houses Through Dietary Manipulation, Hongwei Xin, Hong Li, Robert Burns, James B. Kliebenstein, Maro Ibarburu, Stacey Roberts, Kristjan Bregendahl

Animal Industry Report

Dietary manipulation can substantially lower ammonia (NH3) emissions from laying-hen houses or manure storage. Recent lab studies showed a NH3 emission reduction for experimental diets with EcoCal™ and corn dried distiller’s grain with solubles (DDGS) as compared to the standard or control diet. The study reported here was a field verification test about the effects of diets containing DDGS and EcoCal™ on air emissions, hen production performance, and the economic returns for a commercial high-rise layer operation in Iowa. Comparative data were collected during December 2007 to Dec 2009. Feeding EcoCal diet at 7% inclusion rate and DDGS diet ...


Induction Of A Transient Chemically Induced Lameness In The Sow. Detection Using A Prototype Embedded Micro-Computerbased Force Plate System, Anna K. Johnson, Kenneth J. Stalder, Robert F. Fitzgerald, Steven J. Hoff, Gang Sun, Locke A. Karriker, Johann Coetzee 2011 Iowa State University

Induction Of A Transient Chemically Induced Lameness In The Sow. Detection Using A Prototype Embedded Micro-Computerbased Force Plate System, Anna K. Johnson, Kenneth J. Stalder, Robert F. Fitzgerald, Steven J. Hoff, Gang Sun, Locke A. Karriker, Johann Coetzee

Animal Industry Report

There are no approved drug treatments for analgesia use in swine, and the identification and validation of objective, repeatable pain measurements is fundamental for the development of effective analgesic drug regimens and management strategies for use in lame pigs. Induction of lameness allows for controlled evaluation of lameness pain in animals because pre- and post lameness measurements can be taken from the same animal, thereby reducing the confounding effects of individual differences. Therefore, the objective of this pilot study was to characterize differences in weight bearing that result from the amphotericin B chemical synovitis model in sows and test a ...


Techno-Economic Analysis Of Farm Scale Plug-Flow Anaerobic Digestion, Carol Faulhaber, D. Raj Raman 2011 Iowa State University

Techno-Economic Analysis Of Farm Scale Plug-Flow Anaerobic Digestion, Carol Faulhaber, D. Raj Raman

Animal Industry Report

Treating animal wastes through anaerobic digestion (AD) yields methane-rich biogas that can be used for power generation or heating, and a nutrient-rich digestate that can be land applied as fertilizer. Anaerobic digestion also reduces odors from stored and land applied manures. Despite these benefits, AD deployment rates in the United States (US) are only 5% for dairy farms identified as being suitable for AD by the US Environmental Protection Agency. The objective of this study was to analyze the economic and technical limitations of farm-scale plug-flow anaerobic digesters using a simple model permitting insight into the fundamental constraints on the ...


Gas And Pm Emissions Monitoring From Swine Gestation And Farrowing Barns In Central Iowa, Lingshuang Cai, Jacek A. Koziel 2011 Iowa State University

Gas And Pm Emissions Monitoring From Swine Gestation And Farrowing Barns In Central Iowa, Lingshuang Cai, Jacek A. Koziel

Animal Industry Report

This on-going study is continuously monitoring emissions of gases including ammonia, hydrogen sulfide, carbon dioxide, methane and (intermittently) selected odorous volatile organic compounds (VOCs) as well as particulate matter (PM) from a 2500-head sow farm consisting of two gestation barns and one farrowing barn in central Iowa. An on-farm instrumentation shelter houses the equipment for measuring pollutant concentrations at representative barn air inlets and outlets, barn airflows, operational processes and environmental variables. Sampling began in July 2007 with data logged every 15 s and 60 s; sampling will continue for 24 months in total. Data are retrieved with network-connected PC ...


Promoting The Buildout Of New Networks Vs. Compelling Access To The Monopoly Loop: A Clash Of Regulatory Paradigms, Christopher S. Yoo 2011 University of Pennsylvania Law School

Promoting The Buildout Of New Networks Vs. Compelling Access To The Monopoly Loop: A Clash Of Regulatory Paradigms, Christopher S. Yoo

Faculty Scholarship

No abstract provided.


Dithienothiophene (Dtt)-Based Dyes For Dye-Sensitized Solar Cells: Synthesis Of 2,6-Dibromo-Dtt, Tae-Hyuk Kwon, Vanessa Armel, Andrew Nattestad, Douglas R. MacFarlane, Udo Bach, Samuel J. Lind, Keith C. Gordon, Weihua Tang, David J. Jones, Andrew Holmes 2011 University of Melbourne

Dithienothiophene (Dtt)-Based Dyes For Dye-Sensitized Solar Cells: Synthesis Of 2,6-Dibromo-Dtt, Tae-Hyuk Kwon, Vanessa Armel, Andrew Nattestad, Douglas R. Macfarlane, Udo Bach, Samuel J. Lind, Keith C. Gordon, Weihua Tang, David J. Jones, Andrew Holmes

Australian Institute for Innovative Materials - Papers

A one-pot synthesis of 2,6-dibromodithieno[3,2-b;2′,3′-d]thiophene (dibromo-DTT, 4) was developed. A key step was bromodecarboxylation of DTT-2,6-dicarboxylic acid, obtained by saponification of the diester 1. The donor-acceptor dye DAHTDTT (13), based on a central 2,6-bis[2′-(3′-hexylthienyl)]dithieno[3,2-b;2′,3′-d]thiophene core (9), was prepared and incorporated in a dye-sensitized solar cell (DSC), which exhibited an energy conversion efficiency of 7.3% with Voc of 697 mV, Jsc of 14.4 mA/cm2, and ff of 0.73 at 1 sun.


Modeling Of Solar-Powered Single-Effect Absorption Cooling System And Supermarket Refrigeration/Hvac System, Ammar Bahman 2011 University of South Florida

Modeling Of Solar-Powered Single-Effect Absorption Cooling System And Supermarket Refrigeration/Hvac System, Ammar Bahman

Graduate Theses and Dissertations

This thesis consists of two different research problems. In the first one, the aim is to model and simulate a solar-powered, single-effect, absorption refrigeration system using a flat-plate solar collector and LiBr-H2O mixture as the working fluid. The cooling capacity and the coefficient of performance of the system are analyzed by varying all independent parameters, namely: evaporator pressure, condenser pressure, mass flow rate, LiBr concentration, and inlet generator temperature. The cooling performance of the system is compared with conventional vapor-compression systems for different refrigerants (R-134a, R-32, and R-22). The cooling performance is also assessed for a typical year ...


Atrial Fibrillation Signal Analysis, Raja Sarath Chandra Prasad Vaizurs 2011 University of South Florida

Atrial Fibrillation Signal Analysis, Raja Sarath Chandra Prasad Vaizurs

Graduate Theses and Dissertations

Atrial fibrillation (AF) is the most common type of cardiac arrhythmia encountered in clinical practice and is associated with an increased mortality and morbidity. Identification of the sources of AF has been a goal of researchers for over 20 years. Current treatment procedures such as Cardio version, Radio Frequency Ablation, and multiple drugs have reduced the incidence of AF. Nevertheless, the success rate of these treatments is only 35-40% of the AF patients as they have limited effect in maintaining the patient in normal sinus rhythm. The problem stems from the fact that there are no methods developed to analyze ...


Atomic Friction Studied By Modeling The Buried Inteface, Yalin Dong, Ashlie Martini, Qunyang Li, Robert W. Carpick 2011 The University of Akron, Main Campus

Atomic Friction Studied By Modeling The Buried Inteface, Yalin Dong, Ashlie Martini, Qunyang Li, Robert W. Carpick

Mechanical Engineering Faculty Research

Molecular dynamics simulation is carried out to model the single-asperity friction in atomic force microscope experiments. Superlubricity is achieved through misalignment between the AFM tip and substrate. Direct observation of the buried interface reveals that incommensurability-induced inhomogeneous shear stress can cause ultra-low atomic scale friction.


Mapping Galileo's Trajectory, Mark Woods 2011 California Polytechnic State University - San Luis Obispo

Mapping Galileo's Trajectory, Mark Woods

Aerospace Engineering

The NASA Galileo mission was mapped out using a patched conics approximation. Galileo launched from Earth, underwent a gravity assist from Venus back to Earth for another gravity assist. Galileo then came back to Earth for one more gravity assist to propel it to Jupiter. A simulation ignoring all perturbations (i.e. third body effects, zonal (harmonics, solar wind, drag) was carried out. The simulation was able to make it to the final Earth flyby before diverging from the actual trajectory. The simulated and actual flyby dates all differed by less than 5 hours, and the simulated and actual flyby ...


X-51 Composite Airframe, Brendon J. Townshend 2011 California Polytechnic State University

X-51 Composite Airframe, Brendon J. Townshend

Aerospace Engineering

This paper gives an overview of the progress that has been made in the design build of the X-51. The X-51 is a composite scale replica of a P-51D fuselage integrated with a P-51H wing. Issues with the airframe as well as current action items are discussed, as well as findings so far in preliminary design.


Implicit Methods For Efficient Musculoskeletal Simulation And Optimal Control, Antonie J. van den Bogert, Dimitra Blana, Dieter Heinrich 2011 Cleveland State University

Implicit Methods For Efficient Musculoskeletal Simulation And Optimal Control, Antonie J. Van Den Bogert, Dimitra Blana, Dieter Heinrich

Mechanical Engineering Faculty Publications

The ordinary differential equations for musculoskeletal dynamics are often numerically stiff and highly nonlinear. Consequently, simulations require small time steps, and optimal control problems are slow to solve and have poor convergence. In this paper, we present an implicit formulation of musculoskeletal dynamics, which leads to new numerical methods for simulation and optimal control, with the expectation that we can mitigate some of these problems. A first order Rosenbrock method was developed for solving forward dynamic problems using the implicit formulation. It was used to perform real-time dynamic simulation of a complex shoulder arm system with extreme dynamic stiffness. Simulations ...


Robotic Testing Of Proximal Tibio-Fibular Joint Kinematics For Measuring Instability Following Total Knee Arthroplasty, Wael K. Barsoum, Ho H. Lee, Trevor G. Murray, Robb Colbrunn, Alison K. Klika, S. Butler, Antonie J. van den Bogert 2011 Cleveland Clinic

Robotic Testing Of Proximal Tibio-Fibular Joint Kinematics For Measuring Instability Following Total Knee Arthroplasty, Wael K. Barsoum, Ho H. Lee, Trevor G. Murray, Robb Colbrunn, Alison K. Klika, S. Butler, Antonie J. Van Den Bogert

Mechanical Engineering Faculty Publications

Pain secondary to instability in total knee arthroplasty (TKA) has been shown to be major cause of early failure. In this study, we focused on the effect of instability in TKA on the proximal tibio-fibular joint (PTFJ). We used a robotics model to compare the biomechanics of the PTFJ in the native knee, an appropriately balanced TKA, and an unbalanced TKA. The tibia (n = 5) was mounted to a six-degree-of-freedom force/torque sensor and the femur was moved by a robotic manipulator. Motion at the PTFJ was recorded with a high-resolution digital camera system. After establishing a neutral position, loading ...


Testing And Characterization Of Second-Order Differential Microphones, Joshua H. Merlis 2011 Binghamton University

Testing And Characterization Of Second-Order Differential Microphones, Joshua H. Merlis

Graduate Dissertations and Theses

The focus of this thesis is the testing and characterizing of directional microphones, designed based on the ear of the fly Ormia ochracea. The response of these microphones is modeled as a linear combination of the gradients of the sound field. A least squares approach is employed in order to determine the transfer functions between the response and these gradients. Knowledge of these complex transfer functions is crucial in understanding the nature and quality of the response of these microphones.

Once determined, these transfer functions are used to simulate the plane wave response of differential microphones. This process is invaluable ...


Sensory Motor Remapping Of Space In Human-Machine Interfaces, Ferdinando A. Mussa-Ivaldi, Maura Casadio, Zachary C. Danziger, Kristine M. Mosier, Robert A. Scheidt 2011 Northwestern University

Sensory Motor Remapping Of Space In Human-Machine Interfaces, Ferdinando A. Mussa-Ivaldi, Maura Casadio, Zachary C. Danziger, Kristine M. Mosier, Robert A. Scheidt

Biomedical Engineering Faculty Research and Publications

Studies of adaptation to patterns of deterministic forces have revealed the ability of the motor control system to form and use predictive representations of the environment. These studies have also pointed out that adaptation to novel dynamics is aimed at preserving the trajectories of a controlled endpoint, either the hand of a subject or a transported object. We review some of these experiments and present more recent studies aimed at understanding how the motor system forms representations of the physical space in which actions take place. An extensive line of investigations in visual information processing has dealt with the issue ...


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