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Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali

USF Tampa Graduate Theses and Dissertations

A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …

Optimization Of Blalock-Taussig Shunt And Anastomotic Geometry For Vascular Access Fistula Using A Genetic Algorithm, Guangyu Bao

McKelvey School of Engineering Theses & Dissertations

Blalock-Taussig (BT) shunts are used for defects that affect the flow of blood from the right ventricle, through the pulmonary artery, and to the lungs. Arteriovenous (AV) fistula is one type of vascular access which is a surgically created vein used to remove and return blood during hemodialysis. Plastic grafts used in the above two reconstructions may result in areas of non-physiologic flow in the grafts leading to risk of stenosis (blocked area) and thrombosis, which is the single major cause for access morbidity. The focus of this thesis is to study BT shunts and anastomoses models using Computational Fluid …

Strasbaugh Nonconforming Report Optimization, Eden Andersen, Angela Asgekar, Rebecca Gregg

Industrial and Manufacturing Engineering

This paper strives to convey the problems and proposed solutions for Strasbaugh’s Nonconforming Report (NCR) Optimization. Strasbaugh is a world leader in silicon wafer polisher and grinder technologies. After a significant down size to the company parts they used to manufacture now have to be purchased, and many of these incoming parts do not conform to Strasbaugh’s high standards. This has led to an increase in NCRs that need to be processed, which takes up time, resources and money.

The objective therefore became to update the multi-sheet carbon copy paper system to better optimize the use of these reports and …

Active Control Of The Human Voice From A Sphere, Monty J. Anderson

Theses and Dissertations

This work investigates the application of active noise control (ANC) to speech. ANC has had success reducing tonal noise. In this work, that success was extended to noise that is not completely tonal but has some tonal elements such as speech. Limitations such as causality were established on the active control of human speech. An optimal configuration for control actuators was developed for a sphere using a genetic algorithm. The optimal error sensor location was found from exploring the nulls associated with the magnitude of the radiated pressure with reference to the primary pressure field. Both numerically predicted and experimentally …

A Multi-Objective Optimization Method For Maximizing The Value Of System Evolvability Under Uncertainty, Jason Daniel Watson

Theses and Dissertations

System evolvability is vital to the longevity of large-scale complex engineered systems. The need for evolvability in complex systems is a result of their long service lives, rapid advances to their integrated technologies, unforeseen operating conditions, and emerging system requirements. In recent years, quantifiable metrics have been introduced for measuring the evolvability of complex systems based on the amount of excess capability in the system. These metrics have opened opportunities for optimization of systems with evolvability as an objective. However, there are several aspects of such an optimization that require further consideration. For example, there is a trade-off between the …

Thermodynamic Analysis And Optimization Of Supercritical Carbon Dioxide Brayton Cycles, Mahmood Mohagheghi

Electronic Theses and Dissertations

The power generation industry is facing new challenging issues regarding accelerating growth of electricity demand, fuel cost and environmental pollution. These challenges accompanied by concerns of energy resources becoming scarce necessitate searching for sustainable and economically competitive solutions to supply the future electricity demand. To this end, supercritical carbon dioxide (S-CO2) Brayton cycles present great promise particularly in high temperature concentrated solar power (CSP) and waste heat recovery (WHR) applications. With this regard, this dissertation is intended to perform thorough thermodynamic analyses and optimization of S-CO2 Brayton cycles for both of these applications. A modeling tool has been developed, which …