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Control Of Responses Of Smart Plate Structures Under Non-Stationary Random Excitations, Xiaojian Yang

Department of Mechanical and Materials Engineering: Dissertations, Theses, and Student Research

This thesis is concerned with an investigation of the control of responses of plate structures with piezoelectric layers and under complicated excitations modeled as a non-stationary random process. The plate structures and piezoelectric layers are both discretized by the mixed formulation finite element method (FEM).

The investigation consists of three parts. The first part is a literature survey and theoretical development. The second part is the eigenvalue solution and computation of uncontrolled response statistics of laminated plate structures under nonstationary random excitations. The final part is the introduction and application of the stochastic central difference (SCD) method that was presented …

Ubot-7: The Design Of A Compliant Dexterous Mobile Manipulator, Jonathan Cummings

Masters Theses

This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and …

Control Of A Spacecraft Using Mixed Momentum Exchange Devices, Blake J. Currie

Master's Theses

Hardware configurations, a control law, and a steering law are developed for a mixed hardware spacecraft that uses both control moment gyros and reaction wheels. Replacing one or more gyros in a spacecraft with a reaction wheel has potential for cost savings while still achieving much greater performance than using reaction wheels alone. Several simulated tests are run to compare the performance to a traditional all reaction wheel or all control moment gyro spacecraft, including analysis of failure modes and singular configurations. The mixed system performed similarly to all gyro systems, responding within 6% of the gyro system’s time for …

Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare

UNLV Theses, Dissertations, Professional Papers, and Capstones

Unmanned aerial vehicles (UAV) require intelligent control of their power source. Small UAV are typically powered by electric motors or small two-stroke internal combustion (IC) engines. Small IC engines allow for longer flight times but are more difficult to control and cause significant ground noise. A hybrid operation that uses the engine at high altitudes and the electric motors at low altitudes is desired. This would allow for extended flight with acceptable ground noise levels. Since the engine can not be restarted in the air it must be able to remain at idle for an extended time without stalling. A …

Laboratory Apparatus For Gas Turbine Combustion Development, Dustin Lee Cruise

Open Access Theses

The next generation of combustor technology will be required to meet the demands of a world more focused on greenhouse gases and global warming. Due to this new focus on emission control, combustors must produce less NO x , while operating in a higher pressure environment that is more prone to combustion instabilities.

This work focuses on the development of a lab and combustor that will be used for the next generation combustor development. The lab development includes layout and organization, facilities, measurement and instrumentation, automation of the testing process, and an imaging tool for diagnostics.

A Lean Direction Injection …

Kinesthetic Haptics Sensing And Discovery With Bilateral Teleoperation Systems, Tian Qiu

Doctoral Dissertations

In the mechanical engineering field of robotics, bilateral teleoperation is a classic but still increasing research topic. In bilateral teleoperation, a human operator moves the master manipulator, and a slave manipulator is controlled to follow the motion of the master in a remote, potentially hostile environment. This dissertation focuses on kinesthetic perception analysis in teleoperation systems. Design of the controllers of the systems is studied as the influential factor of this issue. The controllers that can provide different force tracking capability are compared using the same experimental protocol. A 6 DOF teleoperation system is configured as the system testbed. An …

Modeling, Analysis, And Control Of A Mobile Robot For In Vivo Fluoroscopy Of Human Joints During Natural Movements, Matthew A. Young

Doctoral Dissertations

In this dissertation, the modeling, analysis and control of a multi-degree of freedom (mdof) robotic fluoroscope was investigated. A prototype robotic fluoroscope exists, and consists of a 3 dof mobile platform with two 2 dof Cartesian manipulators mounted symmetrically on opposite sides of the platform. One Cartesian manipulator positions the x-ray generator and the other Cartesian manipulator positions the x-ray imaging device. The robotic fluoroscope is used to x-ray skeletal joints of interest of human subjects performing natural movement activities. In order to collect the data, the Cartesian manipulators must keep the x-ray generation and imaging devices accurately aligned while …

Thermal And Cooling Systems Modeling Of Powertrain For A Plug -In Parallel-Through-The-Road Hybrid Electric Vehicle, Mengjia Cao

Wayne State University Theses

Thermal modeling and control play an ever increasing role with hybrid electric vehicle (HEV) design and development for improving overall vehicle energy efficiency, and to account for additional thermal loading from electric powertrain components such as electric motor, motor controller and battery pack.

This thesis presents a complete development process for an efficient modeling approach with integrated control strategy for the thermal management of plug-in HEV in a parallel-through-the road (PTTR) architecture, adopted by Wayne State University Hybrid Warriors for their Department of Energy's EcoCAR2 Plugging in to the Future Competition.

The frameworks of this project include simulating the thermal …