Mechanical Engineering Commons^™

Space-Angle Discontinuous Galerkin Finite Element Method For Radiative Transfer Equation, Hang Wang

Doctoral Dissertations

Radiative transfer theory describes the interaction of radiation with scattering and absorbing media. It has applications in neutron transport, atmospheric physics, heat transfer, molecular imaging, and others. In steady state, the radiative transfer equation is an integro-differential equation of five independent variables, which are 3 dimensions in space and 2 dimensions in the angular direction. This high dimensionality and the presence of the integral term present serious challenges when solving the equation numerically. Over the past 50 years, several techniques for solving the radiative transfer equation (RTE) have been introduced. These include, but are certainly not limited to, Monte Carlo …

Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi

Doctoral Dissertations

Continuum Robots are bio-inspired structures that mimic the motion of snakes, elephant trunks, octopus tentacles, etc. With good design, these robots can be naturally compliant and miniaturizable, which makes Continuum Robots ideal for traversing narrow complex environments. Their flexible design, however, prevents us from using traditional methods for controlling and estimating loading on rigid link robots.

In the first thrust of this research, we provided a novel stiffness control law that alters the behavior of an end effector during contact. This controller is applicable to any continuum robot where a method for sensing or estimating tip forces and pose exists. …

Computational Simulation Of Mass Transport And Energy Transfer In The Microbial Fuel Cell System, Shiqi Ou

Doctoral Dissertations

This doctoral dissertation introduces the research in the computational modeling and simulation for the microbial fuel cell (MFC) system which is a bio-electrochemical system that drives a current by using bacteria and mimicking bacterial interactions found in nature. The numerical methods, research approaches and simulation comparison with the experiments in the microbial fuel cells are described; the analysis and evaluation for the model methods and results that I have achieved are presented in this dissertation.

The development of the renewable energy has been a hot topic, and scientists have been focusing on the microbial fuel cell, which is an environmentally-friendly …

Fully Coupled Fluid And Electrodynamic Modeling Of Plasmas: A Two-Fluid Isomorphism And A Strong Conservative Flux-Coupled Finite Volume Framework, Richard Joel Thompson

Doctoral Dissertations

Ideal and resistive magnetohydrodynamics (MHD) have long served as the incumbent framework for modeling plasmas of engineering interest. However, new applications, such as hypersonic flight and propulsion, plasma propulsion, plasma instability in engineering devices, charge separation effects and electromagnetic wave interaction effects may demand a higher-fidelity physical model. For these cases, the two-fluid plasma model or its limiting case of a single bulk fluid, which results in a single-fluid coupled system of the Navier-Stokes and Maxwell equations, is necessary and permits a deeper physical study than the MHD framework. At present, major challenges are imposed on solving these physical models …

The Search For An Optimal Means Of Determining The Minmax Control Parameter Using Sensitivity Analysis, John Teye Brown

Doctoral Dissertations

The use of computational methods for design and simulation of control systems allows for a cost-effective trial and error approach. In this work, we are concerned with the robust, real-time control of physical systems whose state space is infinite-dimensional. Such systems are known as Distributed Parameter Systems (DPS). A body whose state is heterogeneous is a distributed parameter. In particular, this work focuses on DPS systems that are governed by linear Partial Differential Equations, such as the heat equation. We specifically focus on the MinMax controller, which is regarded as being a very robust controller. The mathematical formulation of the …

Mathematical Modeling Of Pipeline Features For Robotic Inspection, Yang Gao

Doctoral Dissertations

Underground pipeline systems play an indispensable role in transporting liquids in both developed and developing countries. The associated social and economic cost to repair a pipe upon abrupt failure is often unacceptable. Regular inspection is a preventative action that aims to monitor pipe conditions, catch abnormalities and reduce the chance of undesirable surprises. Robots with CCTV video cameras have been used for decades to inspect pipelines, yielding only qualitative information. It is becoming necessary and preferable for municipalities, project managers and engineers to also quantify the 3-D geometry of underground pipe networks. Existing robots equipped specialized hardware and software algorithms …