Mechanical Engineering Commons^™

Modeling, Simulation And Control Of Microrobots For The Microfactory., Zhong Yang

Electronic Theses and Dissertations

Future assembly technologies will involve higher levels of automation in order to satisfy increased microscale or nanoscale precision requirements. Traditionally, assembly using a top-down robotic approach has been well-studied and applied to the microelectronics and MEMS industries, but less so in nanotechnology. With the boom of nanotechnology since the 1990s, newly designed products with new materials, coatings, and nanoparticles are gradually entering everyone’s lives, while the industry has grown into a billion-dollar volume worldwide. Traditionally, nanotechnology products are assembled using bottom-up methods, such as self-assembly, rather than top-down robotic assembly. This is due to considerations of volume handling of large …

Nonlinear Model Development And Validation For Ball And Plate Control System, Zachary Richter

Master's Theses

Ball and plate balancing control systems are commonly studied due to the complex dynamics associated with the instability of the system in open-loop. For simplicity, mathematical models describing the ball and plate dynamics are often linearized and the effects of complex motion are assumed to be negligible. These assumptions are rarely backed with evidence or explanations validating the simplified form of the dynamical equations of motion. This thesis focuses on developing a nonlinear model that more accurately defines the dynamics of the system, in order to quantify the error of linear and nonlinear models when compared to a Simscape physical …

Analysis And Control Of Fiber-Reinforced Elastomeric Enclosures (Frees), Soheil Habibian

Master’s Theses

While rigid robots are extensively used in various applications, they are limited in the tasks they can perform and can be unsafe in close human-robot interactions. Soft robots on the other hand surpass the capabilities of rigid robots in several ways, such as compatibility with the work environments, degrees of freedom, manufacturing costs, and safe interactions with the environment. This thesis studies the behavior of Fiber-Reinforced Elastomeric Enclosures (FREEs) as a particular type of soft pneumatic actuator that can be used in soft manipulators. A dynamic lumped-parameter model is created to simulate the motion of a single FREE under various …

A Perceptual Comparison Of “Black Box” Modeling Algorithms For Nonlinear Audio Systems, Paul G. Mayo

Student Theses

Nonlinear systems identification is a widespread topic of interest, particularly within the audio industry, as these techniques are employed to synthesize black box models of nonlinear audio effects. Given the myriad approaches to black box modeling, questions arise as to whether an “optimal” approach exists, or one that achieves valid subjective results as a model with minimal computational expense. This thesis uses ABX listening tests to compare black box models of three hardware audio effects using two popular nonlinear implementations, along with two proposed modified implementations. Models were constructed in the Hammerstein form using sine sweeps and a novel measurement …

Reduced Order Modeling For Virtual Building Commissioning, Sean Rosin

Boise State University Theses and Dissertations

Model order reduction can help reduce the time and monetary constraints associated with building commissioning and significantly decrease overall building energy consumption through virtual commissioning. This research aimed to determine the effectiveness of using reduced order models to simulate the overall building energy consumption, and to estimate the energy savings from control-based commissioning recommendations.

A case study building was modeled using a ‘Lumped RC’ thermal model with three thermal resistances and capacitances (3R3C) for the building interior and a 2R1C model describing the building foundation. Due to energy consumption being dependent on building systems, this model was coupled with a …